mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
6d854afb0e
This is a major restructuring of the WPILib repository to simply build procedures and remove the remnants of Maven from everything except the eclipse plugins. Gradle files have been largely simplified or rewritten, taking advantage of splitting up parts of the build into separate build files for ease of reading. The eclipse plugins are now in a separate project, as is ntcore. All dependencies are resolved via Maven dependencies, with the Jenkins-maintained WPILib repo. Project structures have also been simplified: we no longer have separate subprojects inside wpilibc and wpilibj. Where possible, these changes hav been done with git renames, to make sure we still have full history for all repositories. Other unrelated subprojects have also been broken out: OutlineViewer is now a separate project. Change-Id: Ib4e2a6e1a2f66427a14f16612b0e0d69ed661878
173 lines
7.8 KiB
C
173 lines
7.8 KiB
C
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014. 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 $(WIND_BASE)/WPILib. */
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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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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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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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