Java 类edu.wpi.first.wpilibj.image.BinaryImage 实例源码

/**
 * 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 static double scoreAspectRatio(BinaryImage image, ParticleAnalysisReport report, int particleNumber, boolean outer) throws NIVisionException {
    double rectLong, rectShort, aspectRatio, idealAspectRatio;

    rectLong = NIVision.MeasureParticle(image.image, particleNumber, false, NIVision.MeasurementType.IMAQ_MT_EQUIVALENT_RECT_LONG_SIDE);
    rectShort = NIVision.MeasureParticle(image.image, particleNumber, false, NIVision.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
    idealAspectRatio = outer ? (43 / 32) : (39 / 28);
    //Divide width by height to measure aspect ratio
    aspectRatio = report.boundingRectWidth / (double) report.boundingRectHeight;
    /*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 aspectRatio;
    //return (Math.max(0, Math.min(aspectRatio, 100.0)));       //force to be in range 0-100
}

/**
 * Computes a score based on the match between a template profile and the
 * particle profile in the X direction. This method uses the the column
 * averages and the profile defined at the top of the sample to look for the
 * solid vertical edges with a hollow center.
 *
 * @param image The image to use, should be the image before the convex hull
 * is performed
 * @param report The Particle Analysis Report for the particle
 *
 * @return The X Edge Score (0-100)
 */
public static double scoreXEdge(BinaryImage image, ParticleAnalysisReport report) throws NIVisionException {
    double total = 0;
    LinearAverages averages;

    NIVision.Rect rect = new NIVision.Rect(report.boundingRectTop, report.boundingRectLeft, report.boundingRectHeight, report.boundingRectWidth);
    averages = NIVision.getLinearAverages(image.image, LinearAverages.LinearAveragesMode.IMAQ_COLUMN_AVERAGES, rect);
    float columnAverages[] = averages.getColumnAverages();
    for (int i = 0; i < (columnAverages.length); i++) {
        if (xMin[(i * (XMINSIZE - 1) / columnAverages.length)] < columnAverages[i]
                && columnAverages[i] < xMax[i * (XMAXSIZE - 1) / columnAverages.length]) {
            total++;
        }
    }
    total = 100 * total / (columnAverages.length);
    return total;
}

/**
 * Computes a score based on the match between a template profile and the
 * particle profile in the Y direction. This method uses the the row
 * averages and the profile defined at the top of the sample to look for the
 * solid horizontal edges with a hollow center
 *
 * @param image The image to use, should be the image before the convex hull
 * is performed
 * @param report The Particle Analysis Report for the particle
 *
 * @return The Y Edge score (0-100)
 *
 */
public static double scoreYEdge(BinaryImage image, ParticleAnalysisReport report) throws NIVisionException {
    double total = 0;
    LinearAverages averages;

    NIVision.Rect rect = new NIVision.Rect(report.boundingRectTop, report.boundingRectLeft, report.boundingRectHeight, report.boundingRectWidth);
    averages = NIVision.getLinearAverages(image.image, LinearAverages.LinearAveragesMode.IMAQ_ROW_AVERAGES, rect);
    float rowAverages[] = averages.getRowAverages();
    for (int i = 0; i < (rowAverages.length); i++) {
        if (yMin[(i * (YMINSIZE - 1) / rowAverages.length)] < rowAverages[i]
                && rowAverages[i] < yMax[i * (YMAXSIZE - 1) / rowAverages.length]) {
            total++;
        }
    }
    total = 100 * total / (rowAverages.length);
    return total;
}

