simple camera feed and LCD output

Technical C/C++
1

Hi!
I was just wanting to check that this is working correctly and make it available if so

I have a problem where enabling code would bring robot code and comms down till i reboot

I made this by cutting huge sections out of my code, simplifying them(I was separating R G and B then comparing particles[in separate files]), then putting them in the vision example

#include "WPILib.h"
#include "Vision/RGBImage.h"
#include "Vision/BinaryImage.h"

#define RL 200
#define RH 260
#define GL 140
#define GH 210
#define BL 90
#define BH 135

static AxisCamera &eyeOfSauron = AxisCamera::GetInstance("10.16.71.11");
DriverStationLCD* driverOut = DriverStationLCD::GetInstance();
//for smart dashboard

class VisionSample2012 : public SimpleRobot
{
DriverStationLCD* driverOut;
Joystick pilot;
public:
	VisionSample2012(void):
		pilot(1)
	{
		GetWatchdog().Kill();
		driverOut  = DriverStationLCD::GetInstance();

		//eyeOfSauron.WriteBrightness(30);
		//eyeOfSauron.WriteWhiteBalance(AxisCamera::kWhiteBalance_Hold);
		eyeOfSauron.WriteResolution(AxisCamera::kResolution_320x240);
		//eyeOfSauron.WriteColorLevel(100);
		//eyeOfSauron.WriteCompression(30);
		//lower easier on CRIO and harder on cam
		eyeOfSauron.WriteMaxFPS(5);
	}
	
	void Autonomous(void)
	{
		GetWatchdog().Kill();		
		while (IsAutonomous() && IsEnabled()) 
		{
			GetWatchdog().Kill();
			CamAnOut();
		}
	}
	void OperatorControl(void)
	{
		GetWatchdog().Kill();
		while (IsOperatorControl())
		{
			GetWatchdog().Kill();
			CamAnOut();
		}
	}
	void CamAnOut (void)
	{
		Threshold threshold(RH, RL, GH, GL, BH, BL);
		ParticleFilterCriteria2 criteria] = {
											{IMAQ_MT_BOUNDING_RECT_WIDTH, 10, 200, false, false},
											{IMAQ_MT_BOUNDING_RECT_HEIGHT, 10, 200, false, false}};
//											false Set this element to TRUE to take calibrated measurements.
//											fales Set this element to TRUE to indicate that a match occurs when the measurement is outside the criteria range

//			ColorImage *image;
//			image = new RGBImage("/10ft2.jpg");		// get the sample image from the cRIO flash
				
		ColorImage image(IMAQ_IMAGE_RGB);
		//make image
		eyeOfSauron.GetImage(&image);
		//store camera feed to image
		BinaryImage *thresholdImage = image.ThresholdRGB(threshold);
		//pixel range
		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> *particles = filteredImage->GetOrderedParticleAnalysisReports();
		// get the results
		
		//LCD output
		if (IsAutonomous())
			driverOut->Printf(DriverStationLCD::kUser_Line1, 1, "Autonomous");
		else if (IsOperatorControl())
			driverOut->Printf(DriverStationLCD::kUser_Line1, 1, "Operat	or");

	//too many, or too few targets?  If not, how many?
		if (particles->size() == 0)
			driverOut->Printf(DriverStationLCD::kUser_Line2, 1, "loosen filter");
		else if (particles->size() > 4)
			driverOut->Printf(DriverStationLCD::kUser_Line2, 1, "tighten filter");
		else
		{								//TRY I
			driverOut->Printf(DriverStationLCD::kUser_Line2, 1, "Number of targets: %d", particles->size());
		}
		
		//update the LCD on the DS
		driverOut->UpdateLCD(			);
		
//delete reports;
		delete filteredImage;
		delete convexHullImage;
		delete bigObjectsImage;
		delete thresholdImage;
		delete ℑ
	}
};

START_ROBOT_CLASS(VisionSample2012);
2

I did not look at your code very carefully but one thing jumped out:


 void CamAnOut (void)
	{
		    Threshold threshold(RH, RL, GH, GL, BH, BL);

I believe you have reversed the High and Low numbers. It should be:


 void CamAnOut (void)
	{
		        Threshold threshold(RL, RH, GL, GH, BL, BH);
3

oh yeah-> retyped that, thanks

4

I have altered my approach. I just created tracking with the NI Vision Assistant. After doing so and using the tool to create C code, then hooking up to a project, I fixed a few errors in the generated code. I still have two I’m not sure about which occur within the generated c file.

//first instance of the first error
error: invalid conversion from int' toMeasurementType’

//only instance of the second error
error: invalid conversion from void*' toIVA_Result*’

//second of first error (argument 4 is of type MeasurementType with which I am having the first error)
error: initializing argument 4 of `int imaqMeasureParticle(Image*, int, int, MeasurementType, double*)’

//third of first error
error: initializing argument 4 of `int imaqMeasureParticle(Image*, int, int, MeasurementType, double*)’

5

//These are filtering the image (how do I do this with the order I created?[is this done by the vision assistant algorithm?])

// BinaryImage *thresholdImage = image.ThresholdRGB(threshold);
// //pixel range
// 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

    //This is getting the particles' results. will it be the same?

// vector<ParticleAnalysisReport> *particles = filteredImage->GetOrderedParticleAnalysisReports();
//This is selecting a target to output results from
// ParticleAnalysisReport *par = &(particles)->at(choiceTarget);