2015 Color and Retroreflective vision samples for C++ and Java

Change-Id: Id95925ced100b25d591c40995bb016780737312d

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/2015Vision/Color_src/Robot.java

@@ -0,0 +1,212 @@
+package $package;
+
+import java.lang.Math;
+import java.util.Comparator;
+import java.util.Vector;
+
+import com.ni.vision.NIVision;
+import com.ni.vision.NIVision.Image;
+import com.ni.vision.NIVision.ImageType;
+
+import edu.wpi.first.wpilibj.CameraServer;
+import edu.wpi.first.wpilibj.SampleRobot;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+/**
+ * Example of finding yellow totes based on color.
+ * This example utilizes an image file, which you need to copy to the roboRIO
+ * To use a camera you will have to integrate the appropriate camera details with this example.
+ * To use a USB camera instead, see the SimpelVision and AdvancedVision examples for details
+ * on using the USB camera. To use an Axis Camera, see the AxisCamera example for details on
+ * using an Axis Camera.
+ */
+public class Robot extends SampleRobot {
+		//A structure to hold measurements of a particle
+		public class ParticleReport implements Comparator<ParticleReport>, Comparable<ParticleReport>{
+			double PercentAreaToImageArea;
+			double Area;
+			double BoundingRectLeft;
+			double BoundingRectTop;
+			double BoundingRectRight;
+			double BoundingRectBottom;
+			
+			public int compareTo(ParticleReport r)
+			{
+				return (int)(r.Area - this.Area);
+			}
+			
+			public int compare(ParticleReport r1, ParticleReport r2)
+			{
+				return (int)(r1.Area - r2.Area);
+			}
+		};
+
+		//Structure to represent the scores for the various tests used for target identification
+		public class Scores {
+			double Area;
+			double Aspect;
+		};
+
+		//Images
+		Image frame;
+		Image binaryFrame;
+		int imaqError;
+
+		//Constants
+		NIVision.Range TOTE_HUE_RANGE = new NIVision.Range(101, 64);	//Default hue range for yellow tote
+		NIVision.Range TOTE_SAT_RANGE = new NIVision.Range(88, 255);	//Default saturation range for yellow tote
+		NIVision.Range TOTE_VAL_RANGE = new NIVision.Range(134, 255);	//Default value range for yellow tote
+		double AREA_MINIMUM = 0.5; //Default Area minimum for particle as a percentage of total image area
+		double LONG_RATIO = 2.22; //Tote long side = 26.9 / Tote height = 12.1 = 2.22
+		double SHORT_RATIO = 1.4; //Tote short side = 16.9 / Tote height = 12.1 = 1.4
+		double SCORE_MIN = 75.0;  //Minimum score to be considered a tote
+		double VIEW_ANGLE = 49.4; //View angle fo camera, set to Axis m1011 by default, 64 for m1013, 51.7 for 206, 52 for HD3000 square, 60 for HD3000 640x480
+		NIVision.ParticleFilterCriteria2 criteria[] = new NIVision.ParticleFilterCriteria2[1];
+		NIVision.ParticleFilterOptions2 filterOptions = new NIVision.ParticleFilterOptions2(0,0,1,1);
+		Scores scores = new Scores();
+
+		public void robotInit() {
+		    // create images
+			frame = NIVision.imaqCreateImage(ImageType.IMAGE_RGB, 0);
+			binaryFrame = NIVision.imaqCreateImage(ImageType.IMAGE_U8, 0);
+			criteria[0] = new NIVision.ParticleFilterCriteria2(NIVision.MeasurementType.MT_AREA_BY_IMAGE_AREA, AREA_MINIMUM, 100.0, 0, 0);
+
+			//Put default values to SmartDashboard so fields will appear
+			SmartDashboard.putNumber("Tote hue min", TOTE_HUE_RANGE.minValue);
+			SmartDashboard.putNumber("Tote hue max", TOTE_HUE_RANGE.maxValue);
+			SmartDashboard.putNumber("Tote sat min", TOTE_SAT_RANGE.minValue);
+			SmartDashboard.putNumber("Tote sat max", TOTE_SAT_RANGE.maxValue);
+			SmartDashboard.putNumber("Tote val min", TOTE_VAL_RANGE.minValue);
+			SmartDashboard.putNumber("Tote val max", TOTE_VAL_RANGE.maxValue);
+			SmartDashboard.putNumber("Area min %", AREA_MINIMUM);
+		}
+
+		public void autonomous() {
+			while (isAutonomous() && isEnabled())
+			{
+				//read file in from disk. For this example to run you need to copy image20.jpg from the SampleImages folder in this project to the
+				//directory shown below using FTP or SFTP: http://wpilib.screenstepslive.com/s/4485/m/24166/l/282299-roborio-ftp
+				NIVision.imaqReadFile(frame, "/home/lvuser/SampleImages/image20.jpg");
+
+				//Update threshold values from SmartDashboard. For performance reasons it is recommended to remove this after calibration is finished.
