mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-26 01:51:41 +00:00
Major formatting changes (breaks diffs). No code changes.
The changes made in this commit do not affect any actual code,
they are purely aesthetic. I ran clang-format with google style
over all .h/.cpp files in wpilibc that weren't in wpilibC++Sim
or gtest, and the eclipse formatter over all of the Java files
using the Google eclipse formatting configuration.
Change-Id: I9627bca0bc103c398ecc1c5ba17467193291ae63
This commit is contained in:
James Kuszmaul
@@ -1,5 +1,6 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014. All Rights Reserved. */
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/* Copyright (c) FIRST 2014. All Rights Reserved.
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*/
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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@@ -10,25 +11,19 @@
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using namespace std;
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BinaryImage::BinaryImage() : MonoImage() {}
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BinaryImage::BinaryImage() : MonoImage()
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{
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}
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BinaryImage::~BinaryImage()
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{
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}
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BinaryImage::~BinaryImage() {}
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/**
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* Get then number of particles for the image.
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* @returns the number of particles found for the image.
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*/
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int BinaryImage::GetNumberParticles()
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{
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int numParticles = 0;
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int success = imaqCountParticles(m_imaqImage, 1, &numParticles);
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wpi_setImaqErrorWithContext(success, "Error counting particles");
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return numParticles;
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int BinaryImage::GetNumberParticles() {
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int numParticles = 0;
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int success = imaqCountParticles(m_imaqImage, 1, &numParticles);
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wpi_setImaqErrorWithContext(success, "Error counting particles");
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return numParticles;
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}
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/**
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@@ -37,11 +32,11 @@ int BinaryImage::GetNumberParticles()
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* @param particleNumber Which particle analysis report to return.
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* @returns the selected particle analysis report
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*/
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ParticleAnalysisReport BinaryImage::GetParticleAnalysisReport(int particleNumber)
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{
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ParticleAnalysisReport par;
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GetParticleAnalysisReport(particleNumber, &par);
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return par;
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ParticleAnalysisReport BinaryImage::GetParticleAnalysisReport(
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int particleNumber) {
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ParticleAnalysisReport par;
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GetParticleAnalysisReport(particleNumber, &par);
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return par;
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}
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/**
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@@ -51,69 +46,79 @@ ParticleAnalysisReport BinaryImage::GetParticleAnalysisReport(int particleNumber
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* @param particleNumber Which particle analysis report to return.
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* @param par the selected particle analysis report
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*/
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void BinaryImage::GetParticleAnalysisReport(int particleNumber, ParticleAnalysisReport *par)
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{
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int success;
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int numParticles = 0;
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void BinaryImage::GetParticleAnalysisReport(int particleNumber,
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ParticleAnalysisReport *par) {
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int success;
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int numParticles = 0;
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success = imaqGetImageSize(m_imaqImage, &par->imageWidth, &par->imageHeight);
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wpi_setImaqErrorWithContext(success, "Error getting image size");
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if (StatusIsFatal())
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return;
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success = imaqGetImageSize(m_imaqImage, &par->imageWidth, &par->imageHeight);
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wpi_setImaqErrorWithContext(success, "Error getting image size");
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if (StatusIsFatal()) return;
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success = imaqCountParticles(m_imaqImage, 1, &numParticles);
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wpi_setImaqErrorWithContext(success, "Error counting particles");
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if (StatusIsFatal())
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return;
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success = imaqCountParticles(m_imaqImage, 1, &numParticles);
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wpi_setImaqErrorWithContext(success, "Error counting particles");
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if (StatusIsFatal()) return;
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if (particleNumber >= numParticles)
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{
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wpi_setWPIErrorWithContext(ParameterOutOfRange, "particleNumber");
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return;
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}
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if (particleNumber >= numParticles) {
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wpi_setWPIErrorWithContext(ParameterOutOfRange, "particleNumber");
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return;
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}
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par->particleIndex = particleNumber;
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// Don't bother measuring the rest of the particle if one fails
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bool good = ParticleMeasurement(particleNumber, IMAQ_MT_CENTER_OF_MASS_X, &par->center_mass_x);
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good = good && ParticleMeasurement(particleNumber, IMAQ_MT_CENTER_OF_MASS_Y, &par->center_mass_y);
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good = good && ParticleMeasurement(particleNumber, IMAQ_MT_AREA, &par->particleArea);
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good = good && ParticleMeasurement(particleNumber, IMAQ_MT_BOUNDING_RECT_TOP, &par->boundingRect.top);
