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Renamed folders for consistency, using sim/athena/shared schema (#27)

Browse Source 
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
2016-05-22 17:55:51 -04:00
committed by Peter Johnson
parent 54092378e9
commit e71f454b9d
308 changed files with 14 additions and 14 deletions
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wpilibc/athena/src/Vision/VisionAPI.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2014-2016. 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 the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include <stdarg.h>
#include <stdlib.h>
#include "Vision/BaeUtilities.h"
#include "Vision/FrcError.h"
#include "Vision/VisionAPI.h"
int VisionAPI_debugFlag = 1;
#define DPRINTF \
if (VisionAPI_debugFlag) dprintf
/** @file
* Image Management functions
*/
/**
* @brief Create an image object
* Supports IMAQ_IMAGE_U8, IMAQ_IMAGE_I16, IMAQ_IMAGE_SGL, IMAQ_IMAGE_COMPLEX,
* IMAQ_IMAGE_RGB, IMAQ_IMAGE_HSL, IMAQ_IMAGE_RGB_U64
* The border size is defaulted to 3 so that convolutional algorithms work at
* the edges.
* When you are finished with the created image, dispose of it by calling
* frcDispose().
* To get extended error information, call GetLastError().
*
* @param type Type of image to create
* @return Image* On success, this function returns the created image. On
* failure, it returns nullptr.
*/
Image* frcCreateImage(ImageType type) {
return imaqCreateImage(type, DEFAULT_BORDER_SIZE);
}
/**
* @brief Dispose of one object. Supports any object created on the heap.
*
* @param object object to dispose of
* @return On success: 1. On failure: 0. To get extended error information, call
* GetLastError().
*/
int frcDispose(void* object) { return imaqDispose(object); }
/**
* @brief Dispose of a list of objects. Supports any object created on the heap.
*
* @param functionName The name of the function
* @param ... A list of pointers to structures that need to be
* disposed of. The last pointer in the list should always
* be set to nullptr.
*
* @return On success: 1. On failure: 0. To get extended error information, call
* GetLastError().
*/
int frcDispose(const char* functionName, ...) /* Variable argument list */
{
va_list disposalPtrList; /* Input argument list */
void* disposalPtr; /* For iteration */
int success, returnValue = 1;
va_start(disposalPtrList, functionName); /* start of variable list */
disposalPtr = va_arg(disposalPtrList, void*);
while (disposalPtr != nullptr) {
success = imaqDispose(disposalPtr);
if (!success) {
returnValue = 0;
}
disposalPtr = va_arg(disposalPtrList, void*);
}
va_end(disposalPtrList);
return returnValue;
}
/**
* @brief Copy an image object.
* Supports IMAQ_IMAGE_U8, IMAQ_IMAGE_I16, IMAQ_IMAGE_SGL, IMAQ_IMAGE_RGB,
* IMAQ_IMAGE_HSL.
*
* @param dest Copy of image. On failure, dest is nullptr. Must have already
* been created using frcCreateImage(). When you are finished with
* the created image, dispose of it by calling frcDispose().
* @param source Image to copy
*
* @return On success: 1. On failure: 0. To get extended error information, call
* GetLastError().
*/
int frcCopyImage(Image* dest, const Image* source) {
return imaqDuplicate(dest, source);
}
/**
* @brief Crop image without changing the scale.
* Supports IMAQ_IMAGE_U8, IMAQ_IMAGE_I16, IMAQ_IMAGE_SGL, IMAQ_IMAGE_RGB,
* IMAQ_IMAGE_HSL.
*
* @param dest Modified image
* @param source Image to crop
* @param rect region to process, or IMAQ_NO_RECT
*
* @return On success: 1. On failure: 0. To get extended error information, call
* GetLastError().
*/
int frcCrop(Image* dest, const Image* source, Rect rect) {
return imaqScale(dest, source, 1, 1, IMAQ_SCALE_LARGER, rect);
}
/**
* @brief Scales the entire image larger or smaller.
