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Add the 2014 C++ vision classes back in

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Most of the old vision code still compiles with minimal changes. I haven't
tested it extensively, since the AxisCamera class isn't done, but it
should work, as it was barely modified.

Java bindings are still TODO, since they used some JNA stuff that probably
won't work now.

Change-Id: I8edf991410cb30b932379f277cee9d329ee35009
This commit is contained in:
Thomas Clark
2014-12-23 15:55:36 -05:00
parent b4097fbd58
commit 53473e21be
21 changed files with 3635 additions and 0 deletions
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57
wpilibc/wpilibC++Devices/include/Vision/BaeUtilities.h Normal file
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/*----------------------------------------------------------------------------*/
/* 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. */
/*----------------------------------------------------------------------------*/
#pragma once
/* Constants */
#define LOG_DEBUG __FILE__,__FUNCTION__,__LINE__,DEBUG_TYPE
#define LOG_INFO __FILE__,__FUNCTION__,__LINE__,INFO_TYPE
#define LOG_ERROR __FILE__,__FUNCTION__,__LINE__,ERROR_TYPE
#define LOG_CRITICAL __FILE__,__FUNCTION__,__LINE__,CRITICAL_TYPE
#define LOG_FATAL __FILE__,__FUNCTION__,__LINE__,FATAL_TYPE
#define LOG_DEBUG __FILE__,__FUNCTION__,__LINE__,DEBUG_TYPE
/* Enumerated Types */
/** debug levels */
enum dprint_type {DEBUG_TYPE, INFO_TYPE, ERROR_TYPE, CRITICAL_TYPE, FATAL_TYPE};
/** debug output setting */
typedef enum DebugOutputType_enum {
DEBUG_OFF, DEBUG_MOSTLY_OFF, DEBUG_SCREEN_ONLY, DEBUG_FILE_ONLY, DEBUG_SCREEN_AND_FILE
}DebugOutputType;
/* Enumerated Types */
/* Utility functions */
/* debug */
void SetDebugFlag ( DebugOutputType flag );
void dprintf ( const char * tempString, ... ); /* Variable argument list */
/* set FRC ranges for drive */
double RangeToNormalized(double pixel, int range);
/* change normalized value to any range - used for servo */
float NormalizeToRange(float normalizedValue, float minRange, float maxRange);
float NormalizeToRange(float normalizedValue);
/* system utilities */
void ShowActivity (char *fmt, ...);
double ElapsedTime (double startTime);
/* servo panning utilities */
class Servo;
double SinPosition (double *period, double sinStart);
void panInit();
void panInit(double period);
void panForTarget(Servo *panServo);
void panForTarget(Servo *panServo, double sinStart);
/* config file read utilities */
int processFile(char *inputFile, char *outputString, int lineNumber);
int emptyString(char *string);
void stripString(char *string);

39
wpilibc/wpilibC++Devices/include/Vision/BinaryImage.h Normal file
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/*----------------------------------------------------------------------------*/
/* 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "MonoImage.h"
/**
* Included for ParticleAnalysisReport definition
* TODO: Eliminate this dependency!
*/
#include "Vision/VisionAPI.h"
#include <vector>
#include <algorithm>
class BinaryImage : public MonoImage
{
public:
BinaryImage();
virtual ~BinaryImage();
int GetNumberParticles();
ParticleAnalysisReport GetParticleAnalysisReport(int particleNumber);
void GetParticleAnalysisReport(int particleNumber, ParticleAnalysisReport *par);
std::vector<ParticleAnalysisReport>* GetOrderedParticleAnalysisReports();
BinaryImage *RemoveSmallObjects(bool connectivity8, int erosions);
BinaryImage *RemoveLargeObjects(bool connectivity8, int erosions);
BinaryImage *ConvexHull(bool connectivity8);
BinaryImage *ParticleFilter(ParticleFilterCriteria2 *criteria, int criteriaCount);
virtual void Write(const char *fileName);
private:
bool ParticleMeasurement(int particleNumber, MeasurementType whatToMeasure, int *result);
bool ParticleMeasurement(int particleNumber, MeasurementType whatToMeasure, double *result);
static double NormalizeFromRange(double position, int range);
static bool CompareParticleSizes(ParticleAnalysisReport particle1, ParticleAnalysisReport particle2);
};

