/** * Computes a score (0-100) comparing the aspect ratio to the ideal aspect * ratio for the target. This method uses the equivalent rectangle sides to * determine aspect ratio as it performs better as the target gets skewed by * moving to the left or right. The equivalent rectangle is the rectangle * with sides x and y where particle area, xy and particle perimeter, 2x+2y * * @param image The image containing the particle to score, needed to * perform additional measurements * @param report The Particle Analysis Report for the particle, used for the * width, height, and particle number * @param outer Indicates whether the particle aspect ratio should be * compared to the ratio for the inner target or the outer * @return The aspect ratio score (0-100) */ private double scoreAspectRatio(BinaryImage image, ParticleAnalysisReport report, int particleNumber, boolean vertical) throws NIVisionException { double rectLong, rectShort, aspectRatio, idealAspectRatio; rectLong = NIVision.MeasureParticle(image.image, particleNumber, false, MeasurementType.IMAQ_MT_EQUIVALENT_RECT_LONG_SIDE); rectShort = NIVision.MeasureParticle(image.image, particleNumber, false, MeasurementType.IMAQ_MT_EQUIVALENT_RECT_SHORT_SIDE); idealAspectRatio = vertical ? (4.0 / 32) : (23.5 / 4); if (report.boundingRectWidth > report.boundingRectHeight) { aspectRatio = ratioToScore((rectLong / rectShort)/idealAspectRatio); } else { aspectRatio = ratioToScore((rectShort / rectLong)/idealAspectRatio); } return aspectRatio; }
/** * Computes a score (0-100) comparing the aspect ratio to the ideal aspect ratio for the target. This method uses * the equivalent rectangle sides to determine aspect ratio as it performs better as the target gets skewed by moving * to the left or right. The equivalent rectangle is the rectangle with sides x and y where particle area= x*y * and particle perimeter= 2x+2y * * @param image The image containing the particle to score, needed to perform additional measurements * @param report The Particle Analysis Report for the particle, used for the width, height, and particle number * @param outer Indicates whether the particle aspect ratio should be compared to the ratio for the inner target or the outer * @return The aspect ratio score (0-100) */ public double scoreAspectRatio(BinaryImage image, ParticleAnalysisReport report, int particleNumber, boolean vertical) throws NIVisionException { double rectLong, rectShort, aspectRatio, idealAspectRatio; rectLong = NIVision.MeasureParticle(image.image, particleNumber, false, MeasurementType.IMAQ_MT_EQUIVALENT_RECT_LONG_SIDE); rectShort = NIVision.MeasureParticle(image.image, particleNumber, false, MeasurementType.IMAQ_MT_EQUIVALENT_RECT_SHORT_SIDE); idealAspectRatio = vertical ? (4.0/32) : (23.5/4); //Vertical reflector 4" wide x 32" tall, horizontal 23.5" wide x 4" tall //Divide width by height to measure aspect ratio if(report.boundingRectWidth > report.boundingRectHeight){ //particle is wider than it is tall, divide long by short aspectRatio = ratioToScore((rectLong/rectShort)/idealAspectRatio); } else { //particle is taller than it is wide, divide short by long aspectRatio = ratioToScore((rectShort/rectLong)/idealAspectRatio); } return aspectRatio; }
/** * Computes a score (0-100) comparing the aspect ratio to the ideal aspect * ratio for the target. This method uses the equivalent rectangle sides to * determine aspect ratio as it performs better as the target gets skewed by * moving to the left or right. The equivalent rectangle is the rectangle * with sides x and y where particle area= x*y and particle perimeter= 2x+2y * * @param image The image containing the particle to score, needed to * performa additional measurements * @param report The Particle Analysis Report for the particle, used for the * width, height, and particle number * @param outer Indicates whether the particle aspect ratio should be * compared to the ratio for the inner target or the outer * @return The aspect ratio score (0-100) */ public double scoreAspectRatio(BinaryImage image, ParticleAnalysisReport report, int particleNumber, boolean outer) throws NIVisionException { double rectLong, rectShort, aspectRatio, idealAspectRatio; rectLong = NIVision.MeasureParticle(image.image, particleNumber, false, MeasurementType.IMAQ_MT_EQUIVALENT_RECT_LONG_SIDE); rectShort = NIVision.MeasureParticle(image.image, particleNumber, false, MeasurementType.IMAQ_MT_EQUIVALENT_RECT_SHORT_SIDE); idealAspectRatio = outer ? (62 / 29) : (62 / 20); //Dimensions of goal opening + 4 inches on all 4 sides for reflective tape //Divide width by height to measure aspect ratio if (report.boundingRectWidth > report.boundingRectHeight) { //particle is wider than it is tall, divide long by short aspectRatio = 100 * (1 - Math.abs((1 - ((rectLong / rectShort) / idealAspectRatio)))); } else { //particle is taller than it is wide, divide short by long aspectRatio = 100 * (1 - Math.abs((1 - ((rectShort / rectLong) / idealAspectRatio)))); } return (Math.max(0, Math.min(aspectRatio, 100.0))); //force to be in range 0-100 }