/**
 * 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;
}

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, NIVision.MeasurementType.IMAQ_MT_EQUIVALENT_RECT_LONG_SIDE);
       rectShort = NIVision.MeasureParticle(image.image, particleNumber, false, NIVision.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
 * 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 static double scoreAspectRatio(BinaryImage image, ParticleAnalysisReport report, int particleNumber, boolean vertical) throws NIVisionException {
    double rectLong, rectShort, aspectRatio, idealAspectRatio;

    rectLong = NIVision.MeasureParticle(image.image, particleNumber, false, NIVision.MeasurementType.IMAQ_MT_EQUIVALENT_RECT_LONG_SIDE);
    rectShort = NIVision.MeasureParticle(image.image, particleNumber, false, NIVision.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 static double scoreAspectRatio(BinaryImage image, ParticleAnalysisReport report, int particleNumber, boolean outer) throws NIVisionException {
    double rectLong, rectShort, aspectRatio, idealAspectRatio;

    rectLong = NIVision.MeasureParticle(image.image, particleNumber, false, NIVision.MeasurementType.IMAQ_MT_EQUIVALENT_RECT_LONG_SIDE);
    rectShort = NIVision.MeasureParticle(image.image, particleNumber, false, NIVision.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
    idealAspectRatio = outer ? (43 / 32) : (39 / 28);
    //Divide width by height to measure aspect ratio
    aspectRatio = report.boundingRectWidth / (double) report.boundingRectHeight;
    /*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 aspectRatio;
    //return (Math.max(0, Math.min(aspectRatio, 100.0)));       //force to be in range 0-100
}

/**
 * Computes a score based on the match between a template profile and the
 * particle profile in the X direction. This method uses the the column
 * averages and the profile defined at the top of the sample to look for the
 * solid vertical edges with a hollow center.
 *
 * @param image The image to use, should be the image before the convex hull
 * is performed
 * @param report The Particle Analysis Report for the particle
 *
 * @return The X Edge Score (0-100)
 */
public static double scoreXEdge(BinaryImage image, ParticleAnalysisReport report) throws NIVisionException {
    double total = 0;
    LinearAverages averages;

    NIVision.Rect rect = new NIVision.Rect(report.boundingRectTop, report.boundingRectLeft, report.boundingRectHeight, report.boundingRectWidth);
    averages = NIVision.getLinearAverages(image.image, LinearAverages.LinearAveragesMode.IMAQ_COLUMN_AVERAGES, rect);
    float columnAverages[] = averages.getColumnAverages();
    for (int i = 0; i < (columnAverages.length); i++) {
        if (xMin[(i * (XMINSIZE - 1) / columnAverages.length)] < columnAverages[i]
                && columnAverages[i] < xMax[i * (XMAXSIZE - 1) / columnAverages.length]) {
            total++;
        }
    }
    total = 100 * total / (columnAverages.length);
    return total;
}

/**
 * Computes a score based on the match between a template profile and the
 * particle profile in the Y direction. This method uses the the row
 * averages and the profile defined at the top of the sample to look for the
 * solid horizontal edges with a hollow center
 *
 * @param image The image to use, should be the image before the convex hull
 * is performed
 * @param report The Particle Analysis Report for the particle
 *
 * @return The Y Edge score (0-100)
 *
 */
public static double scoreYEdge(BinaryImage image, ParticleAnalysisReport report) throws NIVisionException {
    double total = 0;
    LinearAverages averages;

    NIVision.Rect rect = new NIVision.Rect(report.boundingRectTop, report.boundingRectLeft, report.boundingRectHeight, report.boundingRectWidth);
    averages = NIVision.getLinearAverages(image.image, LinearAverages.LinearAveragesMode.IMAQ_ROW_AVERAGES, rect);
    float rowAverages[] = averages.getRowAverages();
    for (int i = 0; i < (rowAverages.length); i++) {
        if (yMin[(i * (YMINSIZE - 1) / rowAverages.length)] < rowAverages[i]
                && rowAverages[i] < yMax[i * (YMAXSIZE - 1) / rowAverages.length]) {
            total++;
        }
    }
    total = 100 * total / (rowAverages.length);
    return total;
}