+				TOTE_HUE_RANGE.minValue = (int)SmartDashboard.getNumber("Tote hue min", TOTE_HUE_RANGE.minValue);
+				TOTE_HUE_RANGE.maxValue = (int)SmartDashboard.getNumber("Tote hue max", TOTE_HUE_RANGE.maxValue);
+				TOTE_SAT_RANGE.minValue = (int)SmartDashboard.getNumber("Tote sat min", TOTE_SAT_RANGE.minValue);
+				TOTE_SAT_RANGE.maxValue = (int)SmartDashboard.getNumber("Tote sat max", TOTE_SAT_RANGE.maxValue);
+				TOTE_VAL_RANGE.minValue = (int)SmartDashboard.getNumber("Tote val min", TOTE_VAL_RANGE.minValue);
+				TOTE_VAL_RANGE.maxValue = (int)SmartDashboard.getNumber("Tote val max", TOTE_VAL_RANGE.maxValue);
+
+				//Threshold the image looking for yellow (tote color)
+				NIVision.imaqColorThreshold(binaryFrame, frame, 255, NIVision.ColorMode.HSV, TOTE_HUE_RANGE, TOTE_SAT_RANGE, TOTE_VAL_RANGE);
+
+				//Send particle count to dashboard
+				int numParticles = NIVision.imaqCountParticles(binaryFrame, 1);
+				SmartDashboard.putNumber("Masked particles", numParticles);
+
+				//Send masked image to dashboard to assist in tweaking mask.
+				CameraServer.getInstance().setImage(binaryFrame);
+
+				//filter out small particles
+				float areaMin = (float)SmartDashboard.getNumber("Area min %", AREA_MINIMUM);
+				criteria[0].lower = areaMin;
+				imaqError = NIVision.imaqParticleFilter4(binaryFrame, binaryFrame, criteria, filterOptions, null);
+
+				//Send particle count after filtering to dashboard
+				numParticles = NIVision.imaqCountParticles(binaryFrame, 1);
+				SmartDashboard.putNumber("Filtered particles", numParticles);
+
+				if(numParticles > 0)
+				{
+					//Measure particles and sort by particle size
+					Vector<ParticleReport> particles = new Vector<ParticleReport>();
+					for(int particleIndex = 0; particleIndex < numParticles; particleIndex++)
+					{
+						ParticleReport par = new ParticleReport();
+						par.PercentAreaToImageArea = NIVision.imaqMeasureParticle(binaryFrame, particleIndex, 0, NIVision.MeasurementType.MT_AREA_BY_IMAGE_AREA);
+						par.Area = NIVision.imaqMeasureParticle(binaryFrame, particleIndex, 0, NIVision.MeasurementType.MT_AREA);
+						par.BoundingRectTop = NIVision.imaqMeasureParticle(binaryFrame, particleIndex, 0, NIVision.MeasurementType.MT_BOUNDING_RECT_TOP);
+						par.BoundingRectLeft = NIVision.imaqMeasureParticle(binaryFrame, particleIndex, 0, NIVision.MeasurementType.MT_BOUNDING_RECT_LEFT);
+						par.BoundingRectBottom = NIVision.imaqMeasureParticle(binaryFrame, particleIndex, 0, NIVision.MeasurementType.MT_BOUNDING_RECT_BOTTOM);
+						par.BoundingRectRight = NIVision.imaqMeasureParticle(binaryFrame, particleIndex, 0, NIVision.MeasurementType.MT_BOUNDING_RECT_RIGHT);
+						particles.add(par);
+					}
+					particles.sort(null);
+
+					//This example only scores the largest particle. Extending to score all particles and choosing the desired one is left as an exercise
+					//for the reader. Note that the long and short side scores expect a single tote and will not work for a stack of 2 or more totes.