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good = good && ParticleMeasurement(particleNumber, IMAQ_MT_BOUNDING_RECT_LEFT, &par->boundingRect.left);
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good = good && ParticleMeasurement(particleNumber, IMAQ_MT_BOUNDING_RECT_HEIGHT, &par->boundingRect.height);
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good = good && ParticleMeasurement(particleNumber, IMAQ_MT_BOUNDING_RECT_WIDTH, &par->boundingRect.width);
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good = good && ParticleMeasurement(particleNumber, IMAQ_MT_AREA_BY_IMAGE_AREA, &par->particleToImagePercent);
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good = good && ParticleMeasurement(particleNumber, IMAQ_MT_AREA_BY_PARTICLE_AND_HOLES_AREA, &par->particleQuality);
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par->particleIndex = particleNumber;
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// Don't bother measuring the rest of the particle if one fails
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bool good = ParticleMeasurement(particleNumber, IMAQ_MT_CENTER_OF_MASS_X,
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&par->center_mass_x);
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good = good && ParticleMeasurement(particleNumber, IMAQ_MT_CENTER_OF_MASS_Y,
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&par->center_mass_y);
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good = good &&
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ParticleMeasurement(particleNumber, IMAQ_MT_AREA, &par->particleArea);
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good = good && ParticleMeasurement(particleNumber, IMAQ_MT_BOUNDING_RECT_TOP,
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&par->boundingRect.top);
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good = good && ParticleMeasurement(particleNumber, IMAQ_MT_BOUNDING_RECT_LEFT,
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&par->boundingRect.left);
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good =
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good && ParticleMeasurement(particleNumber, IMAQ_MT_BOUNDING_RECT_HEIGHT,
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&par->boundingRect.height);
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good =
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good && ParticleMeasurement(particleNumber, IMAQ_MT_BOUNDING_RECT_WIDTH,
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&par->boundingRect.width);
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good = good && ParticleMeasurement(particleNumber, IMAQ_MT_AREA_BY_IMAGE_AREA,
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&par->particleToImagePercent);
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good = good && ParticleMeasurement(particleNumber,
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IMAQ_MT_AREA_BY_PARTICLE_AND_HOLES_AREA,
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&par->particleQuality);
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if (good)
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{
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/* normalized position (-1 to 1) */
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par->center_mass_x_normalized = NormalizeFromRange(par->center_mass_x, par->imageWidth);
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par->center_mass_y_normalized = NormalizeFromRange(par->center_mass_y, par->imageHeight);
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}
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if (good) {
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/* normalized position (-1 to 1) */
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par->center_mass_x_normalized =
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NormalizeFromRange(par->center_mass_x, par->imageWidth);
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par->center_mass_y_normalized =
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NormalizeFromRange(par->center_mass_y, par->imageHeight);
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}
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}
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/**
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* Get an ordered vector of particles for the image.
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* Create a vector of particle analysis reports sorted by size for an image.
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* The vector contains the actual report structures.
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* @returns a pointer to the vector of particle analysis reports. The caller must delete the
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* @returns a pointer to the vector of particle analysis reports. The caller
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* must delete the
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* vector when finished using it.
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*/
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vector<ParticleAnalysisReport>* BinaryImage::GetOrderedParticleAnalysisReports()
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{
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vector<ParticleAnalysisReport>* particles = new vector<ParticleAnalysisReport>;
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int particleCount = GetNumberParticles();
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for(int particleIndex = 0; particleIndex < particleCount; particleIndex++)
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{
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particles->push_back(GetParticleAnalysisReport(particleIndex));
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}
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// TODO: This is pretty inefficient since each compare in the sort copies
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// both reports being compared... do it manually instead... while we're
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// at it, we should provide a version that allows a preallocated buffer of
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// ParticleAnalysisReport structures
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sort(particles->begin(), particles->end(), CompareParticleSizes);
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return particles;
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vector<ParticleAnalysisReport> *
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BinaryImage::GetOrderedParticleAnalysisReports() {
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vector<ParticleAnalysisReport> *particles =
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new vector<ParticleAnalysisReport>;
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int particleCount = GetNumberParticles();
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for (int particleIndex = 0; particleIndex < particleCount; particleIndex++) {
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particles->push_back(GetParticleAnalysisReport(particleIndex));
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}
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// TODO: This is pretty inefficient since each compare in the sort copies
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// both reports being compared... do it manually instead... while we're
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// at it, we should provide a version that allows a preallocated buffer of
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// ParticleAnalysisReport structures
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sort(particles->begin(), particles->end(), CompareParticleSizes);
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return particles;
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}
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/**
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@@ -121,102 +126,108 @@ vector<ParticleAnalysisReport>* BinaryImage::GetOrderedParticleAnalysisReports()
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* Writes the binary image to flash on the cRIO for later inspection.