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, NIVision.MeasurementType.IMAQ_MT_EQUIVALENT_RECT_LONG_SIDE);
    rectShort = NIVision.MeasureParticle(image.image, particleNumber, false, NIVision.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

    if (report.boundingRectWidth > report.boundingRectHeight)
    {
        aspectRatio = ratioToScore((rectLong / rectShort) / idealAspectRatio);
    }
    else
    {
        aspectRatio = ratioToScore((rectShort / rectLong) / idealAspectRatio);
    }
    return aspectRatio;
}

public double scoreAspectRatioOnRotatedImage(BinaryImage image, ParticleAnalysisReport report, int particleNumber, boolean vertical) throws NIVisionException
{
    double rectLong, rectShort, aspectRatio, idealAspectRatio;

    rectLong = NIVision.MeasureParticle(image.image, particleNumber, false, NIVision.MeasurementType.IMAQ_MT_EQUIVALENT_RECT_LONG_SIDE);
    rectShort = NIVision.MeasureParticle(image.image, particleNumber, false, NIVision.MeasurementType.IMAQ_MT_EQUIVALENT_RECT_SHORT_SIDE);
    idealAspectRatio = vertical ? (32.0 / 4) : (4/23.5);    //Vertical reflector 4" wide x 32" tall, horizontal 23.5" wide x 4" tall

    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)
 */
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, NIVision.MeasurementType.IMAQ_MT_EQUIVALENT_RECT_LONG_SIDE);
    rectShort = NIVision.MeasureParticle(image.image, particleNumber, false, NIVision.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, NIVision.MeasurementType.IMAQ_MT_EQUIVALENT_RECT_LONG_SIDE);
    rectShort = NIVision.MeasureParticle(image.image, particleNumber, false, NIVision.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

    //yonatan - change back
    idealAspectRatio = outer ? (62/29) : (62/40);   //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 based on the match between a template profile and the particle profile in the X direction. This method uses the
 * the column averages and the profile defined at the top of the sample to look for the solid vertical edges with
 * a hollow center.
 * 
 * @param image The image to use, should be the image before the convex hull is performed
 * @param report The Particle Analysis Report for the particle
 * 
 * @return The X Edge Score (0-100)
 */
public double scoreXEdge(BinaryImage image, ParticleAnalysisReport report) throws NIVisionException
{
    double total = 0;
    LinearAverages averages;

    NIVision.Rect rect = new NIVision.Rect(report.boundingRectTop, report.boundingRectLeft, report.boundingRectHeight, report.boundingRectWidth);
    averages = NIVision.getLinearAverages(image.image, LinearAverages.LinearAveragesMode.IMAQ_COLUMN_AVERAGES, rect);
    float columnAverages[] = averages.getColumnAverages();
    for(int i=0; i < (columnAverages.length); i++){
        if(xMin[(i*(XMINSIZE-1)/columnAverages.length)] < columnAverages[i] 
                && columnAverages[i] < xMax[i*(XMAXSIZE-1)/columnAverages.length]){
            total++;
                }
    }
    total = 100*total/(columnAverages.length);
    return total;
}

/**
 * Computes a score based on the match between a template profile and the particle profile in the Y direction. This method uses the
 * the row averages and the profile defined at the top of the sample to look for the solid horizontal edges with
 * a hollow center
 * 
 * @param image The image to use, should be the image before the convex hull is performed
 * @param report The Particle Analysis Report for the particle
 * 
 * @return The Y Edge score (0-100)
 *
 */
public double scoreYEdge(BinaryImage image, ParticleAnalysisReport report) throws NIVisionException
{
    double total = 0;
    LinearAverages averages;

    NIVision.Rect rect = new NIVision.Rect(report.boundingRectTop, report.boundingRectLeft, report.boundingRectHeight, report.boundingRectWidth);
    averages = NIVision.getLinearAverages(image.image, LinearAverages.LinearAveragesMode.IMAQ_ROW_AVERAGES, rect);
    float rowAverages[] = averages.getRowAverages();
    for(int i=0; i < (rowAverages.length); i++){
        if(yMin[(i*(YMINSIZE-1)/rowAverages.length)] < rowAverages[i] 
                && rowAverages[i] < yMax[i*(YMAXSIZE-1)/rowAverages.length]){
            total++;
                }
    }
    total = 100*total/(rowAverages.length);
    return total;
}