65
wpilibc/wpilibC++Devices/include/Vision/ColorImage.h Normal file
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/*----------------------------------------------------------------------------*/
/* 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "ImageBase.h"
#include "BinaryImage.h"
#include "Threshold.h"
class ColorImage : public ImageBase
{
public:
ColorImage(ImageType type);
virtual ~ColorImage();
BinaryImage *ThresholdRGB(int redLow, int redHigh, int greenLow, int greenHigh, int blueLow, int blueHigh);
BinaryImage *ThresholdHSL(int hueLow, int hueHigh, int saturationLow, int saturationHigh, int luminenceLow, int luminenceHigh);
BinaryImage *ThresholdHSV(int hueLow, int hueHigh, int saturationLow, int saturationHigh, int valueHigh, int valueLow);
BinaryImage *ThresholdHSI(int hueLow, int hueHigh, int saturationLow, int saturationHigh, int intensityLow, int intensityHigh);
BinaryImage *ThresholdRGB(Threshold &threshold);
BinaryImage *ThresholdHSL(Threshold &threshold);
BinaryImage *ThresholdHSV(Threshold &threshold);
BinaryImage *ThresholdHSI(Threshold &threshold);
MonoImage *GetRedPlane();
MonoImage *GetGreenPlane();
MonoImage *GetBluePlane();
MonoImage *GetHSLHuePlane();
MonoImage *GetHSVHuePlane();
MonoImage *GetHSIHuePlane();
MonoImage *GetHSLSaturationPlane();
MonoImage *GetHSVSaturationPlane();
MonoImage *GetHSISaturationPlane();
MonoImage *GetLuminancePlane();
MonoImage *GetValuePlane();
MonoImage *GetIntensityPlane();
void ReplaceRedPlane(MonoImage *plane);
void ReplaceGreenPlane(MonoImage *plane);
void ReplaceBluePlane(MonoImage *plane);
void ReplaceHSLHuePlane(MonoImage *plane);
void ReplaceHSVHuePlane(MonoImage *plane);
void ReplaceHSIHuePlane(MonoImage *plane);
void ReplaceHSLSaturationPlane(MonoImage *plane);
void ReplaceHSVSaturationPlane(MonoImage *plane);
void ReplaceHSISaturationPlane(MonoImage *plane);
void ReplaceLuminancePlane(MonoImage *plane);
void ReplaceValuePlane(MonoImage *plane);
void ReplaceIntensityPlane(MonoImage *plane);
void ColorEqualize();
void LuminanceEqualize();
private:
BinaryImage *ComputeThreshold(ColorMode colorMode, int low1, int high1, int low2, int high2, int low3, int high3);
void Equalize(bool allPlanes);
MonoImage * ExtractColorPlane(ColorMode mode, int planeNumber);
MonoImage * ExtractFirstColorPlane(ColorMode mode);
MonoImage * ExtractSecondColorPlane(ColorMode mode);
MonoImage * ExtractThirdColorPlane(ColorMode mode);
void ReplacePlane(ColorMode mode, MonoImage *plane, int planeNumber);
void ReplaceFirstColorPlane(ColorMode mode, MonoImage *plane);
void ReplaceSecondColorPlane(ColorMode mode, MonoImage *plane);
void ReplaceThirdColorPlane(ColorMode mode, MonoImage *plane);
};

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wpilibc/wpilibC++Devices/include/Vision/FrcError.h Normal file
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/*----------------------------------------------------------------------------*/
/* 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. */
/*----------------------------------------------------------------------------*/
#pragma once
/* Error Codes */
#define ERR_VISION_GENERAL_ERROR 166000 //
#define ERR_COLOR_NOT_FOUND 166100 // TrackAPI.cpp
#define ERR_PARTICLE_TOO_SMALL 166101 // TrackAPI.cpp
#define ERR_CAMERA_FAILURE 166200 // AxisCamera.cpp
#define ERR_CAMERA_SOCKET_CREATE_FAILED 166201 // AxisCamera.cpp
#define ERR_CAMERA_CONNECT_FAILED 166202 // AxisCamera.cpp
#define ERR_CAMERA_STALE_IMAGE 166203 // AxisCamera.cpp
#define ERR_CAMERA_NOT_INITIALIZED 166204 // AxisCamera.cpp
#define ERR_CAMERA_NO_BUFFER_AVAILABLE 166205 // AxisCamera.cpp
#define ERR_CAMERA_HEADER_ERROR 166206 // AxisCamera.cpp
#define ERR_CAMERA_BLOCKING_TIMEOUT 166207 // AxisCamera.cpp
#define ERR_CAMERA_AUTHORIZATION_FAILED 166208 // AxisCamera.cpp
#define ERR_CAMERA_TASK_SPAWN_FAILED 166209 // AxisCamera.cpp
#define ERR_CAMERA_TASK_INPUT_OUT_OF_RANGE 166210 // AxisCamera.cpp
#define ERR_CAMERA_COMMAND_FAILURE 166211 // AxisCamera.cpp
/* error handling functions */
int GetLastVisionError();
const char* GetVisionErrorText(int errorCode);

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wpilibc/wpilibC++Devices/include/Vision/HSLImage.h Normal file
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/*----------------------------------------------------------------------------*/
/* 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "ColorImage.h"
/**
* A color image represented in HSL color space at 3 bytes per pixel.
*/
class HSLImage : public ColorImage
{
public:
HSLImage();
HSLImage(const char *fileName);
virtual ~HSLImage();
};