* Supports IMAQ_IMAGE_U8, IMAQ_IMAGE_I16, IMAQ_IMAGE_SGL, IMAQ_IMAGE_RGB,
* IMAQ_IMAGE_HSL.
*
* @param dest Modified image
* @param source Image to scale
* @param xScale the horizontal reduction ratio
* @param yScale the vertical reduction ratio
* @param scaleMode IMAQ_SCALE_LARGER or IMAQ_SCALE_SMALLER
*
* @return On success: 1. On failure: 0. To get extended error information, call
* GetLastError().
*/
int frcScale(Image* dest, const Image* source, int xScale, int yScale,
ScalingMode scaleMode) {
Rect rect = IMAQ_NO_RECT;
return imaqScale(dest, source, xScale, yScale, scaleMode, rect);
}
/**
* @brief Creates image object from the information in a file. The file can be
* in one of the following formats:
* PNG, JPEG, JPEG2000, TIFF, AIPD, or BMP.
* Supports IMAQ_IMAGE_U8, IMAQ_IMAGE_I16, IMAQ_IMAGE_SGL, IMAQ_IMAGE_COMPLEX,
* IMAQ_IMAGE_RGB, IMAQ_IMAGE_HSL, IMAQ_IMAGE_RGB_U64.
*
* @param image Image read in
* @param fileName File to read. Cannot be nullptr
*
* @return On success: 1. On failure: 0. To get extended error information, call
* GetLastError().
*/
int frcReadImage(Image* image, const char* fileName) {
return imaqReadFile(image, fileName, nullptr, nullptr);
}
/**
* @brief Write image to a file.
* Supports IMAQ_IMAGE_U8, IMAQ_IMAGE_I16, IMAQ_IMAGE_SGL, IMAQ_IMAGE_COMPLEX,
* IMAQ_IMAGE_RGB, IMAQ_IMAGE_HSL, IMAQ_IMAGE_RGB_U64.
*
* The file type is determined by the extension, as follows:
*
* Extension File Type
* aipd or .apd AIPD
* .bmp BMP
* .jpg or .jpeg JPEG
* .jp2 JPEG2000
* .png PNG
* .tif or .tiff TIFF
*
*
* The following are the supported image types for each file type:
*
* File Types Image Types
* AIPD all image types
* BMP, JPEG 8-bit, RGB
* PNG, TIFF, JPEG2000 8-bit, 16-bit, RGB, RGBU64
*
* @param image Image to write
* @param fileName File to read. Cannot be nullptr. The extension determines the
* file format that is written.
*
* @return On success: 1. On failure: 0. To get extended error information, call
* GetLastError().
*/
int frcWriteImage(const Image* image, const char* fileName) {
RGBValue* colorTable = nullptr;
return imaqWriteFile(image, fileName, colorTable);
}
/* Measure Intensity functions */
/**
* @brief Measures the pixel intensities in a rectangle of an image.
* Outputs intensity based statistics about an image such as Max, Min, Mean and
* Std Dev of pixel value.
* Supports IMAQ_IMAGE_U8, IMAQ_IMAGE_I16, IMAQ_IMAGE_SGL.
*
* Parameter Discussion:
* Relevant parameters of the HistogramReport include:
* min, max, mean and stdDev
* min/max —Setting both min and max to 0 causes the function to
* set min to 0 and the max to 255 for 8-bit images and to the actual
* minimum value and maximum value of the image for all other image
* types.
* max—Setting both min and max to 0 causes the function to set max
* to 255 for 8-bit images and to the actual maximum value of the
* image for all other image types.
*
* @param image Image whose histogram the function calculates.
* @param numClasses The number of classes into which the function separates the
* pixels. Determines the number of elements in the histogram
* array returned
* @param min The minimum pixel value to consider for the histogram. The
* function does not count pixels with values less than min.
* @param max The maximum pixel value to consider for the histogram. The
* function does not count pixels with values greater than
* max.