+					//Modification of the code to accommodate 2 or more stacked totes is left as an exercise for the reader.
+					scores.Aspect = AspectScore(particles.elementAt(0));
+					SmartDashboard.putNumber("Aspect", scores.Aspect);
+					scores.Area = AreaScore(particles.elementAt(0));
+					SmartDashboard.putNumber("Area", scores.Area);
+					boolean isTote = scores.Aspect > SCORE_MIN && scores.Area > SCORE_MIN;
+
+					//Send distance and tote status to dashboard. The bounding rect, particularly the horizontal center (left - right) may be useful for rotating/driving towards a tote
+					SmartDashboard.putBoolean("IsTote", isTote);
+					SmartDashboard.putNumber("Distance", computeDistance(binaryFrame, particles.elementAt(0)));
+				} else {
+					SmartDashboard.putBoolean("IsTote", false);
+				}
+
+				Timer.delay(0.005);				// wait for a motor update time
+			}
+		}
+
+		public void operatorControl() {
+			while(isOperatorControl() && isEnabled()) {
+				Timer.delay(0.005);				// wait for a motor update time
+			}
+		}
+
+		//Comparator function for sorting particles. Returns true if particle 1 is larger
+		static boolean CompareParticleSizes(ParticleReport particle1, ParticleReport particle2)
+		{
+			//we want descending sort order
+			return particle1.PercentAreaToImageArea > particle2.PercentAreaToImageArea;
+		}
+
+		/**
+		 * Converts a ratio with ideal value of 1 to a score. The resulting function is piecewise
+		 * linear going from (0,0) to (1,100) to (2,0) and is 0 for all inputs outside the range 0-2
+		 */
+		double ratioToScore(double ratio)
+		{
+			return (Math.max(0, Math.min(100*(1-Math.abs(1-ratio)), 100)));
+		}
+
+		double AreaScore(ParticleReport report)
+		{
+			double boundingArea = (report.BoundingRectBottom - report.BoundingRectTop) * (report.BoundingRectRight - report.BoundingRectLeft);
+			//Tape is 7" edge so 49" bounding rect. With 2" wide tape it covers 24" of the rect.
+			return ratioToScore((49/24)*report.Area/boundingArea);
+		}
+
+		/**
+		 * Method to score if the aspect ratio of the particle appears to match the retro-reflective target. Target is 7"x7" so aspect should be 1
+		 */
+		double AspectScore(ParticleReport report)
+		{
+			return ratioToScore(((report.BoundingRectRight-report.BoundingRectLeft)/(report.BoundingRectBottom-report.BoundingRectTop)));
+		}
+
+		/**
+		 * Computes the estimated distance to a target using the width of the particle in the image. For more information and graphics
+		 * showing the math behind this approach see the Vision Processing section of the ScreenStepsLive documentation.
+		 *
+		 * @param image The image to use for measuring the particle estimated rectangle
+		 * @param report The Particle Analysis Report for the particle
+		 * @param isLong Boolean indicating if the target is believed to be the long side of a tote
+		 * @return The estimated distance to the target in feet.
