Chief Delphi - WPILib vision error in ColorImage.cpp and BinaryImage.cpp

Hi yall,
I am playing around with WPILib for vision and all I am doing is thresholding a colorimage acquired from the axis camera into a binaryimage and then getting a particleanalysisreport vector from that image. Then, I simply find out the center of mass of the two particles.

All I am doing is calling for print statements for NumOfParticles(), IsTargetFound(), and CenterOfMass() in my autonomous code (Functions defined below).

All of these are outputting exactly what I expect, but, after about 5 seconds, errors alternate between
"Error on line 37 of ColorImage.cpp: 0: ImaqThreshold error" and
"Error on line 30 of BinaryImage.cpp: 0: Error counting particles".

Then, autonomous stops and driver station shows "No Robot Code".

Here's the code of my Vision class:

Code:

//Vision.h

#pragma once



#include "WPILib.h"

#include <vector>



namespace Subsystems {

        class Vision {

        private:

                AxisCamera* axis;

                ColorImage* ci;

                BinaryImage* bi;

                std::vector<ParticleAnalysisReport>* particles;

                void GetImage();

        public:



                Vision();

                ~Vision();

                int NumOfParticles();

                bool IsTargetFound();

                int CenterOfMass();

        };

}

Code:

//Vision.cpp

#include "Vision.h"



namespace Subsystems {



        Vision::Vision() {                    //note the vector "particles" is not initialized. I didn't find a need to

                axis = new AxisCamera("10.30.21.11");

                axis->WriteResolution(AxisCamera::kResolution_160x120);

                ci = new ColorImage(ImageType::IMAQ_IMAGE_RGB);

                bi = new BinaryImage();

         }

         Vision::~Vision() {

                delete axis;

                delete ci;

                 delete bi;

         }



        //private functions

        void Vision::GetImage() {

                ci = axis->GetImage();

                bi = ci->ThresholdRGB(0,255,175,255,0,255);        //use green LED



         }



        //public functions

        int Vision::NumOfParticles() {

                GetImage();

                return bi->GetNumberParticles();

        }

        bool Vision::IsTargetFound() {

                if(NumOfParticles()==2) return true;

                return false;

        }

        int Vision::CenterOfMass() {

                if(!IsTargetFound()) return false;

                particles = bi->GetOrderedParticleAnalysisReports(); //this is a pointer to a vector



                int center_mass = ((*particles)[0].center_mass_x+ (*particles)[1].center_mass_x)/2;

                                //the center of mass of the two vision targets

                particles->clear();                        //clear vector

                return center_mass;

        }

}

Why do you think the program just stops like that with these strange errors?

Quote:

Error on line 37 of ColorImage.cpp: 0: ImaqThreshold error
at /home/lvuser/FRCUserProgram() [0x1a8e8]
at /home/lvuser/FRCUserProgram() [0x1a964]
at /home/lvuser/FRCUserProgram() [0x1084c]
at /home/lvuser/FRCUserProgram() [0x10878]
at /home/lvuser/FRCUserProgram() [0x108b8]
at /home/lvuser/FRCUserProgram() [0x11124]
at /home/lvuser/FRCUserProgram() [0x1a350]
at /home/lvuser/FRCUserProgram() [0x11570]
at /home/lvuser/FRCUserProgram() [0x1057c]
at __libc_start_main

Error on line 30 of BinaryImage.cpp: 0: Error counting particles
at /home/lvuser/FRCUserProgram() [0x1b694]
at /home/lvuser/FRCUserProgram() [0x10888]
at /home/lvuser/FRCUserProgram() [0x108b8]
at /home/lvuser/FRCUserProgram() [0x11124]
at /home/lvuser/FRCUserProgram() [0x1a350]
at /home/lvuser/FRCUserProgram() [0x11570]
at /home/lvuser/FRCUserProgram() [0x1057c]
at __libc_start_main