* @param rect Region of interest in the image. If not included, the
* entire image is used.
* @return On success, this function returns a report describing the pixel value
* classification. When you are finished with the report, dispose of it
* by calling frcDispose(). On failure, this function returns nullptr.
* To get extended error information, call GetLastError().
*/
HistogramReport* frcHistogram(const Image* image, int numClasses, float min,
float max) {
Rect rect = IMAQ_NO_RECT;
return frcHistogram(image, numClasses, min, max, rect);
}
HistogramReport* frcHistogram(const Image* image, int numClasses, float min,
float max, Rect rect) {
int success;
int fillValue = 1;
/* create the region of interest */
ROI* pRoi = imaqCreateROI();
success = imaqAddRectContour(pRoi, rect);
if (!success) {
GetLastVisionError();
return nullptr;
}
/* make a mask from the ROI */
Image* pMask = frcCreateImage(IMAQ_IMAGE_U8);
success = imaqROIToMask(pMask, pRoi, fillValue, nullptr, nullptr);
if (!success) {
GetLastVisionError();
frcDispose(__FUNCTION__, pRoi, nullptr);
return nullptr;
}
/* get a histogram report */
HistogramReport* pHr = nullptr;
pHr = imaqHistogram(image, numClasses, min, max, pMask);
/* clean up */
frcDispose(__FUNCTION__, pRoi, pMask, nullptr);
return pHr;
}
/**
* @brief Calculates the histogram, or pixel distribution, of a color image.
* Supports IMAQ_IMAGE_RGB, IMAQ_IMAGE_HSL.
*
* @param image Image whose histogram the function calculates.
* @param numClasses The number of classes into which the function separates the
* pixels. Determines the number of elements in the histogram
* array returned
* @param mode The color space in which to perform the histogram. Possible
* values include IMAQ_RGB and IMAQ_HSL.
* @param mask An optional mask image. This image must be an IMAQ_IMAGE_U8
* image. The function calculates the histogram using only
* those pixels in the image whose corresponding pixels in the
* mask are non-zero. Set this parameter to nullptr to
* calculate the histogram of the entire image, or use the
* simplified call.
*
* @return On success, this function returns a report describing the
* classification of each plane in a HistogramReport. When you are
* finished with the report, dispose of it by calling frcDispose().
* On failure, this function returns nullptr. To get extended error
* information, call imaqGetLastError().
*/
ColorHistogramReport* frcColorHistogram(const Image* image, int numClasses,
ColorMode mode) {
return frcColorHistogram(image, numClasses, mode, nullptr);
}
ColorHistogramReport* frcColorHistogram(const Image* image, int numClasses,
ColorMode mode, Image* mask) {
return imaqColorHistogram2((Image*)image, numClasses, mode, nullptr, mask);
}
/**
* @brief Measures the pixel intensities in a rectangle of an image.
* Outputs intensity based statistics about an image such as Max, Min, Mean and
* Std Dev of pixel value.
* Supports IMAQ_IMAGE_U8 (grayscale) IMAQ_IMAGE_RGB (color) IMAQ_IMAGE_HSL
* (color-HSL).
*
* @param image The image whose pixel value the function queries
* @param pixel The coordinates of the pixel that the function queries
* @param value On return, the value of the specified image pixel. This
* parameter cannot be nullptr. This data structure contains
* either grayscale, RGB, HSL, Complex or RGBU64Value depending on
* the type of image.
* @return On success: 1. On failure: 0. To get extended error information, call
* GetLastError().
*/
int frcGetPixelValue(const Image* image, Point pixel, PixelValue* value) {
return imaqGetPixel(image, pixel, value);
}
/* Particle Analysis functions */
/**
* @brief Filters particles out of an image based on their measurements.
* Supports IMAQ_IMAGE_U8, IMAQ_IMAGE_I16, IMAQ_IMAGE_SGL.
*
* @param dest The destination image. If dest is used, it must be the
* same size as the Source image. It will contain only the
* filtered particles.
* @param source The image containing the particles to filter.