/** * Computes a score (0-100) comparing the aspect ratio to the ideal aspect * ratio for the target. This method uses the equivalent rectangle sides to * determine aspect ratio as it performs better as the target gets skewed by * moving to the left or right. The equivalent rectangle is the rectangle * with sides x and y where particle area= x*y and particle perimeter= 2x+2y * * @param image The image containing the particle to score, needed to * perform additional measurements * @param report The Particle Analysis Report for the particle, used for the * width, height, and particle number * @param outer Indicates whether the particle aspect ratio should be * compared to the ratio for the inner target or the outer * @return The aspect ratio score (0-100) */ public double scoreAspectRatio(BinaryImage image, ParticleAnalysisReport report, int particleNumber, boolean vertical) throws NIVisionException { double rectLong, rectShort, aspectRatio, idealAspectRatio; rectLong = NIVision.MeasureParticle(image.image, particleNumber, false, MeasurementType.IMAQ_MT_EQUIVALENT_RECT_LONG_SIDE); rectShort = NIVision.MeasureParticle(image.image, particleNumber, false, MeasurementType.IMAQ_MT_EQUIVALENT_RECT_SHORT_SIDE); idealAspectRatio = vertical ? (4.0 / 32) : (23.5 / 4); //Vertical reflector 4" wide x 32" tall, horizontal 23.5" wide x 4" tall //Divide width by height to measure aspect ratio if (report.boundingRectWidth > report.boundingRectHeight) { //particle is wider than it is tall, divide long by short aspectRatio = ratioToScore((rectLong / rectShort) / idealAspectRatio); } else { //particle is taller than it is wide, divide short by long aspectRatio = ratioToScore((rectShort / rectLong) / idealAspectRatio); } return aspectRatio; }
/** * Computes a score (0-100) comparing the aspect ratio to the ideal aspect ratio for the target. This method uses * the equivalent rectangle sides to determine aspect ratio as it performs better as the target gets skewed by moving * to the left or right. The equivalent rectangle is the rectangle with sides x and y where particle area= x*y * and particle perimeter= 2x+2y * * @param image The image containing the particle to score, needed to performa additional measurements * @param report The Particle Analysis Report for the particle, used for the width, height, and particle number * @param outer Indicates whether the particle aspect ratio should be compared to the ratio for the inner target or the outer * @return The aspect ratio score (0-100) */ public double scoreAspectRatio(BinaryImage image, ParticleAnalysisReport report, int particleNumber, boolean outer) throws NIVisionException { double rectLong, rectShort, aspectRatio, idealAspectRatio; rectLong = NIVision.MeasureParticle(image.image, particleNumber, false, MeasurementType.IMAQ_MT_EQUIVALENT_RECT_LONG_SIDE); rectShort = NIVision.MeasureParticle(image.image, particleNumber, false, MeasurementType.IMAQ_MT_EQUIVALENT_RECT_SHORT_SIDE); idealAspectRatio = outer ? (62/29) : (62/20); //Dimensions of goal opening + 4 inches on all 4 sides for reflective tape //Divide width by height to measure aspect ratio if(report.boundingRectWidth > report.boundingRectHeight){ //particle is wider than it is tall, divide long by short aspectRatio = 100*(1-Math.abs((1-((rectLong/rectShort)/idealAspectRatio)))); } else { //particle is taller than it is wide, divide short by long aspectRatio = 100*(1-Math.abs((1-((rectShort/rectLong)/idealAspectRatio)))); } return (Math.max(0, Math.min(aspectRatio, 100.0))); //force to be in range 0-100 }
