Fix errors in Vision examples.

Change-Id: I752a99ff7b8872a0fc8926e3633c2b521383bbd0

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

@@ -20,12 +20,15 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
  * 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.
+ *
+ * Sample omages can be found here: http://wp.wpi.edu/wpilib/2015/01/16/sample-images-for-vision-projects/ 
  */
 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 ConvexHullArea;
 			double BoundingRectLeft;
 			double BoundingRectTop;
 			double BoundingRectRight;
@@ -44,8 +47,10 @@ public class Robot extends SampleRobot {
 
 		//Structure to represent the scores for the various tests used for target identification
 		public class Scores {
-			double Area;
-			double Aspect;
+			double Trapezoid;
+			double LongAspect;
+			double ShortAspect;
+			double AreaToConvexHullArea;
 		};
 
 		//Images
@@ -54,9 +59,9 @@ public class Robot extends SampleRobot {
 		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
+		NIVision.Range TOTE_HUE_RANGE = new NIVision.Range(24, 49);	//Default hue range for yellow tote
+		NIVision.Range TOTE_SAT_RANGE = new NIVision.Range(67, 255);	//Default saturation range for yellow tote
+		NIVision.Range TOTE_VAL_RANGE = new NIVision.Range(49, 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
@@ -85,7 +90,7 @@ public class Robot extends SampleRobot {
 		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
+				//read file in from disk. For this example to run you need to copy image20.jpg from the SampleImages folder 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");
 
@@ -125,6 +130,7 @@ public class Robot extends SampleRobot {
 						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.ConvexHullArea = NIVision.imaqMeasureParticle(binaryFrame, particleIndex, 0, NIVision.MeasurementType.MT_CONVEX_HULL_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);
@@ -136,15 +142,20 @@ public class Robot extends SampleRobot {
 					//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;
+					scores.Trapezoid = TrapezoidScore(particles.elementAt(0));
+					SmartDashboard.putNumber("Trapezoid", scores.Trapezoid);
+					scores.LongAspect = LongSideScore(particles.elementAt(0));
+					SmartDashboard.putNumber("Long Aspect", scores.LongAspect);
+					scores.ShortAspect = ShortSideScore(particles.elementAt(0));
+					SmartDashboard.putNumber("Short Aspect", scores.ShortAspect);
+					scores.AreaToConvexHullArea = ConvexHullAreaScore(particles.elementAt(0));
+					SmartDashboard.putNumber("Convex Hull Area", scores.AreaToConvexHullArea);
+					boolean isTote = scores.Trapezoid > SCORE_MIN && (scores.LongAspect > SCORE_MIN || scores.ShortAspect > SCORE_MIN) && scores.AreaToConvexHullArea > SCORE_MIN;
+					boolean isLong = scores.LongAspect > scores.ShortAspect;
 
 					//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)));
+					SmartDashboard.putNumber("Distance", computeDistance(binaryFrame, particles.elementAt(0), isLong));
 				} else {
 					SmartDashboard.putBoolean("IsTote", false);
 				}
@@ -175,19 +186,36 @@ public class Robot extends SampleRobot {
 			return (Math.max(0, Math.min(100*(1-Math.abs(1-ratio)), 100)));
 		}
 
-		double AreaScore(ParticleReport report)
+		/**
+		 * Method to score convex hull area. This scores how "complete" the particle is. Particles with large holes will score worse than a filled in shape
+		 */
+		double ConvexHullAreaScore(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);
+			return ratioToScore((report.Area/report.ConvexHullArea)*1.18);
 		}
 
 		/**
-		 * 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
+		 * Method to score if the particle appears to be a trapezoid. Compares the convex hull (filled in) area to the area of the bounding box.
+		 * The expectation is that the convex hull area is about 95.4% of the bounding box area for an ideal tote.
 		 */
-		double AspectScore(ParticleReport report)
+		double TrapezoidScore(ParticleReport report)
 		{
-			return ratioToScore(((report.BoundingRectRight-report.BoundingRectLeft)/(report.BoundingRectBottom-report.BoundingRectTop)));
+			return ratioToScore(report.ConvexHullArea/((report.BoundingRectRight-report.BoundingRectLeft)*(report.BoundingRectBottom-report.BoundingRectTop)*.954));
+		}
+
+		/**
+		 * Method to score if the aspect ratio of the particle appears to match the long side of a tote.
+		 */
+		double LongSideScore(ParticleReport report)
+		{
+			return ratioToScore(((report.BoundingRectRight-report.BoundingRectLeft)/(report.BoundingRectBottom-report.BoundingRectTop))/LONG_RATIO);
+		}
+
+		/**
+		 * Method to score if the aspect ratio of the particle appears to match the short side of a tote.
+		 */
+		double ShortSideScore(ParticleReport report){
+			return ratioToScore(((report.BoundingRectRight-report.BoundingRectLeft)/(report.BoundingRectBottom-report.BoundingRectTop))/SHORT_RATIO);
 		}
 
 		/**
@@ -199,13 +227,13 @@ public class Robot extends SampleRobot {
 		 * @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 computeDistance (Image image, ParticleReport report, boolean isLong) {
 			double normalizedWidth, targetWidth;
 			NIVision.GetImageSizeResult size;
 
 			size = NIVision.imaqGetImageSize(image);
 			normalizedWidth = 2*(report.BoundingRectRight - report.BoundingRectLeft)/size.width;
-			targetWidth = 7;
+			targetWidth = isLong ? 26.0 : 16.9;
 
 			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

@@ -20,6 +20,8 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
  * 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.
+ *
+ * Sample images can found here: http://wp.wpi.edu/wpilib/2015/01/16/sample-images-for-vision-projects/ 
  */
 public class Robot extends SampleRobot {
 		//A structure to hold measurements of a particle
@@ -85,7 +87,7 @@ public class Robot extends SampleRobot {
 		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
+				//read file in from disk. For this example to run you need to copy image.jpg from the SampleImages folder 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");
 

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

@@ -339,53 +339,10 @@
         </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>
 
@@ -402,53 +359,10 @@
         </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>