[scottbot95]

I have vision code that will detect the target and will spit the number of particles found to the console. But whenever it looses targets, it gives the following error:

(FRC_RobotTask): Uncaught C++ Exception (#1)!

It then says the memory addresses of the call stack.

Here's my code

#include "Vision.h"
#include "../Robotmap.h"

Vision::Vision() : Subsystem("Vision") {
	printDebug("Initializing Camera Settings.");
	
	// Get an instance of the camera
	AxisCamera &camera = AxisCamera::GetInstance(CAMERA_IP);
	
	// Write some configuration to the camera
	camera.WriteResolution(CAMERA_RESOLUTION);
	camera.WriteCompression(CAMERA_COMPRESSION);
	camera.WriteBrightness(CAMERA_BRIGHTNESS);
	camera.WriteMaxFPS(CAMERA_FPS);
	camera.WriteColorLevel(CAMERA_COLOR_LEVEL);
	
	
	printDebug("Done Configuring Camera.");
	
	lightRing = new Relay(DEFAULT_DIGITAL_MODULE, LIGHT_RING_PORT, Relay::kForwardOnly);
}
    
void Vision::InitDefaultCommand() {
	// Set the default command for a subsystem here.
	//SetDefaultCommand(new MySpecialCommand());
}

vector<ParticleAnalysisReport> Vision::particleAnalysis()
{
	// Get an instance of the Axis Camera
	AxisCamera &camera = AxisCamera::GetInstance(CAMERA_IP);
	
	// check if there is a new image
	if (camera.IsFreshImage())
	{
		// Get the Image
		ColorImage *colorImage = camera.GetImage();
		BinaryImage *binImage = colorImage->ThresholdRGB(0,175,175,255,0,175);
		
		printDebug("Getting Particle Analysis Report.");
		vector<ParticleAnalysisReport> *temp = binImage->GetOrderedParticleAnalysisReports();
		particles = *temp;
		delete temp;
		
		printDebug("Stepping through particle report to remove particles with area too small.");
		// Step through the particles and elimate any that are too small
		for (UINT8 i = 0; i<particles.size(); i++) {
			if(particles.at(i).particleArea<MIN_PARTICLE_AREA)
			{
				// Erase the current particle from view
				particles.erase(particles.begin()+i-1);
				
				// Because erasing an element actually adjusts all elements
				// after the current one, we need to bump <tt>i</tt> down one
				i--;
			}
		}
		
	}
	
	printDebug("Done processing image.");
	
	targetParticle = particles.at(0);
	
	return particles;
}

void Vision::setTargetParticle(int index)
{
	targetParticle = particles.at(index);
}

double Vision::getNormalizedPosition()
{
	return targetParticle.center_mass_x_normalized;
}