/** * Computes the estimated distance to a target using the height of the * particle in the image. For more information and graphics showing the math * behind this approach see the Vision Processing section of the * ScreenStepsLive documentation. * * @param image The image to use for measuring the particle estimated * rectangle. * @param report The particle analysis report for the particle. * @param outer True if the particle should be treated as an outer target, * false to treat it as a center target. * @return The estimated distance to the target in inches. */ private double computeDistance(BinaryImage image, ParticleAnalysisReport report, int particleNumber) throws NIVisionException { double rectLong, height; int targetHeight; rectLong = NIVision.MeasureParticle(image.image, particleNumber, false, MeasurementType.IMAQ_MT_EQUIVALENT_RECT_LONG_SIDE); height = Math.min(report.boundingRectHeight, rectLong); targetHeight = 32; return Y_IMAGE_RES * targetHeight / (height * 12 * 2 * Math.tan(VIEW_ANGLE * Math.PI / (180 * 2))); }
public void robotInit() { System.out.println("-- 2014 Target Test --"); camera = AxisCamera.getInstance(); // get an instance of the camera cc = new CriteriaCollection(); // create the criteria for the particle filter cc.addCriteria(MeasurementType.IMAQ_MT_AREA, AREA_MINIMUM, 65535, false); }
/** * Computes the estimated distance to a target using the height of the particle in the image. For more information and graphics * showing the math behind this approach see the Vision Processing section of the ScreenStepsLive documentation. * * @param image The image to use for measuring the particle estimated rectangle * @param report The Particle Analysis Report for the particle * @param outer True if the particle should be treated as an outer target, false to treat it as a center target * @return The estimated distance to the target in Inches. */ double computeDistance (BinaryImage image, ParticleAnalysisReport report, int particleNumber) throws NIVisionException { double rectLong, height; int targetHeight; rectLong = NIVision.MeasureParticle(image.image, particleNumber, false, MeasurementType.IMAQ_MT_EQUIVALENT_RECT_LONG_SIDE); //using the smaller of the estimated rectangle long side and the bounding rectangle height results in better performance //on skewed rectangles height = Math.min(report.boundingRectHeight, rectLong); targetHeight = 32; return Y_IMAGE_RES * targetHeight / (height * 12 * 2 * Math.tan(VIEW_ANGLE*Math.PI/(180*2))); }
public PillowCam() { camera = AxisCamera.getInstance(); cc = new CriteriaCollection(); cc.addCriteria(MeasurementType.IMAQ_MT_AREA, AREA_MIN, AREA_MAX, false); ccLeft = new CriteriaCollection(); ccLeft.addCriteria(MeasurementType.IMAQ_MT_FIRST_PIXEL_X, 0, 120, false); ccRight = new CriteriaCollection(); ccRight.addCriteria(MeasurementType.IMAQ_MT_FIRST_PIXEL_X, 200, 320, false); }
public CameraUnit() { camera = AxisCamera.getInstance(ReboundRumble.CAMERA_IP); camera.writeResolution(AxisCamera.ResolutionT.k320x240); camera.writeExposurePriority(AxisCamera.ExposurePriorityT.imageQuality); camera.writeExposureControl(AxisCamera.ExposureT.hold); camera.writeWhiteBalance(AxisCamera.WhiteBalanceT.fixedIndoor); cc = new CriteriaCollection(); cc.addCriteria(MeasurementType.IMAQ_MT_BOUNDING_RECT_WIDTH, 15, 400, false); cc.addCriteria(MeasurementType.IMAQ_MT_BOUNDING_RECT_HEIGHT, 15, 400, false); cameraPan = new Servo(1, 6); cameraTilt = new Servo(1, 7); }
public Vision() { if (enableVision) camera = AxisCamera.getInstance("10.25.2.11"); lastFrame = System.currentTimeMillis(); frameProcess = 0; cc = new CriteriaCollection(); cc.addCriteria(MeasurementType.IMAQ_MT_AREA, 3000, 6000, false); distanceReg = new Regression(0.0000086131992, -0.0893246981, 244.5414525); // a, b, c angleReg = new Regression(15.32142857, -565.2928571, 5720.678571); // a, b, c SmartDashboard.putNumber("Angle Regression Constant", angleReg.getConstant()); }
public void robotInit() { camera = AxisCamera.getInstance(); cc = new CriteriaCollection(); cc.addCriteria(MeasurementType.IMAQ_MT_BOUNDING_RECT_WIDTH, 0, 0, false); cc.addCriteria(MeasurementType.IMAQ_MT_BOUNDING_RECT_HEIGHT, 0, 0, false); //todo: check WPILibJ documentation SmartDashboard.putBoolean("Grab state", false); SmartDashboard.putBoolean("Lift state", false); System.out.println("RobotInit() completed. \n"); }
/** * Computes the estimated distance to a target using the height of the particle in the image. For more information and graphics * showing the math behind this approach see the Vision Processing section of the ScreenStepsLive documentation. * * @param image The image to use for measuring the particle estimated rectangle * @param report The Particle Analysis Report for the particle * @param outer True if the particle should be treated as an outer target, false to treat it as a center target * @return The estimated distance to the target in Inches. */ double computeDistance (BinaryImage image, ParticleAnalysisReport report, int particleNumber, boolean outer) throws NIVisionException { double rectShort, height; int targetHeight; rectShort = NIVision.MeasureParticle(image.image, particleNumber, false, MeasurementType.IMAQ_MT_EQUIVALENT_RECT_SHORT_SIDE); //using the smaller of the estimated rectangle short side and the bounding rectangle height results in better performance //on skewed rectangles height = Math.min(report.boundingRectHeight, rectShort); targetHeight = outer ? 29 : 21; return X_IMAGE_RES * targetHeight / (height * 12 * 2 * Math.tan(VIEW_ANGLE*Math.PI/(180*2))); }