* @param criteria An array of criteria to apply to the particles in the
* source image. This array cannot be nullptr. See the
* NIVisionCVI.chm help file for definitions of criteria.
* @param criteriaCount The number of elements in the criteria array.
* @param options Binary filter options, including rejectMatches,
* rejectBorder, and connectivity8.
* @param rect Area of image to filter. If omitted, the default is
* entire image.
* @param numParticles On return, the number of particles left in the image
* @return On success: 1. On failure: 0. To get extended error information, call
* GetLastError().
*/
int frcParticleFilter(Image* dest, Image* source,
const ParticleFilterCriteria2* criteria,
int criteriaCount, const ParticleFilterOptions* options,
int* numParticles) {
Rect rect = IMAQ_NO_RECT;
return frcParticleFilter(dest, source, criteria, criteriaCount, options, rect,
numParticles);
}
int frcParticleFilter(Image* dest, Image* source,
const ParticleFilterCriteria2* criteria,
int criteriaCount, const ParticleFilterOptions* options,
Rect rect, int* numParticles) {
ROI* roi = imaqCreateROI();
imaqAddRectContour(roi, rect);
return imaqParticleFilter3(dest, source, criteria, criteriaCount, options,
roi, numParticles);
}
/**
* @brief Performs morphological transformations on binary images.
* Supports IMAQ_IMAGE_U8.
*
* @param dest The destination image. The border size of the
* destination image is not important.
* @param source The image on which the function performs the
* morphological operations. The calculation modifies
* the border of the source image. The border must be
* at least half as large as the larger dimension of
* the structuring element. The connected source
* image for a morphological transformation must have
* been created with a border capable of supporting
* the size of the structuring element. A 3 by 3
* structuring element requires a minimal border of 1,
* a 5 by 5 structuring element requires a minimal
* border of 2, and so on.
* @param method The morphological transform to apply.
* @param structuringElement The structuring element used in the operation. Omit
* this parameter if you do not want a custom
* structuring element.
* @return On success: 1. On failure: 0. To get extended error information, call
* GetLastError().
*/
int frcMorphology(Image* dest, Image* source, MorphologyMethod method) {
return imaqMorphology(dest, source, method, nullptr);
}
int frcMorphology(Image* dest, Image* source, MorphologyMethod method,
const StructuringElement* structuringElement) {
return imaqMorphology(dest, source, method, structuringElement);
}
/**
* @brief Eliminates particles that touch the border of the image.
* Supports IMAQ_IMAGE_U8.
*
* @param dest The destination image.
* @param source The source image. If the image has a border, the
* function sets all border pixel values to 0.
* @param connectivity8 specifies the type of connectivity used by the algorithm
* for particle detection. The connectivity mode directly
* determines whether an adjacent pixel belongs to the same
* particle or a different particle. Set to TRUE to use
* connectivity-8 to determine whether particles are
* touching. Set to FALSE to use connectivity-4 to
* determine whether particles are touching. The default
* setting for the simplified call is TRUE
* @return On success: 1. On failure: 0. To get extended error information, call
* GetLastError().
*/
int frcRejectBorder(Image* dest, Image* source) {
return imaqRejectBorder(dest, source, TRUE);
}
int frcRejectBorder(Image* dest, Image* source, int connectivity8) {
return imaqRejectBorder(dest, source, connectivity8);
}
/**
* @brief Counts the number of particles in a binary image.
* Supports IMAQ_IMAGE_U8, IMAQ_IMAGE_I16, IMAQ_IMAGE_SGL.
* @param image binary (thresholded) image
* @param numParticles On return, the number of particles.
* @return On success: 1. On failure: 0. To get extended error information, call
* GetLastError().
*/
int frcCountParticles(Image* image, int* numParticles) {
return imaqCountParticles(image, 1, numParticles);
}
/**
* @brief Conduct measurements for a single particle in an images.
* Supports IMAQ_IMAGE_U8, IMAQ_IMAGE_I16, IMAQ_IMAGE_SGL.
