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https://github.com/wpilibsuite/allwpilib
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53473e21be
Most of the old vision code still compiles with minimal changes. I haven't tested it extensively, since the AxisCamera class isn't done, but it should work, as it was barely modified. Java bindings are still TODO, since they used some JNA stuff that probably won't work now. Change-Id: I8edf991410cb30b932379f277cee9d329ee35009
40 lines
1.6 KiB
C++
40 lines
1.6 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 "MonoImage.h"
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/**
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* Included for ParticleAnalysisReport definition
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* TODO: Eliminate this dependency!
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*/
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#include "Vision/VisionAPI.h"
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#include <vector>
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#include <algorithm>
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class BinaryImage : public MonoImage
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{
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public:
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BinaryImage();
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virtual ~BinaryImage();
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int GetNumberParticles();
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ParticleAnalysisReport GetParticleAnalysisReport(int particleNumber);
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void GetParticleAnalysisReport(int particleNumber, ParticleAnalysisReport *par);
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std::vector<ParticleAnalysisReport>* GetOrderedParticleAnalysisReports();
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BinaryImage *RemoveSmallObjects(bool connectivity8, int erosions);
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BinaryImage *RemoveLargeObjects(bool connectivity8, int erosions);
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BinaryImage *ConvexHull(bool connectivity8);
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BinaryImage *ParticleFilter(ParticleFilterCriteria2 *criteria, int criteriaCount);
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virtual void Write(const char *fileName);
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private:
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bool ParticleMeasurement(int particleNumber, MeasurementType whatToMeasure, int *result);
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bool ParticleMeasurement(int particleNumber, MeasurementType whatToMeasure, double *result);
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static double NormalizeFromRange(double position, int range);
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static bool CompareParticleSizes(ParticleAnalysisReport particle1, ParticleAnalysisReport particle2);
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};
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