+		 */
+		double computeDistance (Image image, ParticleReport report) {
+			double normalizedWidth, targetWidth;
+			NIVision.GetImageSizeResult size;
+
+			size = NIVision.imaqGetImageSize(image);
+			normalizedWidth = 2*(report.BoundingRectRight - report.BoundingRectLeft)/size.width;
+			targetWidth = 7;
+
+			return  targetWidth/(normalizedWidth*12*Math.tan(VIEW_ANGLE*Math.PI/(180*2)));
+		}
+}

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/2015Vision/Retro_src/Robot.java

@@ -0,0 +1,212 @@
+package $package;
+
+import java.lang.Math;
+import java.util.Comparator;
+import java.util.Vector;
+
+import com.ni.vision.NIVision;
+import com.ni.vision.NIVision.Image;
+import com.ni.vision.NIVision.ImageType;
+
+import edu.wpi.first.wpilibj.CameraServer;
+import edu.wpi.first.wpilibj.SampleRobot;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+/**
+ * Example of finding yellow totes based on retroreflective target.
+ * This example utilizes an image file, which you need to copy to the roboRIO
+ * To use a camera you will have to integrate the appropriate camera details with this example.
+ * To use a USB camera instead, see the SimpelVision and AdvancedVision examples for details
+ * on using the USB camera. To use an Axis Camera, see the AxisCamera example for details on
+ * using an Axis Camera.
+ */
+public class Robot extends SampleRobot {
+		//A structure to hold measurements of a particle
+		public class ParticleReport implements Comparator<ParticleReport>, Comparable<ParticleReport>{
+			double PercentAreaToImageArea;
+			double Area;
+			double BoundingRectLeft;
+			double BoundingRectTop;
+			double BoundingRectRight;
+			double BoundingRectBottom;
+			
+			public int compareTo(ParticleReport r)
+			{
+				return (int)(r.Area - this.Area);
+			}
+			
+			public int compare(ParticleReport r1, ParticleReport r2)
+			{
+				return (int)(r1.Area - r2.Area);
+			}
+		};
+
+		//Structure to represent the scores for the various tests used for target identification
+		public class Scores {
+			double Area;
+			double Aspect;
+		};
+
+		//Images
+		Image frame;
+		Image binaryFrame;
+		int imaqError;
+
+		//Constants
+		NIVision.Range TOTE_HUE_RANGE = new NIVision.Range(101, 64);	//Default hue range for yellow tote
+		NIVision.Range TOTE_SAT_RANGE = new NIVision.Range(88, 255);	//Default saturation range for yellow tote
+		NIVision.Range TOTE_VAL_RANGE = new NIVision.Range(134, 255);	//Default value range for yellow tote
+		double AREA_MINIMUM = 0.5; //Default Area minimum for particle as a percentage of total image area
+		double LONG_RATIO = 2.22; //Tote long side = 26.9 / Tote height = 12.1 = 2.22
+		double SHORT_RATIO = 1.4; //Tote short side = 16.9 / Tote height = 12.1 = 1.4
+		double SCORE_MIN = 75.0;  //Minimum score to be considered a tote