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* @param fileName the name of the image file written to the flash.
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*/
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void BinaryImage::Write(const char *fileName)
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{
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RGBValue colorTable[256];
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memset(colorTable, 0, sizeof(colorTable));
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colorTable[0].R = 0;
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colorTable[1].R = 255;
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colorTable[0].G = colorTable[1].G = 0;
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colorTable[0].B = colorTable[1].B = 0;
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colorTable[0].alpha = colorTable[1].alpha = 0;
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imaqWriteFile(m_imaqImage, fileName, colorTable);
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void BinaryImage::Write(const char *fileName) {
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RGBValue colorTable[256];
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memset(colorTable, 0, sizeof(colorTable));
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colorTable[0].R = 0;
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colorTable[1].R = 255;
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colorTable[0].G = colorTable[1].G = 0;
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colorTable[0].B = colorTable[1].B = 0;
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colorTable[0].alpha = colorTable[1].alpha = 0;
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imaqWriteFile(m_imaqImage, fileName, colorTable);
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}
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/**
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* Measure a single parameter for an image.
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* Get the measurement for a single parameter about an image by calling the imaqMeasureParticle
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* Get the measurement for a single parameter about an image by calling the
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* imaqMeasureParticle
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* function for the selected parameter.
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* @param particleNumber which particle in the set of particles
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* @param whatToMeasure the imaq MeasurementType (what to measure)
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* @param result the value of the measurement
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* @returns false on failure, true on success
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*/
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bool BinaryImage::ParticleMeasurement(int particleNumber, MeasurementType whatToMeasure, int *result)
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{
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double resultDouble;
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bool success = ParticleMeasurement(particleNumber, whatToMeasure, &resultDouble);
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*result = (int)resultDouble;
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return success;
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bool BinaryImage::ParticleMeasurement(int particleNumber,
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MeasurementType whatToMeasure,
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int *result) {
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double resultDouble;
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bool success =
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ParticleMeasurement(particleNumber, whatToMeasure, &resultDouble);
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*result = (int)resultDouble;
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return success;
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}
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/**
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* Measure a single parameter for an image.
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* Get the measurement for a single parameter about an image by calling the imaqMeasureParticle
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* Get the measurement for a single parameter about an image by calling the
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* imaqMeasureParticle
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* function for the selected parameter.
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* @param particleNumber which particle in the set of particles
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* @param whatToMeasure the imaq MeasurementType (what to measure)
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* @param result the value of the measurement
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* @returns true on failure, false on success
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*/
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bool BinaryImage::ParticleMeasurement(int particleNumber, MeasurementType whatToMeasure, double *result)
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{
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int success;
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success = imaqMeasureParticle(m_imaqImage, particleNumber, 0, whatToMeasure, result);
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wpi_setImaqErrorWithContext(success, "Error measuring particle");
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return !StatusIsFatal();
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bool BinaryImage::ParticleMeasurement(int particleNumber,
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MeasurementType whatToMeasure,
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double *result) {
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int success;
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success = imaqMeasureParticle(m_imaqImage, particleNumber, 0, whatToMeasure,
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result);
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wpi_setImaqErrorWithContext(success, "Error measuring particle");
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return !StatusIsFatal();
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}
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//Normalizes to [-1,1]
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double BinaryImage::NormalizeFromRange(double position, int range)
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{
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return (position * 2.0 / (double)range) - 1.0;
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// Normalizes to [-1,1]
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double BinaryImage::NormalizeFromRange(double position, int range) {
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return (position * 2.0 / (double)range) - 1.0;
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}
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/**
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* The compare helper function for sort.
