[vps]

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:

//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();
	};
}

//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?

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