*
* @param image image with the particle to analyze. This function
* modifies the source image. If you need the original
* image, create a copy of the image using frcCopy()
* before using this function.
* @param particleNumber The number of the particle to get information on
* @param par on return, a particle analysis report containing
* information about the particle. This structure must be
* created by the caller.
* @return On success: 1. On failure: 0. To get extended error information, call
* GetLastError().
*/
int frcParticleAnalysis(Image* image, int particleNumber,
ParticleAnalysisReport* par) {
int success = 0;
/* image information */
int height, width;
if (!imaqGetImageSize(image, &width, &height)) {
return success;
}
par->imageWidth = width;
par->imageHeight = height;
par->particleIndex = particleNumber;
/* center of mass point of the largest particle */
double returnDouble;
success = imaqMeasureParticle(image, particleNumber, 0,
IMAQ_MT_CENTER_OF_MASS_X, &returnDouble);
if (!success) {
return success;
}
par->center_mass_x = (int)returnDouble; // pixel
success = imaqMeasureParticle(image, particleNumber, 0,
IMAQ_MT_CENTER_OF_MASS_Y, &returnDouble);
if (!success) {
return success;
}
par->center_mass_y = (int)returnDouble; // pixel
/* particle size statistics */
success = imaqMeasureParticle(image, particleNumber, 0, IMAQ_MT_AREA,
&returnDouble);
if (!success) {
return success;
}
par->particleArea = returnDouble;
success = imaqMeasureParticle(image, particleNumber, 0,
IMAQ_MT_BOUNDING_RECT_TOP, &returnDouble);
if (!success) {
return success;
}
par->boundingRect.top = (int)returnDouble;
success = imaqMeasureParticle(image, particleNumber, 0,
IMAQ_MT_BOUNDING_RECT_LEFT, &returnDouble);
if (!success) {
return success;
}
par->boundingRect.left = (int)returnDouble;
success = imaqMeasureParticle(image, particleNumber, 0,
IMAQ_MT_BOUNDING_RECT_HEIGHT, &returnDouble);
if (!success) {
return success;
}
par->boundingRect.height = (int)returnDouble;
success = imaqMeasureParticle(image, particleNumber, 0,
IMAQ_MT_BOUNDING_RECT_WIDTH, &returnDouble);
if (!success) {
return success;
}
par->boundingRect.width = (int)returnDouble;
/* particle quality statistics */
success = imaqMeasureParticle(image, particleNumber, 0,
IMAQ_MT_AREA_BY_IMAGE_AREA, &returnDouble);
if (!success) {
return success;
}
par->particleToImagePercent = returnDouble;
success = imaqMeasureParticle(image, particleNumber, 0,
IMAQ_MT_AREA_BY_PARTICLE_AND_HOLES_AREA,
&returnDouble);
if (!success) {
return success;
}
par->particleQuality = returnDouble;
/* normalized position (-1 to 1) */
par->center_mass_x_normalized = RangeToNormalized(par->center_mass_x, width);
par->center_mass_y_normalized = RangeToNormalized(par->center_mass_y, height);
return success;
}
/* Image Enhancement functions */
/**
* @brief Improves contrast on a grayscale image.
* Supports IMAQ_IMAGE_U8, IMAQ_IMAGE_I16.
* @param dest The destination image.
* @param source The image to equalize
* @param min the smallest value used for processing. After processing, all
* pixel values that are less than or equal to the Minimum in the
* original image are set to 0 for an 8-bit image. In 16-bit and
* floating-point images, these pixel values are set to the
* smallest pixel value found in the original image.
* @param max the largest value used for processing. After processing, all
* pixel values that are greater than or equal to the Maximum in
* the original image are set to 255 for an 8-bit image. In 16-bit
* and floating-point images, these pixel values are set to the
* largest pixel value found in the original image.