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* This function compares two particle analysis reports as a helper for the sort function.
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* This function compares two particle analysis reports as a helper for the sort
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* function.
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* @param particle1 The first particle to compare
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* @param particle2 the second particle to compare
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* @returns true if particle1 is greater than particle2
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*/
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bool BinaryImage::CompareParticleSizes(ParticleAnalysisReport particle1, ParticleAnalysisReport particle2)
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{
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//we want descending sort order
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return particle1.particleToImagePercent > particle2.particleToImagePercent;
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bool BinaryImage::CompareParticleSizes(ParticleAnalysisReport particle1,
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ParticleAnalysisReport particle2) {
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// we want descending sort order
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return particle1.particleToImagePercent > particle2.particleToImagePercent;
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}
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BinaryImage *BinaryImage::RemoveSmallObjects(bool connectivity8, int erosions)
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{
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BinaryImage *result = new BinaryImage();
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int success = imaqSizeFilter(result->GetImaqImage(), m_imaqImage, connectivity8, erosions, IMAQ_KEEP_LARGE, NULL);
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wpi_setImaqErrorWithContext(success, "Error in RemoveSmallObjects");
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return result;
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BinaryImage *BinaryImage::RemoveSmallObjects(bool connectivity8, int erosions) {
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BinaryImage *result = new BinaryImage();
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int success = imaqSizeFilter(result->GetImaqImage(), m_imaqImage,
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connectivity8, erosions, IMAQ_KEEP_LARGE, NULL);
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wpi_setImaqErrorWithContext(success, "Error in RemoveSmallObjects");
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return result;
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}
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BinaryImage *BinaryImage::RemoveLargeObjects(bool connectivity8, int erosions)
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{
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BinaryImage *result = new BinaryImage();
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int success = imaqSizeFilter(result->GetImaqImage(), m_imaqImage, connectivity8, erosions, IMAQ_KEEP_SMALL, NULL);
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wpi_setImaqErrorWithContext(success, "Error in RemoveLargeObjects");
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return result;
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BinaryImage *BinaryImage::RemoveLargeObjects(bool connectivity8, int erosions) {
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BinaryImage *result = new BinaryImage();
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int success = imaqSizeFilter(result->GetImaqImage(), m_imaqImage,
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connectivity8, erosions, IMAQ_KEEP_SMALL, NULL);
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wpi_setImaqErrorWithContext(success, "Error in RemoveLargeObjects");
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return result;
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}
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BinaryImage *BinaryImage::ConvexHull(bool connectivity8)
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{
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BinaryImage *result = new BinaryImage();
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int success = imaqConvexHull(result->GetImaqImage(), m_imaqImage, connectivity8);
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wpi_setImaqErrorWithContext(success, "Error in convex hull operation");
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return result;
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BinaryImage *BinaryImage::ConvexHull(bool connectivity8) {
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BinaryImage *result = new BinaryImage();
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int success =
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imaqConvexHull(result->GetImaqImage(), m_imaqImage, connectivity8);
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wpi_setImaqErrorWithContext(success, "Error in convex hull operation");
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return result;
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}
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BinaryImage *BinaryImage::ParticleFilter(ParticleFilterCriteria2 *criteria, int criteriaCount)
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{
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BinaryImage *result = new BinaryImage();
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int numParticles;
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ParticleFilterOptions2 filterOptions = {0, 0, 0, 1};
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int success = imaqParticleFilter4(result->GetImaqImage(), m_imaqImage, criteria, criteriaCount, &filterOptions, NULL, &numParticles);
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wpi_setImaqErrorWithContext(success, "Error in particle filter operation");
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return result;
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BinaryImage *BinaryImage::ParticleFilter(ParticleFilterCriteria2 *criteria,
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int criteriaCount) {
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BinaryImage *result = new BinaryImage();
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int numParticles;
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ParticleFilterOptions2 filterOptions = {0, 0, 0, 1};
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int success =
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imaqParticleFilter4(result->GetImaqImage(), m_imaqImage, criteria,
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criteriaCount, &filterOptions, NULL, &numParticles);
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wpi_setImaqErrorWithContext(success, "Error in particle filter operation");
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return result;
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}
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Reference in New Issue
Block a user