/**
 * 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, NIVision.MeasurementType.IMAQ_MT_EQUIVALENT_RECT_LONG_SIDE);
    rectShort = NIVision.MeasureParticle(image.image, particleNumber, false, NIVision.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

    //yonatan - change back
    idealAspectRatio = outer ? (62/29) : (62/40);   //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 based on the match between a template profile and the particle profile in the X direction. This method uses the
 * the column averages and the profile defined at the top of the sample to look for the solid vertical edges with
 * a hollow center.
 * 
 * @param image The image to use, should be the image before the convex hull is performed
 * @param report The Particle Analysis Report for the particle
 * 
 * @return The X Edge Score (0-100)
 */
public double scoreXEdge(BinaryImage image, ParticleAnalysisReport report) throws NIVisionException
{
    double total = 0;
    LinearAverages averages;

    NIVision.Rect rect = new NIVision.Rect(report.boundingRectTop, report.boundingRectLeft, report.boundingRectHeight, report.boundingRectWidth);
    averages = NIVision.getLinearAverages(image.image, LinearAverages.LinearAveragesMode.IMAQ_COLUMN_AVERAGES, rect);
    float columnAverages[] = averages.getColumnAverages();
    for(int i=0; i < (columnAverages.length); i++){
        if(xMin[(i*(XMINSIZE-1)/columnAverages.length)] < columnAverages[i] 
                && columnAverages[i] < xMax[i*(XMAXSIZE-1)/columnAverages.length]){
            total++;
                }
    }
    total = 100*total/(columnAverages.length);
    return total;
}

/**
 * Computes a score based on the match between a template profile and the particle profile in the Y direction. This method uses the
 * the row averages and the profile defined at the top of the sample to look for the solid horizontal edges with
 * a hollow center
 * 
 * @param image The image to use, should be the image before the convex hull is performed
 * @param report The Particle Analysis Report for the particle
 * 
 * @return The Y Edge score (0-100)
 *
 */
public double scoreYEdge(BinaryImage image, ParticleAnalysisReport report) throws NIVisionException
{
    double total = 0;
    LinearAverages averages;

    NIVision.Rect rect = new NIVision.Rect(report.boundingRectTop, report.boundingRectLeft, report.boundingRectHeight, report.boundingRectWidth);
    averages = NIVision.getLinearAverages(image.image, LinearAverages.LinearAveragesMode.IMAQ_ROW_AVERAGES, rect);
    float rowAverages[] = averages.getRowAverages();
    for(int i=0; i < (rowAverages.length); i++){
        if(yMin[(i*(YMINSIZE-1)/rowAverages.length)] < rowAverages[i] 
                && rowAverages[i] < yMax[i*(YMAXSIZE-1)/rowAverages.length]){
            total++;
                }
    }
    total = 100*total/(rowAverages.length);
    return total;
}

/**
    * 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, NIVision.MeasurementType.IMAQ_MT_EQUIVALENT_RECT_LONG_SIDE);
       rectShort = NIVision.MeasureParticle(image.image, particleNumber, false, NIVision.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 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)));
}

double computeDistance (BinaryImage image, ParticleAnalysisReport report, int particleNumber) throws NIVisionException {
        double rectLong, height;
        int targetHeight;

        rectLong = NIVision.MeasureParticle(image.image, particleNumber, false, NIVision.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)));
}

double computeDistance(BinaryImage image, ParticleAnalysisReport report, int particleNumber) throws NIVisionException
{
    double rectLong, height;
    int targetHeight;

    rectLong = NIVision.MeasureParticle(image.image, particleNumber, false, NIVision.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)));
}