* @param mask an 8-bit image that specifies the region of the small image
* that will be copied. Only those pixels in the Image Src (Small)
* image that correspond to an equivalent non-zero pixel in the
* mask image are copied. All other pixels keep their original
* values. The entire image is processed if Image Mask is nullptr
* or this parameter is omitted.
* @return On success: 1. On failure: 0. To get extended error information, call
* GetLastError().
*
* option defaults:
* searchRect = IMAQ_NO_RECT
* minMatchScore = DEFAULT_MINMAX_SCORE (800)
*/
int frcEqualize(Image* dest, const Image* source, float min, float max) {
return frcEqualize(dest, source, min, max, nullptr);
}
int frcEqualize(Image* dest, const Image* source, float min, float max,
const Image* mask) {
return imaqEqualize(dest, source, min, max, mask);
}
/**
* @brief Improves contrast on a color image.
* Supports IMAQ_IMAGE_RGB, IMAQ_IMAGE_HSL
*
* option defaults: colorEqualization = TRUE to equalize all three planes of the
* image
* @return On success: 1. On failure: 0. To get extended error information, call
* GetLastError().
* @param dest The destination image.
* @param source The image to equalize
* @param colorEqualization Set this parameter to TRUE to equalize all three
* planes of the image (the default). Set this parameter to FALSE to equalize
* only the luminance plane.
*/
int frcColorEqualize(Image* dest, const Image* source) {
return imaqColorEqualize(dest, source, TRUE);
}
int frcColorEqualize(Image* dest, const Image* source, int colorEqualization) {
return imaqColorEqualize(dest, source, TRUE);
}
/* Image Conversion functions */
/**
* @brief Automatically thresholds a grayscale image into a binary image for
* Particle Analysis based on a smart threshold.
* Supports IMAQ_IMAGE_RGB, IMAQ_IMAGE_I16
* @param dest The destination image.
* @param source The image to threshold
* @param windowWidth The width of the rectangular window around the pixel
* on which the function performs the local threshold.
* This number must be at least 3 and cannot be larger
* than the width of source
* @param windowHeight The height of the rectangular window around the pixel
* on which the function performs the local threshold.
* This number must be at least 3 and cannot be larger
* than the height of source
* @param method Specifies the local thresholding method the function
* uses. Value can be IMAQ_NIBLACK (which computes
* thresholds for each pixel based on its local
* statistics using the Niblack local thresholding
* algorithm.), or IMAQ_BACKGROUND_CORRECTION (which
* does background correction first to eliminate
* non-uniform lighting effects, then performs
* thresholding using the Otsu thresholding algorithm)
* @param deviationWeight Specifies the k constant used in the Niblack local
* thresholding algorithm, which determines the weight
* applied to the variance calculation. Valid k constants
* range from 0 to 1. Setting this value to 0 will
* increase the performance of the function because the
* function will not calculate the variance for any of
* the pixels. The function ignores this value if method
* is not set to IMAQ_NIBLACK
* @param type Specifies the type of objects for which you want to
* look. Values can be IMAQ_BRIGHT_OBJECTS or
* IMAQ_DARK_OBJECTS.
* @param replaceValue Specifies the replacement value the function uses for
* the pixels of the kept objects in the destination
* image.
* @return On success: 1. On failure: 0. To get extended error information, call
* GetLastError().
*/
int frcSmartThreshold(Image* dest, const Image* source,
unsigned int windowWidth, unsigned int windowHeight,
LocalThresholdMethod method, double deviationWeight,
ObjectType type) {
float replaceValue = 1.0;
return imaqLocalThreshold(dest, source, windowWidth, windowHeight, method,
deviationWeight, type, replaceValue);
}
int frcSmartThreshold(Image* dest, const Image* source,
unsigned int windowWidth, unsigned int windowHeight,
LocalThresholdMethod method, double deviationWeight,
ObjectType type, float replaceValue) {
return imaqLocalThreshold(dest, source, windowWidth, windowHeight, method,
deviationWeight, type, replaceValue);
}
/**
* @brief Converts a grayscale image to a binary image for Particle Analysis
* based on a fixed threshold.