ParticleFilterCriteria(MeasurementType type, float lower, float upper, boolean outsideRange) { this.type = type; this.lower = lower; this.upper = upper; this.outsideRange = outsideRange; }
public void addCriteria(MeasurementType type, float lower, float upper, boolean outsideRange) { criteria.addElement(new ParticleFilterCriteria(type, lower, upper, outsideRange)); }
public AxisCameraM1101() { camera = AxisCamera.getInstance(); criteriaCollection = new CriteriaCollection(); criteriaCollection.addCriteria(NIVision.MeasurementType.IMAQ_MT_AREA, AREA_MINIMUM, 65535, true); }
public ShooterComputer() { camera = AxisCamera.getInstance(RobotMap.CAMERA_IP); // get an instance of the camera cc = new CriteriaCollection(); // create the criteria for the particle filter cc.addCriteria(MeasurementType.IMAQ_MT_AREA, 500, 65535, false); prefs = Preferences.getInstance(); }
public void robotInit() { camera = AxisCamera.getInstance("10.35.28.11"); // get an instance of the camera cc = new CriteriaCollection(); // create the criteria for the particle filter cc.addCriteria(MeasurementType.IMAQ_MT_AREA, AREA_MINIMUM, 65535, false); }
public VisionTracker(){ this.camera = AxisCamera.getInstance(); cc = new CriteriaCollection(); // create the criteria for the particle filter cc.addCriteria(MeasurementType.IMAQ_MT_AREA, AREA_MINIMUM, 65535, false); }
public void robotInit() { //camera = AxisCamera.getInstance(); // get an instance of the camera cc = new CriteriaCollection(); // create the criteria for the particle filter cc.addCriteria(MeasurementType.IMAQ_MT_AREA, 500, 65535, false); }
/** * Computes the estimated distance to a target using the height of the * particle in the image. For more information and graphics showing the math * behind this approach see the Vision Processing section of the * ScreenStepsLive documentation. * * @param image The image to use for measuring the particle estimated * rectangle * @param report The Particle Analysis Report for the particle * @param outer True if the particle should be treated as an outer target, * false to treat it as a center target * @return The estimated distance to the target in Inches. */ double computeDistance(BinaryImage image, ParticleAnalysisReport report, int particleNumber, boolean outer) throws NIVisionException { double rectShort, height; int targetHeight; rectShort = NIVision.MeasureParticle(image.image, particleNumber, false, MeasurementType.IMAQ_MT_EQUIVALENT_RECT_SHORT_SIDE); //using the smaller of the estimated rectangle short side and the bounding rectangle height results in better performance //on skewed rectangles height = Math.min(report.boundingRectHeight, rectShort); targetHeight = outer ? 29 : 21; return X_IMAGE_RES * targetHeight / (height * 12 * 2 * Math.tan(VIEW_ANGLE * Math.PI / (180 * 2))); }
/** * Computes the estimated distance to a target using the height of the * particle in the image. For more information and graphics showing the math * behind this approach see the Vision Processing section of the * ScreenStepsLive documentation. * * @param image The image to use for measuring the particle estimated * rectangle * @param report The Particle Analysis Report for the particle * @param outer True if the particle should be treated as an outer target, * false to treat it as a center target * @return The estimated distance to the target in Inches. */ double computeDistance(BinaryImage image, ParticleAnalysisReport report, int particleNumber) throws NIVisionException { double rectLong, height; int targetHeight; rectLong = NIVision.MeasureParticle(image.image, particleNumber, false, MeasurementType.IMAQ_MT_EQUIVALENT_RECT_LONG_SIDE); //using the smaller of the estimated rectangle long side and the bounding rectangle height results in better performance //on skewed rectangles height = Math.min(report.boundingRectHeight, rectLong); targetHeight = 32; return Y_IMAGE_RES * targetHeight / (height * 12 * 2 * Math.tan(VIEW_ANGLE * Math.PI / (180 * 2))); }
