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Renamed folders for consistency, using sim/athena/shared schema (#27)
Rename the following folders: hal/lib/Athena -> hal/lib/athena hal/lib/Desktop -> hal/lib/sim hal/lib/Shared -> hal/lib/shared wpilibc/Athena -> wpilibc/athena wpilibc/simulation -> wpilibc/sim Windows users may need to run gradlew clean after updating.
This commit is contained in:
Peter Mitrano
committed by
Peter Johnson
Peter Johnson
parent
54092378e9
commit
e71f454b9d
175
wpilibc/athena/include/Vision/VisionAPI.h
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175
wpilibc/athena/include/Vision/VisionAPI.h
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014-2016. All Rights Reserved. */
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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 the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include "nivision.h"
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/* Constants */
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#define DEFAULT_BORDER_SIZE 3 // VisionAPI.frcCreateImage
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#define DEFAULT_SATURATION_THRESHOLD 40 // TrackAPI.FindColor
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/* Forward Declare Data Structures */
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typedef struct FindEdgeOptions_struct FindEdgeOptions;
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typedef struct CircularEdgeReport_struct CircularEdgeReport;
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/* Data Structures */
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/** frcParticleAnalysis returns this structure */
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typedef struct ParticleAnalysisReport_struct {
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int imageHeight;
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int imageWidth;
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double imageTimestamp;
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int particleIndex; // the particle index analyzed
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/* X-coordinate of the point representing the average position of the
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* total particle mass, assuming every point in the particle has a constant
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* density
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*/
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int center_mass_x; // MeasurementType: IMAQ_MT_CENTER_OF_MASS_X
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/* Y-coordinate of the point representing the average position of the
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* total particle mass, assuming every point in the particle has a constant
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* density
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*/
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int center_mass_y; // MeasurementType: IMAQ_MT_CENTER_OF_MASS_Y
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double center_mass_x_normalized; // Center of mass x value normalized to -1.0
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// to +1.0 range
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double center_mass_y_normalized; // Center of mass y value normalized to -1.0
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// to +1.0 range
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/* Area of the particle */
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double particleArea; // MeasurementType: IMAQ_MT_AREA
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/* Bounding Rectangle */
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Rect boundingRect; // left/top/width/height
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/* Percentage of the particle Area covering the Image Area. */
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double particleToImagePercent; // MeasurementType: IMAQ_MT_AREA_BY_IMAGE_AREA
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/* Percentage of the particle Area in relation to its Particle and Holes Area
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*/
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double particleQuality; // MeasurementType:
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// IMAQ_MT_AREA_BY_PARTICLE_AND_HOLES_AREA
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} ParticleAnalysisReport;
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/** Tracking functions return this structure */
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typedef struct ColorReport_struct {
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int numberParticlesFound; // Number of particles found for this color
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int largestParticleNumber; // The particle index of the largest particle
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/* Color information */
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float particleHueMax; // HistogramReport: hue max
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float particleHueMin; // HistogramReport: hue max
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float particleHueMean; // HistogramReport: hue mean
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float particleSatMax; // HistogramReport: saturation max
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float particleSatMin; // HistogramReport: saturation max
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float particleSatMean; // HistogramReport: saturation mean
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float particleLumMax; // HistogramReport: luminance max
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float particleLumMin; // HistogramReport: luminance max
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float particleLumMean; // HistogramReport: luminance mean
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} ColorReport;
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/* Image Management functions */
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/* Create: calls imaqCreateImage. Border size is set to some default value */
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Image* frcCreateImage(ImageType type);
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/* Dispose: calls imaqDispose */
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int frcDispose(void* object);
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int frcDispose(const char* filename, ...);
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/* Copy: calls imaqDuplicateImage */
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int frcCopyImage(Image* dest, const Image* source);
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/* Image Extraction: Crop: calls imaqScale */
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int frcCrop(Image* dest, const Image* source, Rect rect);
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/* Image Extraction: Scale: calls imaqScale. Scales entire image */
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int frcScale(Image* dest, const Image* source, int xScale, int yScale,
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ScalingMode scaleMode);
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/* Read Image : calls imaqReadFile */