double computeDistanceOnRotatedImage(BinaryImage image, ParticleAnalysisReport report, int particleNumber) throws NIVisionException
{
    double rectLong, height;
    int targetHeight;

    rectLong = NIVision.MeasureParticle(image.image, particleNumber, false, NIVision.MeasurementType.IMAQ_MT_EQUIVALENT_RECT_LONG_SIDE);

    height = Math.min(report.boundingRectWidth, rectLong);
    targetHeight = 32;

    return X_IMAGE_RES * targetHeight / (height * 12 * 2 * Math.tan(HORIZ_VIEW_ANGLE * Math.PI / (180 * 2)));
}

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];
    }
}

/**
     * 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, width, height;
        double targetWidth, targetHeight;


        rectShort = NIVision.MeasureParticle(image.image, particleNumber, false, NIVision.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);
        width = report.boundingRectWidth;
        height = report.boundingRectHeight;
        //targetHeight = outer ? 29 : 21;
        //changed by Yonatan Oren//
        //need to change this back to 29/21 for for real ultimate ascent//
        targetWidth = 16;
        targetHeight = 9.75;

////
//         System.out.println("rectShort: " + rectShort);
//         System.out.println("height: " + height);
//         System.out.println("boundingRectHeight: " + report.boundingRectHeight);

         //changed by Yonatan Oren//
        //return X_IMAGE_RES * targetHeight / (height * 12 * 2 * Math.tan(VIEW_ANGLE*Math.PI/(180*2)));
         //return 240.0 * targetWidth / (width * Math.tan(VIEW_ANGLE*Math.PI/(180*2)));
         return 360.0 * targetHeight / (height * Math.tan(VIEW_ANGLE*Math.PI/(180*2)));
         //4800 / 62 * tan(
    }

/**
     * 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, width, height;
        double targetWidth, targetHeight;


        rectShort = NIVision.MeasureParticle(image.image, particleNumber, false, NIVision.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);
        width = report.boundingRectWidth;
        height = report.boundingRectHeight;
        //targetHeight = outer ? 29 : 21;
        //changed by Yonatan Oren//
        //need to change this back to 29/21 for for real ultimate ascent//
        targetWidth = 16;
        targetHeight = 9.75;

////
//         System.out.println("rectShort: " + rectShort);
//         System.out.println("height: " + height);
//         System.out.println("boundingRectHeight: " + report.boundingRectHeight);

         //changed by Yonatan Oren//
        //return X_IMAGE_RES * targetHeight / (height * 12 * 2 * Math.tan(VIEW_ANGLE*Math.PI/(180*2)));
         //return 240.0 * targetWidth / (width * Math.tan(VIEW_ANGLE*Math.PI/(180*2)));
         return 360.0 * targetHeight / (height * Math.tan(VIEW_ANGLE*Math.PI/(180*2)));
         //4800 / 62 * tan(
    }

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 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;
}

/**
 * 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, NIVision.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)));
}

/**
 * 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.
 */
public static double computeDistance(BinaryImage image, ParticleAnalysisReport report, int particleNumber, boolean outer) throws NIVisionException {
    double rectShort, height;
    int targetHeight;

    rectShort = NIVision.MeasureParticle(image.image, particleNumber, false, NIVision.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.
 */
private static double computeDistance(BinaryImage image, ParticleAnalysisReport report, int particleNumber) throws NIVisionException {
    double rectLong, height;
    int targetHeight;

    rectLong = NIVision.MeasureParticle(image.image, particleNumber, false, NIVision.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)));
}

/**
 * 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.
 */
public static double computeDistance(BinaryImage image, ParticleAnalysisReport report, int particleNumber, boolean outer) throws NIVisionException {
    double rectShort, height;
    int targetHeight;

    rectShort = NIVision.MeasureParticle(image.image, particleNumber, false, NIVision.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, NIVision.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)));
}