+		double VIEW_ANGLE = 49.4; //View angle fo camera, set to Axis m1011 by default, 64 for m1013, 51.7 for 206, 52 for HD3000 square, 60 for HD3000 640x480
+		NIVision.ParticleFilterCriteria2 criteria[] = new NIVision.ParticleFilterCriteria2[1];
+		NIVision.ParticleFilterOptions2 filterOptions = new NIVision.ParticleFilterOptions2(0,0,1,1);
+		Scores scores = new Scores();
+
+		public void robotInit() {
+		    // create images
+			frame = NIVision.imaqCreateImage(ImageType.IMAGE_RGB, 0);
+			binaryFrame = NIVision.imaqCreateImage(ImageType.IMAGE_U8, 0);
+			criteria[0] = new NIVision.ParticleFilterCriteria2(NIVision.MeasurementType.MT_AREA_BY_IMAGE_AREA, AREA_MINIMUM, 100.0, 0, 0);
+
+			//Put default values to SmartDashboard so fields will appear
+			SmartDashboard.putNumber("Tote hue min", TOTE_HUE_RANGE.minValue);
+			SmartDashboard.putNumber("Tote hue max", TOTE_HUE_RANGE.maxValue);
+			SmartDashboard.putNumber("Tote sat min", TOTE_SAT_RANGE.minValue);
+			SmartDashboard.putNumber("Tote sat max", TOTE_SAT_RANGE.maxValue);
+			SmartDashboard.putNumber("Tote val min", TOTE_VAL_RANGE.minValue);
+			SmartDashboard.putNumber("Tote val max", TOTE_VAL_RANGE.maxValue);
+			SmartDashboard.putNumber("Area min %", AREA_MINIMUM);
+		}
+
+		public void autonomous() {
+			while (isAutonomous() && isEnabled())
+			{
+				//read file in from disk. For this example to run you need to copy image.jpg from the SampleImages folder in this project to the
+				//directory shown below using FTP or SFTP: http://wpilib.screenstepslive.com/s/4485/m/24166/l/282299-roborio-ftp
+				NIVision.imaqReadFile(frame, "/home/lvuser/SampleImages/image.jpg");
+
+				//Update threshold values from SmartDashboard. For performance reasons it is recommended to remove this after calibration is finished.
+				TOTE_HUE_RANGE.minValue = (int)SmartDashboard.getNumber("Tote hue min", TOTE_HUE_RANGE.minValue);
+				TOTE_HUE_RANGE.maxValue = (int)SmartDashboard.getNumber("Tote hue max", TOTE_HUE_RANGE.maxValue);
+				TOTE_SAT_RANGE.minValue = (int)SmartDashboard.getNumber("Tote sat min", TOTE_SAT_RANGE.minValue);
+				TOTE_SAT_RANGE.maxValue = (int)SmartDashboard.getNumber("Tote sat max", TOTE_SAT_RANGE.maxValue);
+				TOTE_VAL_RANGE.minValue = (int)SmartDashboard.getNumber("Tote val min", TOTE_VAL_RANGE.minValue);
+				TOTE_VAL_RANGE.maxValue = (int)SmartDashboard.getNumber("Tote val max", TOTE_VAL_RANGE.maxValue);
+
+				//Threshold the image looking for yellow (tote color)
+				NIVision.imaqColorThreshold(binaryFrame, frame, 255, NIVision.ColorMode.HSV, TOTE_HUE_RANGE, TOTE_SAT_RANGE, TOTE_VAL_RANGE);
+
+				//Send particle count to dashboard
+				int numParticles = NIVision.imaqCountParticles(binaryFrame, 1);
+				SmartDashboard.putNumber("Masked particles", numParticles);
+
+				//Send masked image to dashboard to assist in tweaking mask.
