public void getImages(String imageAppend) { try { ColorImage image = camera.getImage(); if(imageWriteLevel >= 1 && imageWriteLevel <= 3) { NIVision.writeFile(image.image, "/ColorImage" + imageAppend + ".jpg"); System.out.println("Saving Color Image"); } } catch(Throwable t) { t.printStackTrace(); } }
/** * Get an image from the camera. Be sure to free the image when you are done with it. * @return A new image from the camera. */ public ColorImage getImage() throws AxisCameraException, NIVisionException { ColorImage image = new HSLImage(); if (getImageFn.call1(image.image) == 0) { image.free(); throw new AxisCameraException("No image available"); } return image; }
/** * ColorImage- getImage/getTarget/refresh/update * should filter image and get details * http://www.spectrum3847.org/frc2012api/edu/wpi/first/wpilibj/image/ColorImage.html */ public ColorImage getImage() throws AxisCameraException, NIVisionException { ColorImage image=new HSLImage(); if (true) {//getImageFn.call1(image.image) == 0) { image.free(); throw new AxisCameraException("No image available"); } return image; }
public ColorImage getImage() throws WsCameraException, NIVisionException { ColorImage image = new HSLImage(); if (getImageFn.call1(image.image) == 0) { image.free(); throw new WsCameraException("No image available"); } return image; }
public VisionTarget [] processFrame() { if (enableVision) { lastFrame = System.currentTimeMillis(); try { ColorImage image = camera.getImage(); BinaryImage bImage = image.thresholdRGB( redLow, redHigh, greenLow, greenHigh, blueLow, blueHigh); BinaryImage fImage = bImage.particleFilter(cc); ParticleAnalysisReport [] report = fImage.getOrderedParticleAnalysisReports(); VisionTarget [] targets = new VisionTarget[report.length]; for (int i = 0; i < report.length; i++) { double centerX = report[i].center_mass_x; double centerY = report[i].center_mass_y; double width = report[i].boundingRectWidth; double height = report[i].boundingRectHeight; int area = (int)report[i].particleArea; targets[i] = new VisionTarget(centerX, centerY, width, height, area); } frameProcess = System.currentTimeMillis() - lastFrame; image.free(); bImage.free(); fImage.free(); return targets; } catch (AxisCameraException e) { System.out.println("No Image From Camera: "); frameProcess = System.currentTimeMillis() - lastFrame; return new VisionTarget[0]; } catch (Exception ex) { System.out.println("Camera Exception Thrown: " + ex.getMessage()); frameProcess = System.currentTimeMillis() - lastFrame; return new VisionTarget[0]; } } else { // Vision is not enabled return new VisionTarget[0]; } }
public BinaryImage getFilteredImage() throws Exception { ColorImage ci = getImage(); bi = ci.thresholdRGB(RED_LOW, RED_HIGH, GREEN_LOW, GREEN_HIGH, BLUE_LOW, BLUE_HIGH); bi = bi.convexHull(false); bi = bi.removeSmallObjects(true, 3); bi = bi.particleFilter(cc); ci.free(); return bi; }
public ColorImage getImage() { try{ return cam.getImage(); } catch(Exception e) { return null; } }
public BinaryImage getHSVimage(ColorImage image){ try{ this.HSVimage = image.thresholdHSV(92, 196, 19, 100, 30, 100); } catch (NIVisionException ex) { ex.printStackTrace(); } System.out.println("Processed HSV image"); return this.HSVimage; }
public BinaryImage getRGBimage(ColorImage image) { try{ this.RGBimage = image.thresholdRGB(0, 150, 145, 230, 120, 225); } catch (NIVisionException ex) { ex.printStackTrace(); } System.out.println("Processing RGB image"); return this.RGBimage; }
public ColorImage getImage() throws AxisCameraException, NIVisionException { return cam.getImage(); }
private void storeTop() throws AxisCameraException { top = null; ColorImage ci = getImage(); ParticleAnalysisReport target = null; if(ci != null) { try{ System.out.println("Storing top details..."); bi = ci.thresholdRGB(RED_LOW, RED_HIGH, GREEN_LOW, GREEN_HIGH, BLUE_LOW, BLUE_HIGH); // ci.free(); // ci.image.clear(); // ci.image.free(); bi = bi.convexHull(false); bi = bi.particleFilter(cc); bi = bi.removeSmallObjects(true, 2); System.out.println("Got here."); ParticleAnalysisReport[] reports = bi.getOrderedParticleAnalysisReports(); ParticleAnalysisReport tmp; int lastHighest = 321; for(int i=0; i<reports.length; i++) { tmp = reports[i]; if(tmp.center_mass_y < lastHighest) { lastHighest = tmp.center_mass_y; target = tmp; } } } catch(Exception e) { isProcessing = false; System.out.println("Error in the processing."); throw new AxisCameraException("Error: "+e.getMessage()); } if(target == null) { isProcessing = false; throw new AxisCameraException("No targets found that fit the specified criteria."); } else { System.out.println(target.toString()); top = target; } // } // catch(Exception e) { // isProcessing = false; // throw new AxisCameraException("Error: "+e.getMessage()); // } } else { isProcessing = false; throw new AxisCameraException("Couldn't get image."); } isProcessing = false; System.out.println("Finished processing."); }
/** * Returns the AxisCamera (final), in case direct access is necessary * For the most part, this should not be used, and if a new camera * method is needed, it should just be added to this class * * @method getCameraInstance() * @return ColorImage - Camera.getImage() or a 0x0 hsl image * @author Nathan Lydick * @throws NIVisionException * - throws exception when fails * @written Oct 16, 2014 * ------------------------------------------------------- */ public ColorImage getImage () throws NIVisionException { if (this.haveCamera) return this.camera.getImage(); // returns a 0x0 image return new HSLImage(); }
/** * Updates the current working image * * @param image * the image to be used as the working image */ public void updateImage (ColorImage image) { this.image = image; }
/** * Get an image from the camera and store it in the provided image. * * @param image The image to store the result in. This must be an HSL or RGB * image * @return true upon success, false on a failure */ public boolean getImage(ColorImage image) { return this.getImage(image.image); }