* The function sets pixels values outside of the given range to 0. The function
* sets pixel values within the range to a given value or leaves the values
* unchanged. Use the simplified call to leave pixel values unchanged.
* Supports IMAQ_IMAGE_RGB, IMAQ_IMAGE_I16.
*
* @param dest The destination image.
* @param source The image to threshold
* @param rangeMin The lower boundary of the range of pixel values to keep
* @param rangeMax The upper boundary of the range of pixel values to keep.
*
* @return int - error code: 0 = error. To get extended error information, call
* GetLastError().
*/
int frcSimpleThreshold(Image* dest, const Image* source, float rangeMin,
float rangeMax) {
int newValue = 255;
return frcSimpleThreshold(dest, source, rangeMin, rangeMax, newValue);
}
/**
* @brief Converts a grayscale image to a binary image for Particle Analysis
* based on a fixed threshold.
* The function sets pixels values outside of the given range to 0. The function
* sets pixel values within the range to the given value.
* Supports IMAQ_IMAGE_RGB, IMAQ_IMAGE_I16.
*
* @param dest The destination image.
* @param source The image to threshold
* @param rangeMin The lower boundary of the range of pixel values to keep
* @param rangeMax The upper boundary of the range of pixel values to keep.
* @param newValue The replacement value for pixels within the range. Use the
* simplified call to leave the pixel values unchanged
*
* @return int - error code: 0 = error. To get extended error information, call
* GetLastError().
*/
int frcSimpleThreshold(Image* dest, const Image* source, float rangeMin,
float rangeMax, float newValue) {
int useNewValue = TRUE;
return imaqThreshold(dest, source, rangeMin, rangeMax, useNewValue, newValue);
}
/**
* @brief Applies a threshold to the Red, Green, and Blue values of a RGB image
* or the Hue, Saturation, Luminance values for a HSL image.
* Supports IMAQ_IMAGE_RGB, IMAQ_IMAGE_HSL.
* This simpler version filters based on a hue range in the HSL mode.
*
* @param dest The destination image. This must be a IMAQ_IMAGE_U8 image.
* @param source The image to threshold
* @param mode The color space to perform the threshold in. valid values
* are: IMAQ_RGB, IMAQ_HSL.
* @param plane1Range The selection range for the first plane of the image. Set
* this parameter to nullptr to use a selection range from 0
* to 255.
* @param plane2Range The selection range for the second plane of the image. Set
* this parameter to nullptr to use a selection range from 0
* to 255.
* @param plane3Range The selection range for the third plane of the image. Set
* this parameter to nullptr to use a selection range from 0
* to 255.
*
* @return On success: 1. On failure: 0. To get extended error information, call
* GetLastError().
*/
int frcColorThreshold(Image* dest, const Image* source, ColorMode mode,
const Range* plane1Range, const Range* plane2Range,
const Range* plane3Range) {
int replaceValue = 1;
return imaqColorThreshold(dest, source, replaceValue, mode, plane1Range,
plane2Range, plane3Range);
}
/**
* @brief Applies a threshold to the Red, Green, and Blue values of a RGB image
* or the Hue, Saturation, Luminance values for a HSL image.
* Supports IMAQ_IMAGE_RGB, IMAQ_IMAGE_HSL.
* The simpler version filters based on a hue range in the HSL mode.
*
* @param dest The destination image. This must be a IMAQ_IMAGE_U8
* image.
* @param source The image to threshold
* @param replaceValue Value to assign to selected pixels. Defaults to 1 if
* simplified call is used.
* @param mode The color space to perform the threshold in. valid values
* are: IMAQ_RGB, IMAQ_HSL.
* @param plane1Range The selection range for the first plane of the image.
* Set this parameter to nullptr to use a selection range
* from 0 to 255.
* @param plane2Range The selection range for the second plane of the image.
* Set this parameter to nullptr to use a selection range
* from 0 to 255.