+				CameraServer.getInstance().setImage(binaryFrame);
+
+				//filter out small particles
+				float areaMin = (float)SmartDashboard.getNumber("Area min %", AREA_MINIMUM);
+				criteria[0].lower = areaMin;
+				imaqError = NIVision.imaqParticleFilter4(binaryFrame, binaryFrame, criteria, filterOptions, null);
+
+				//Send particle count after filtering to dashboard
+				numParticles = NIVision.imaqCountParticles(binaryFrame, 1);
+				SmartDashboard.putNumber("Filtered particles", numParticles);
+
+				if(numParticles > 0)
+				{
+					//Measure particles and sort by particle size
+					Vector<ParticleReport> particles = new Vector<ParticleReport>();
+					for(int particleIndex = 0; particleIndex < numParticles; particleIndex++)
+					{
+						ParticleReport par = new ParticleReport();
+						par.PercentAreaToImageArea = NIVision.imaqMeasureParticle(binaryFrame, particleIndex, 0, NIVision.MeasurementType.MT_AREA_BY_IMAGE_AREA);
+						par.Area = NIVision.imaqMeasureParticle(binaryFrame, particleIndex, 0, NIVision.MeasurementType.MT_AREA);
+						par.BoundingRectTop = NIVision.imaqMeasureParticle(binaryFrame, particleIndex, 0, NIVision.MeasurementType.MT_BOUNDING_RECT_TOP);
+						par.BoundingRectLeft = NIVision.imaqMeasureParticle(binaryFrame, particleIndex, 0, NIVision.MeasurementType.MT_BOUNDING_RECT_LEFT);
+						par.BoundingRectBottom = NIVision.imaqMeasureParticle(binaryFrame, particleIndex, 0, NIVision.MeasurementType.MT_BOUNDING_RECT_BOTTOM);
+						par.BoundingRectRight = NIVision.imaqMeasureParticle(binaryFrame, particleIndex, 0, NIVision.MeasurementType.MT_BOUNDING_RECT_RIGHT);
+						particles.add(par);
+					}
+					particles.sort(null);
+
+					//This example only scores the largest particle. Extending to score all particles and choosing the desired one is left as an exercise
+					//for the reader. Note that this scores and reports information about a single particle (single L shaped target). To get accurate information 
+					//about the location of the tote (not just the distance) you will need to correlate two adjacent targets in order to find the true center of the tote.
+					scores.Aspect = AspectScore(particles.elementAt(0));
+					SmartDashboard.putNumber("Aspect", scores.Aspect);
+					scores.Area = AreaScore(particles.elementAt(0));
+					SmartDashboard.putNumber("Area", scores.Area);
+					boolean isTote = scores.Aspect > SCORE_MIN && scores.Area > SCORE_MIN;
+
+					//Send distance and tote status to dashboard. The bounding rect, particularly the horizontal center (left - right) may be useful for rotating/driving towards a tote
+					SmartDashboard.putBoolean("IsTote", isTote);
+					SmartDashboard.putNumber("Distance", computeDistance(binaryFrame, particles.elementAt(0)));
+				} else {
+					SmartDashboard.putBoolean("IsTote", false);
+				}
+
+				Timer.delay(0.005);				// wait for a motor update time
+			}
+		}
+
+		public void operatorControl() {
+			while(isOperatorControl() && isEnabled()) {
+				Timer.delay(0.005);				// wait for a motor update time
+			}
+		}
+
+		//Comparator function for sorting particles. Returns true if particle 1 is larger
+		static boolean CompareParticleSizes(ParticleReport particle1, ParticleReport particle2)
+		{
+			//we want descending sort order
+			return particle1.PercentAreaToImageArea > particle2.PercentAreaToImageArea;
+		}
+
+		/**
+		 * Converts a ratio with ideal value of 1 to a score. The resulting function is piecewise
+		 * linear going from (0,0) to (1,100) to (2,0) and is 0 for all inputs outside the range 0-2
+		 */
+		double ratioToScore(double ratio)
+		{
+			return (Math.max(0, Math.min(100*(1-Math.abs(1-ratio)), 100)));
+		}
+
+		double AreaScore(ParticleReport report)
+		{
+			double boundingArea = (report.BoundingRectBottom - report.BoundingRectTop) * (report.BoundingRectRight - report.BoundingRectLeft);
+			//Tape is 7" edge so 49" bounding rect. With 2" wide tape it covers 24" of the rect.
+			return ratioToScore((49/24)*report.Area/boundingArea);
+		}
+
+		/**
+		 * Method to score if the aspect ratio of the particle appears to match the retro-reflective target. Target is 7"x7" so aspect should be 1
+		 */
+		double AspectScore(ParticleReport report)
+		{
+			return ratioToScore(((report.BoundingRectRight-report.BoundingRectLeft)/(report.BoundingRectBottom-report.BoundingRectTop)));
+		}
+
+		/**
+		 * Computes the estimated distance to a target using the width of the particle in the image. For more information and graphics
+		 * showing the math behind this approach see the Vision Processing section of the ScreenStepsLive documentation.