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wpilibc/wpilibC++Devices/include/Vision/ImageBase.h Normal file
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/*----------------------------------------------------------------------------*/
/* 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <stdio.h>
#include "nivision.h"
#include "ErrorBase.h"
#define DEFAULT_BORDER_SIZE 3
class ImageBase : public ErrorBase
{
public:
ImageBase(ImageType type);
virtual ~ImageBase();
virtual void Write(const char *fileName);
int GetHeight();
int GetWidth();
Image *GetImaqImage();
protected:
Image *m_imaqImage;
};

25
wpilibc/wpilibC++Devices/include/Vision/MonoImage.h Normal file
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/*----------------------------------------------------------------------------*/
/* 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "ImageBase.h"
#include <vector>
class MonoImage : public ImageBase
{
public:
MonoImage();
virtual ~MonoImage();
std::vector<EllipseMatch> *DetectEllipses(EllipseDescriptor *ellipseDescriptor,
CurveOptions *curveOptions,
ShapeDetectionOptions *shapeDetectionOptions,
ROI *roi);
std::vector<EllipseMatch> * DetectEllipses(EllipseDescriptor *ellipseDescriptor);
};

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wpilibc/wpilibC++Devices/include/Vision/RGBImage.h Normal file
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/*----------------------------------------------------------------------------*/
/* 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "ColorImage.h"
/**
* A color image represented in RGB color space at 3 bytes per pixel.
*/
class RGBImage : public ColorImage
{
public:
RGBImage();
RGBImage(const char *fileName);
virtual ~RGBImage();
};

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wpilibc/wpilibC++Devices/include/Vision/Threshold.h Normal file
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/*----------------------------------------------------------------------------*/
/* 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. */
/*----------------------------------------------------------------------------*/
#pragma once
/**
* Color threshold values.
* This object represnts the threshold values for any type of color object
* that is used in a threshhold operation. It simplifies passing values
* around in a program for color detection.
*/
class Threshold
{
public:
int plane1Low;
int plane1High;
int plane2Low;
int plane2High;
int plane3Low;
int plane3High;
Threshold(int plane1Low, int plane1High,
int plane2Low, int plane2High,
int plane3Low, int plane3High);
};

