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FRC2016-old/Robot2016/wpilib/cpp/current/include/Vision/BinaryImage.h
Jason 6d0e75aa64 Added new Robot project using PWM drive train... Much simpler...
Signed-off-by: Jason <jason@dublinschool.org>
2016-02-09 16:23:45 -05:00

44 lines
1.8 KiB
C++

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2014-2016. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "MonoImage.h"
/**
* Included for ParticleAnalysisReport definition
* TODO: Eliminate this dependency!
*/
#include "Vision/VisionAPI.h"
#include <vector>
#include <algorithm>
class BinaryImage : public MonoImage {
public:
virtual ~BinaryImage() = default;
int GetNumberParticles();
ParticleAnalysisReport GetParticleAnalysisReport(int particleNumber);
void GetParticleAnalysisReport(int particleNumber,
ParticleAnalysisReport *par);
std::vector<ParticleAnalysisReport> *GetOrderedParticleAnalysisReports();
BinaryImage *RemoveSmallObjects(bool connectivity8, int erosions);
BinaryImage *RemoveLargeObjects(bool connectivity8, int erosions);
BinaryImage *ConvexHull(bool connectivity8);
BinaryImage *ParticleFilter(ParticleFilterCriteria2 *criteria,
int criteriaCount);
virtual void Write(const char *fileName);
private:
bool ParticleMeasurement(int particleNumber, MeasurementType whatToMeasure,
int *result);
bool ParticleMeasurement(int particleNumber, MeasurementType whatToMeasure,
double *result);
static double NormalizeFromRange(double position, int range);
static bool CompareParticleSizes(ParticleAnalysisReport particle1,
ParticleAnalysisReport particle2);
};