+		 *
+		 * @param image The image to use for measuring the particle estimated rectangle
+		 * @param report The Particle Analysis Report for the particle
+		 * @param isLong Boolean indicating if the target is believed to be the long side of a tote
+		 * @return The estimated distance to the target in feet.
+		 */
+		double computeDistance (Image image, ParticleReport report) {
+			double normalizedWidth, targetWidth;
+			NIVision.GetImageSizeResult size;
+
+			size = NIVision.imaqGetImageSize(image);
+			normalizedWidth = 2*(report.BoundingRectRight - report.BoundingRectLeft)/size.width;
+			targetWidth = 7;
+
+			return  targetWidth/(normalizedWidth*12*Math.tan(VIEW_ANGLE*Math.PI/(180*2)));
+		}
+}

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/examples.xml

@@ -325,6 +325,132 @@
         destination="src/$package-dir/Robot.java"></file>
     </files>
   </example>
+  
+  	<example>
+		<name>2015 Vision Color Sample</name>
+        <description>An example program that demonstrates image processing to locate Yellow totes by color.
+			This example uses a file which must be copied over to the roboRIO via FTP to demonstrate processing.
+			To use this code with a camera, you must integrate the code for image acquisition from the appropriate
+			camera example;
+        </description>
+        <tags>
+            <tag>Vision</tag>
+            <tag>Complete List</tag>
+        </tags>
+        <packages>
+            <package>src/$package-dir</package>
+			<package>SampleImages</package>
+        </packages>
+        <files>
+            <file source="examples/2015Vision/Color_src/Robot.java"
+                  destination="src/$package-dir/Robot.java"></file>
+			<file source="examples/2015Vision/SampleImages/image.jpg"
+				  destination="SampleImages/image.jpg"></file>
+			<file source="examples/2015Vision/SampleImages/image2.jpg"
+				  destination="SampleImages/image2.jpg"></file>
+			<file source="examples/2015Vision/SampleImages/image3.jpg"
+				  destination="SampleImages/image3.jpg"></file>
+			<file source="examples/2015Vision/SampleImages/image4.jpg"
+				  destination="SampleImages/image4.jpg"></file>
+			<file source="examples/2015Vision/SampleImages/image5.jpg"
+				  destination="SampleImages/image5.jpg"></file>
+			<file source="examples/2015Vision/SampleImages/image6.jpg"
+				  destination="SampleImages/image6.jpg"></file>
+			<file source="examples/2015Vision/SampleImages/image7.jpg"
+				  destination="SampleImages/image7.jpg"></file>
+			<file source="examples/2015Vision/SampleImages/image8.jpg"
+				  destination="SampleImages/image8.jpg"></file>
+			<file source="examples/2015Vision/SampleImages/image9.jpg"
+				  destination="SampleImages/image9.jpg"></file>
+			<file source="examples/2015Vision/SampleImages/image10.jpg"
+				  destination="SampleImages/image10.jpg"></file>
+			<file source="examples/2015Vision/SampleImages/image11.jpg"
+				  destination="SampleImages/image11.jpg"></file>
+			<file source="examples/2015Vision/SampleImages/image12.jpg"
+				  destination="SampleImages/image12.jpg"></file>
+			<file source="examples/2015Vision/SampleImages/image13.jpg"
+				  destination="SampleImages/image13.jpg"></file>
+			<file source="examples/2015Vision/SampleImages/image14.jpg"
+				  destination="SampleImages/image14.jpg"></file>
+			<file source="examples/2015Vision/SampleImages/image15.jpg"
+				  destination="SampleImages/image15.jpg"></file>
+			<file source="examples/2015Vision/SampleImages/image16.jpg"
+				  destination="SampleImages/image16.jpg"></file>
+			<file source="examples/2015Vision/SampleImages/image17.jpg"
+				  destination="SampleImages/image17.jpg"></file>
+			<file source="examples/2015Vision/SampleImages/image18.jpg"
+				  destination="SampleImages/image18.jpg"></file>
+			<file source="examples/2015Vision/SampleImages/image19.jpg"
+				  destination="SampleImages/image19.jpg"></file>
+			<file source="examples/2015Vision/SampleImages/image20.jpg"
+				  destination="SampleImages/image20.jpg"></file>
+			<file source="examples/2015Vision/SampleImages/IMG_1800.png"
+				  destination="SampleImages/IMG_1800.png"></file>
+		</files>
+    </example>
+
+	<example>
+		<name>2015 Vision Retro Sample</name>
+        <description>An example program that demonstrates image processing to locate Yellow totes by the retroreflective target.
