allwpilib/wpilibc/wpilibC++Devices/src/Vision/MonoImage.cpp

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2014. All Rights Reserved.                             */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
/*----------------------------------------------------------------------------*/

#include "Vision/MonoImage.h"
#include "nivision.h"

using namespace std;

MonoImage::MonoImage() : ImageBase(IMAQ_IMAGE_U8)
{
}

MonoImage::~MonoImage()
{
}

/**
 * Look for ellipses in an image.
 * Given some input parameters, look for any number of ellipses in an image.
 * @param ellipseDescriptor Ellipse descriptor
 * @param curveOptions Curve options
 * @param shapeDetectionOptions Shape detection options
 * @param roi Region of Interest
 * @returns a vector of EllipseMatch structures (0 length vector on no match)
 */
vector<EllipseMatch> * MonoImage::DetectEllipses(
		EllipseDescriptor *ellipseDescriptor, CurveOptions *curveOptions,
		ShapeDetectionOptions *shapeDetectionOptions, ROI *roi)
{
	int numberOfMatches;
	EllipseMatch *e = imaqDetectEllipses(m_imaqImage, ellipseDescriptor,
										curveOptions, shapeDetectionOptions, roi, &numberOfMatches);
	vector<EllipseMatch> *ellipses = new vector<EllipseMatch>;
	if (e == NULL)
	{
		return ellipses;
	}
	for (int i = 0; i < numberOfMatches; i++)
	{
		ellipses->push_back(e[i]);
	}
	imaqDispose(e);
	return ellipses;
}

vector<EllipseMatch> * MonoImage::DetectEllipses(
		EllipseDescriptor *ellipseDescriptor)
{
	vector<EllipseMatch> *ellipses = DetectEllipses(ellipseDescriptor, NULL,
			NULL, NULL);
	return ellipses;
}