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0368322385
Include delays and template code from other examples to show how to use these examples in a full robot program. Change Java example in example finder to Simple Vision to match C++. Add comments about how to find cam number and change default to cam0. Change-Id: I85846ccfaf016c538a750b057a7fd766cdff9447
51 lines
1.7 KiB
C++
51 lines
1.7 KiB
C++
#include "WPILib.h"
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/**
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* Uses IMAQdx to manually acquire a new image each frame, and annotate the image by drawing
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* a circle on it, and show it on the FRC Dashboard.
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*/
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class IntermediateVisionRobot : public SampleRobot
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{
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IMAQdxSession session;
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Image *frame;
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IMAQdxError imaqError;
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public:
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void RobotInit() override {
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// create an image
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frame = imaqCreateImage(IMAQ_IMAGE_RGB, 0);
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//the camera name (ex "cam0") can be found through the roborio web interface
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imaqError = IMAQdxOpenCamera("cam0", IMAQdxCameraControlModeController, &session);
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if(imaqError != IMAQdxErrorSuccess) {
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DriverStation::ReportError("IMAQdxOpenCamera error: " + std::to_string((long)imaqError) + "\n");
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}
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imaqError = IMAQdxConfigureGrab(session);
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if(imaqError != IMAQdxErrorSuccess) {
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DriverStation::ReportError("IMAQdxConfigureGrab error: " + std::to_string((long)imaqError) + "\n");
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}
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}
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void OperatorControl() override {
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// acquire images
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IMAQdxStartAcquisition(session);
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// grab an image, draw the circle, and provide it for the camera server which will
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// in turn send it to the dashboard.
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while(IsOperatorControl() && IsEnabled()) {
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IMAQdxGrab(session, frame, true, NULL);
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if(imaqError != IMAQdxErrorSuccess) {
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DriverStation::ReportError("IMAQdxGrab error: " + std::to_string((long)imaqError) + "\n");
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} else {
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imaqDrawShapeOnImage(frame, frame, { 10, 10, 100, 100 }, DrawMode::IMAQ_DRAW_VALUE, ShapeMode::IMAQ_SHAPE_OVAL, 0.0f);
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CameraServer::GetInstance()->SetImage(frame);
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}
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Wait(0.005); // wait for a motor update time
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}
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// stop image acquisition
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IMAQdxStopAcquisition(session);
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}
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};
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START_ROBOT_CLASS(IntermediateVisionRobot);
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