+			This example uses a file which must be copied over to the roboRIO via FTP to demonstrate processing.
+			To use this code with a camera, you must integrate the code for image acquisition from the appropriate
+			camera example;
+        </description>
+        <tags>
+            <tag>Vision</tag>
+            <tag>Complete List</tag>
+        </tags>
+        <packages>
+            <package>src/$package-dir</package>
+			<package>SampleImages</package>
+        </packages>
+        <files>
+            <file source="examples/2015Vision/Retro_src/Robot.java"
+                  destination="src/$package-dir/Robot.java"></file>
+			<file source="examples/2015Vision/SampleImages/image.jpg"
+				  destination="SampleImages/image.jpg"></file>
+			<file source="examples/2015Vision/SampleImages/image2.jpg"
+				  destination="SampleImages/image2.jpg"></file>
+			<file source="examples/2015Vision/SampleImages/image3.jpg"
+				  destination="SampleImages/image3.jpg"></file>
+			<file source="examples/2015Vision/SampleImages/image4.jpg"
+				  destination="SampleImages/image4.jpg"></file>
+			<file source="examples/2015Vision/SampleImages/image5.jpg"
+				  destination="SampleImages/image5.jpg"></file>
+			<file source="examples/2015Vision/SampleImages/image6.jpg"
+				  destination="SampleImages/image6.jpg"></file>
+			<file source="examples/2015Vision/SampleImages/image7.jpg"
+				  destination="SampleImages/image7.jpg"></file>
+			<file source="examples/2015Vision/SampleImages/image8.jpg"
+				  destination="SampleImages/image8.jpg"></file>
+			<file source="examples/2015Vision/SampleImages/image9.jpg"
+				  destination="SampleImages/image9.jpg"></file>
+			<file source="examples/2015Vision/SampleImages/image10.jpg"
+				  destination="SampleImages/image10.jpg"></file>
+			<file source="examples/2015Vision/SampleImages/image11.jpg"
+				  destination="SampleImages/image11.jpg"></file>
+			<file source="examples/2015Vision/SampleImages/image12.jpg"
+				  destination="SampleImages/image12.jpg"></file>
+			<file source="examples/2015Vision/SampleImages/image13.jpg"
+				  destination="SampleImages/image13.jpg"></file>
+			<file source="examples/2015Vision/SampleImages/image14.jpg"
+				  destination="SampleImages/image14.jpg"></file>
+			<file source="examples/2015Vision/SampleImages/image15.jpg"
+				  destination="SampleImages/image15.jpg"></file>
+			<file source="examples/2015Vision/SampleImages/image16.jpg"
+				  destination="SampleImages/image16.jpg"></file>
+			<file source="examples/2015Vision/SampleImages/image17.jpg"
+				  destination="SampleImages/image17.jpg"></file>
+			<file source="examples/2015Vision/SampleImages/image18.jpg"
+				  destination="SampleImages/image18.jpg"></file>
+			<file source="examples/2015Vision/SampleImages/image19.jpg"
+				  destination="SampleImages/image19.jpg"></file>
+			<file source="examples/2015Vision/SampleImages/image20.jpg"
+				  destination="SampleImages/image20.jpg"></file>
+			<file source="examples/2015Vision/SampleImages/IMG_1800.png"
+				  destination="SampleImages/IMG_1800.png"></file>
+		</files>
+    </example>
 
     <example>
         <name>Axis Camera Sample</name>