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wpilibc/wpilibC++Devices/include/Vision/VisionAPI.h Normal file
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/*----------------------------------------------------------------------------*/
/* 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "nivision.h"
/* Constants */
#define DEFAULT_BORDER_SIZE 3 //VisionAPI.frcCreateImage
#define DEFAULT_SATURATION_THRESHOLD 40 //TrackAPI.FindColor
/* Forward Declare Data Structures */
typedef struct FindEdgeOptions_struct FindEdgeOptions;
typedef struct CircularEdgeReport_struct CircularEdgeReport;
/* Data Structures */
/** frcParticleAnalysis returns this structure */
typedef struct ParticleAnalysisReport_struct {
int imageHeight;
int imageWidth;
double imageTimestamp;
int particleIndex; // the particle index analyzed
/* X-coordinate of the point representing the average position of the
* total particle mass, assuming every point in the particle has a constant density */
int center_mass_x; // MeasurementType: IMAQ_MT_CENTER_OF_MASS_X
/* Y-coordinate of the point representing the average position of the
* total particle mass, assuming every point in the particle has a constant density */
int center_mass_y; // MeasurementType: IMAQ_MT_CENTER_OF_MASS_Y
double center_mass_x_normalized; //Center of mass x value normalized to -1.0 to +1.0 range
double center_mass_y_normalized; //Center of mass y value normalized to -1.0 to +1.0 range
/* Area of the particle */
double particleArea; // MeasurementType: IMAQ_MT_AREA
/* Bounding Rectangle */
Rect boundingRect; // left/top/width/height
/* Percentage of the particle Area covering the Image Area. */
double particleToImagePercent; // MeasurementType: IMAQ_MT_AREA_BY_IMAGE_AREA
/* Percentage of the particle Area in relation to its Particle and Holes Area */
double particleQuality; // MeasurementType: IMAQ_MT_AREA_BY_PARTICLE_AND_HOLES_AREA
} ParticleAnalysisReport;
/** Tracking functions return this structure */
typedef struct ColorReport_struct {
int numberParticlesFound; // Number of particles found for this color
int largestParticleNumber; // The particle index of the largest particle
/* Color information */
float particleHueMax; // HistogramReport: hue max
float particleHueMin; // HistogramReport: hue max
float particleHueMean; // HistogramReport: hue mean
float particleSatMax; // HistogramReport: saturation max
float particleSatMin; // HistogramReport: saturation max
float particleSatMean; // HistogramReport: saturation mean
float particleLumMax; // HistogramReport: luminance max
float particleLumMin; // HistogramReport: luminance max
float particleLumMean; // HistogramReport: luminance mean
} ColorReport;
/* Image Management functions */
/* Create: calls imaqCreateImage. Border size is set to some default value */
Image* frcCreateImage( ImageType type );
/* Dispose: calls imaqDispose */
int frcDispose( void* object );
int frcDispose( const char* filename, ... ) ;
/* Copy: calls imaqDuplicateImage */
int frcCopyImage( Image* dest, const Image* source );
/* Image Extraction: Crop: calls imaqScale */
int frcCrop( Image* dest, const Image* source, Rect rect );
/* Image Extraction: Scale: calls imaqScale. Scales entire image */
int frcScale(Image* dest, const Image* source, int xScale, int yScale, ScalingMode scaleMode );
/* Read Image : calls imaqReadFile */
int frcReadImage( Image* image, const char* fileName );
/* Write Image : calls imaqWriteFile */
int frcWriteImage( const Image* image, const char* fileName);
/* Measure Intensity functions */
/* Histogram: calls imaqHistogram */
HistogramReport* frcHistogram( const Image* image, int numClasses, float min, float max, Rect rect );
/* Color Histogram: calls imaqColorHistogram2 */
ColorHistogramReport* frcColorHistogram(const Image* image, int numClasses, ColorMode mode, Image* mask);
/* Get Pixel Value: calls imaqGetPixel */
int frcGetPixelValue( const Image* image, Point pixel, PixelValue* value );
/* Particle Analysis functions */
/* Particle Filter: calls imaqParticleFilter3 */
int frcParticleFilter(Image* dest, Image* source, const ParticleFilterCriteria2* criteria,
int criteriaCount, const ParticleFilterOptions* options, Rect rect, int* numParticles);
int frcParticleFilter(Image* dest, Image* source, const ParticleFilterCriteria2* criteria,
int criteriaCount, const ParticleFilterOptions* options, int* numParticles);
/* Morphology: calls imaqMorphology */
int frcMorphology(Image* dest, Image* source, MorphologyMethod method);
int frcMorphology(Image* dest, Image* source, MorphologyMethod method, const StructuringElement* structuringElement);
/* Reject Border: calls imaqRejectBorder */
int frcRejectBorder(Image* dest, Image* source);
int frcRejectBorder(Image* dest, Image* source, int connectivity8);
/* Count Particles: calls imaqCountParticles */
int frcCountParticles(Image* image, int* numParticles);
/* Particle Analysis Report: calls imaqMeasureParticle */
int frcParticleAnalysis(Image* image, int particleNumber, ParticleAnalysisReport* par);
/* Image Enhancement functions */
/* Equalize: calls imaqEqualize */
int frcEqualize(Image* dest, const Image* source, float min, float max);
int frcEqualize(Image* dest, const Image* source, float min, float max, const Image* mask);
/* Color Equalize: calls imaqColorEqualize */
int frcColorEqualize(Image* dest, const Image* source);
int frcColorEqualize(Image* dest, const Image* source, int colorEqualization);
/* Image Thresholding & Conversion functions */
/* Smart Threshold: calls imaqLocalThreshold */
int frcSmartThreshold(Image* dest, const Image* source, unsigned int windowWidth, unsigned int windowHeight,
LocalThresholdMethod method, double deviationWeight, ObjectType type);
int frcSmartThreshold(Image* dest, const Image* source, unsigned int windowWidth, unsigned int windowHeight,
LocalThresholdMethod method, double deviationWeight, ObjectType type, float replaceValue);
/* Simple Threshold: calls imaqThreshold */
int frcSimpleThreshold(Image* dest, const Image* source, float rangeMin, float rangeMax, float newValue);
int frcSimpleThreshold(Image* dest, const Image* source, float rangeMin, float rangeMax);
/* Color/Hue Threshold: calls imaqColorThreshold */
int frcColorThreshold(Image* dest, const Image* source, ColorMode mode,
const Range* plane1Range, const Range* plane2Range, const Range* plane3Range);
int frcColorThreshold(Image* dest, const Image* source, int replaceValue, ColorMode mode,
const Range* plane1Range, const Range* plane2Range, const Range* plane3Range);
int frcHueThreshold(Image* dest, const Image* source, const Range* hueRange);
int frcHueThreshold(Image* dest, const Image* source, const Range* hueRange, int minSaturation);
/* Extract ColorHue Plane: calls imaqExtractColorPlanes */
int frcExtractColorPlanes(const Image* image, ColorMode mode, Image* plane1, Image* plane2, Image* plane3);
int frcExtractHuePlane(const Image* image, Image* huePlane);
int frcExtractHuePlane(const Image* image, Image* huePlane, int minSaturation);