Right now I am working some of the code form the 2010Vision Sample code. Here is what i have.
if (trigger = stick->GetTrigger())
{
//if (trigger != lastTrigger) // if there's a fresh and we're at the previous target heading then
// get a camera image and process it
if (camera.IsFreshImage())
{
// get the camera image
HSLImage *image = camera.GetImage();
//HSLImage *image;
//image = new HSLImage("/10ft2.jpg"); // get the sample image from the cRIO flash
BinaryImage *thresholdImage = image->ThresholdHSL(threshold); // get just the red target pixels
BinaryImage *bigObjectsImage = thresholdImage->RemoveSmallObjects(false, 2); // remove small objects (noise)
BinaryImage *convexHullImage = bigObjectsImage->ConvexHull(false); // fill in partial and full rectangles
BinaryImage *filteredImage = convexHullImage->ParticleFilter(criteria, 2); // find the rectangles
vector<ParticleAnalysisReport> *reports = filteredImage->GetOrderedParticleAnalysisReports(); // get the results
int b = 0;
for (unsigned i = 0; i < reports->size(); i++)
{
ParticleAnalysisReport *r = &(reports->at(i));
DS->DriverStationLCD:
rintf(DriverStationLCD::kUser_ Line1,1,"Particle: %d center_mass: %d \n",r->center_mass_x);
//DS->DriverStationLCD::UpdateLCD();
//printf("particle: %d center_mass_x: %d\n", i, r->center_mass_x);
b = r->center_mass_x;
}
When I press the trigger to get an image I lose communication with the robot. After a minute or two it robots and I can enable and drive. I tested the orginal code with added printf statements to to get an understanding of how it works and I did not have this problem. Is something wrong with my code?