* @param plane3Range The selection range for the third plane of the image.
* Set this parameter to nullptr to use a selection range
* from 0 to 255.
*
* @return On success: 1. On failure: 0. To get extended error information, call
* GetLastError().
*/
int frcColorThreshold(Image* dest, const Image* source, int replaceValue,
ColorMode mode, const Range* plane1Range,
const Range* plane2Range, const Range* plane3Range) {
return imaqColorThreshold(dest, source, replaceValue, mode, plane1Range,
plane2Range, plane3Range);
}
/**
* @brief A simpler version of ColorThreshold that thresholds hue range in the
* HSL mode. Supports IMAQ_IMAGE_RGB, IMAQ_IMAGE_HSL.
* @param dest The destination image.
* @param source The image to threshold
* @param hueRange The selection range for the hue (color).
* @param minSaturation The minimum saturation value (1-255). If not used,
* DEFAULT_SATURATION_THRESHOLD is the default.
*
* @return On success: 1. On failure: 0. To get extended error information, call
* GetLastError().
*/
int frcHueThreshold(Image* dest, const Image* source, const Range* hueRange) {
return frcHueThreshold(dest, source, hueRange, DEFAULT_SATURATION_THRESHOLD);
}
int frcHueThreshold(Image* dest, const Image* source, const Range* hueRange,
int minSaturation) {
// assume HSL mode
ColorMode mode = IMAQ_HSL;
// Set saturation 100 - 255
Range satRange;
satRange.minValue = minSaturation;
satRange.maxValue = 255;
// Set luminance 100 - 255
Range lumRange;
lumRange.minValue = 100;
lumRange.maxValue = 255;
// Replace pixels with 1 if pass threshold filter
int replaceValue = 1;
return imaqColorThreshold(dest, source, replaceValue, mode, hueRange,
&satRange, &lumRange);
}
/**
* @brief Extracts the Red, Green, Blue, or Hue, Saturation or Luminance
* information from a color image.
* Supports IMAQ_IMAGE_RGB, IMAQ_IMAGE_HSL, IMAQ_IMAGE_RGB_U64.
*
* @param image The source image that the function extracts the planes from.
* @param mode The color space that the function extracts the planes from.
* Valid values are IMAQ_RGB, IMAQ_HSL, IMAQ_HSV, IMAQ_HSI.
* @param plane1 On return, the first extracted plane. Set this parameter to
* nullptr if you do not need this information. RGB-Red,
* HSL/HSV/HSI-Hue.
* @param plane2 On return, the second extracted plane. Set this parameter to
* nullptr if you do not need this information. RGB-Green,
* HSL/HSV/HSI-Saturation.
* @param plane3 On return, the third extracted plane. Set this parameter to
* nullptr if you do not need this information. RGB-Blue,
* HSL-Luminance, HSV-Value, HSI-Intensity.
*
* @return error code: 0 = error. To get extended error information, call
* GetLastError().
*/
int frcExtractColorPlanes(const Image* image, ColorMode mode, Image* plane1,
Image* plane2, Image* plane3) {
return imaqExtractColorPlanes(image, mode, plane1, plane2, plane3);
}
/**
* @brief Extracts the Hue information from a color image. Supports
* IMAQ_IMAGE_RGB, IMAQ_IMAGE_HSL, IMAQ_IMAGE_RGB_U64
*
* @param image The source image that the function extracts the plane
* from.
* @param huePlane On return, the extracted hue plane.
* @param minSaturation the minimum saturation level required 0-255 (try 50)
*
* @return On success: 1. On failure: 0. To get extended error information, call
* GetLastError().
*/
int frcExtractHuePlane(const Image* image, Image* huePlane) {
return frcExtractHuePlane(image, huePlane, DEFAULT_SATURATION_THRESHOLD);
}
int frcExtractHuePlane(const Image* image, Image* huePlane, int minSaturation) {
return frcExtractColorPlanes(image, IMAQ_HSL, huePlane, nullptr, nullptr);
}