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Added vision samples

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Change-Id: Ieb482d072ae15817be40477f187f081c9f7fe19f
This commit is contained in:
Brad Miller
2014-11-19 14:37:58 -05:00
committed by James Kuszmaul
parent 9ec5164075
commit 4ad8818a8a
3 changed files with 107 additions and 3 deletions
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40
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/IntermediateVision/src/IntermediateVisionRobot.cpp Normal file
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@@ -0,0 +1,40 @@
#include "WPILib.h"
/**
* Uses IMAQdx to manually acquire a new image each frame, and annotate the image by drawing
* a circle on it, and show it on the FRC Dashboard.
*/
class IntermediateVisionRobot : public SampleRobot
{
IMAQdxSession session;
Image *frame;
public:
void RobotInit() override {
// create an image
frame = imaqCreateImage(IMAQ_IMAGE_RGB, 0);
// open the camera
IMAQdxOpenCamera("cam1", IMAQdxCameraControlModeController, &session);
IMAQdxConfigureGrab(session);
}
void OperatorControl() override {
// acquire images
IMAQdxStartAcquisition(session);
// grab an image, draw the circle, and provide it for the camera server which will
// in turn send it to the dashboard.
while(IsOperatorControl() && IsEnabled()) {
IMAQdxGrab(session, frame, true, NULL);
imaqDrawShapeOnImage(frame, frame, { 10, 10, 100, 100 }, DrawMode::IMAQ_DRAW_VALUE, ShapeMode::IMAQ_SHAPE_OVAL, 0.0f);
CameraServer::GetInstance()->SetImage(frame);
}
// stop image acquisition
IMAQdxStopAcquisition(session);
}
};
START_ROBOT_CLASS(IntermediateVisionRobot);

22
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/QuickVision/src/QuickVisionRobot.cpp Normal file
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#include "WPILib.h"
/**
* Uses the CameraServer class to automatically capture video from a USB webcam
* and send it to the FRC dashboard without doing any vision processing. This
* is the easiest way to get camera images to the dashboard. Just add this to the
* RobotInit() method in your program.
*/
class QuickVisionRobot : public SampleRobot
{
public:
void RobotInit() override {
CameraServer::GetInstance()->SetQuality(75);
CameraServer::GetInstance()->StartAutomaticCapture();
}
void OperatorControl() override {
}
};
START_ROBOT_CLASS(QuickVisionRobot);

48
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/examples.xml
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@@ -87,7 +87,12 @@
<description>Example programs that demonstrate the use of the various commonly used sensors on FRC robots</description>
</tagDescription>
<example>
<tagDescription>
<name>Vision</name>
<description>Example programs that demonstrate the use of a camera for image acquisition and processing</description>
</tagDescription>
<example>
<name>Motor Controller</name>
<description>Demonstrate controlling a single motor with a Joystick.</description>
<tags>
@@ -240,8 +245,45 @@
destination="src/Robot.cpp"></file>
</files>
</example>
<example>
<example>
<name>Simple vision program</name>
<description>The minimal program to acquire images from an attached USB camera on the robot
and send them to the dashboard.</description>
<tags>
<tag>Vision</tag>
<tag>Complete List</tag>
</tags>
<packages>
<package>src</package>
</packages>
<files>
<file source="examples/QuickVision/src/Robot.cpp"
destination="src/Robot.cpp"></file>
</files>
</example>
<example>
<name>Getting Started</name>
<description>An example program that acquires images from an attached USB camera and adds some
annotation to the image as you might do for showing operators the result of some image
recognition, and sends it to the dashboard for display.
</description>
<tags>
<tag>Vision</tag>
<tag>Complete List</tag>
</tags>
<packages>
<package>src</package>
</packages>
<files>
<file source="examples/IntermediateVision/src/Robot.cpp"
destination="src/Robot.cpp"></file>
</files>
</example>
<example>
<name>GearsBot</name>
<description>A fully functional example CommandBased program for
WPIs GearsBot robot. This code can run on your computer if it