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int frcReadImage(Image* image, const char* fileName);
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/* Write Image : calls imaqWriteFile */
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int frcWriteImage(const Image* image, const char* fileName);
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/* Measure Intensity functions */
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/* Histogram: calls imaqHistogram */
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HistogramReport* frcHistogram(const Image* image, int numClasses, float min,
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float max, Rect rect);
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/* Color Histogram: calls imaqColorHistogram2 */
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ColorHistogramReport* frcColorHistogram(const Image* image, int numClasses,
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ColorMode mode, Image* mask);
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/* Get Pixel Value: calls imaqGetPixel */
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int frcGetPixelValue(const Image* image, Point pixel, PixelValue* value);
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/* Particle Analysis functions */
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/* Particle Filter: calls imaqParticleFilter3 */
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int frcParticleFilter(Image* dest, Image* source,
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const ParticleFilterCriteria2* criteria,
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int criteriaCount, const ParticleFilterOptions* options,
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Rect rect, int* numParticles);
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int frcParticleFilter(Image* dest, Image* source,
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const ParticleFilterCriteria2* criteria,
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int criteriaCount, const ParticleFilterOptions* options,
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int* numParticles);
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/* Morphology: calls imaqMorphology */
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int frcMorphology(Image* dest, Image* source, MorphologyMethod method);
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int frcMorphology(Image* dest, Image* source, MorphologyMethod method,
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const StructuringElement* structuringElement);
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/* Reject Border: calls imaqRejectBorder */
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int frcRejectBorder(Image* dest, Image* source);
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int frcRejectBorder(Image* dest, Image* source, int connectivity8);
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/* Count Particles: calls imaqCountParticles */
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int frcCountParticles(Image* image, int* numParticles);
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/* Particle Analysis Report: calls imaqMeasureParticle */
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int frcParticleAnalysis(Image* image, int particleNumber,
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ParticleAnalysisReport* par);
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/* Image Enhancement functions */
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/* Equalize: calls imaqEqualize */
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int frcEqualize(Image* dest, const Image* source, float min, float max);
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int frcEqualize(Image* dest, const Image* source, float min, float max,
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const Image* mask);
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/* Color Equalize: calls imaqColorEqualize */
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int frcColorEqualize(Image* dest, const Image* source);
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int frcColorEqualize(Image* dest, const Image* source, int colorEqualization);
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/* Image Thresholding & Conversion functions */
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/* Smart Threshold: calls imaqLocalThreshold */
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int frcSmartThreshold(Image* dest, const Image* source,
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unsigned int windowWidth, unsigned int windowHeight,
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LocalThresholdMethod method, double deviationWeight,
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ObjectType type);
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int frcSmartThreshold(Image* dest, const Image* source,
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unsigned int windowWidth, unsigned int windowHeight,
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LocalThresholdMethod method, double deviationWeight,
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ObjectType type, float replaceValue);
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/* Simple Threshold: calls imaqThreshold */
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int frcSimpleThreshold(Image* dest, const Image* source, float rangeMin,
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float rangeMax, float newValue);
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int frcSimpleThreshold(Image* dest, const Image* source, float rangeMin,
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float rangeMax);
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/* Color/Hue Threshold: calls imaqColorThreshold */
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int frcColorThreshold(Image* dest, const Image* source, ColorMode mode,
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const Range* plane1Range, const Range* plane2Range,
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const Range* plane3Range);
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int frcColorThreshold(Image* dest, const Image* source, int replaceValue,
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ColorMode mode, const Range* plane1Range,
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const Range* plane2Range, const Range* plane3Range);
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int frcHueThreshold(Image* dest, const Image* source, const Range* hueRange);
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int frcHueThreshold(Image* dest, const Image* source, const Range* hueRange,
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int minSaturation);
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/* Extract ColorHue Plane: calls imaqExtractColorPlanes */
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int frcExtractColorPlanes(const Image* image, ColorMode mode, Image* plane1,
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Image* plane2, Image* plane3);
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int frcExtractHuePlane(const Image* image, Image* huePlane);
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int frcExtractHuePlane(const Image* image, Image* huePlane, int minSaturation);
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