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2013 FRC Java API

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edu.wpi.first.wpilibj.image
Class NIVision

java.lang.Object
  extended by edu.wpi.first.wpilibj.image.NIVision

public class NIVision
extends Object

Class for interfacing with the NIVision libraries

Author:
dtjones

Nested Class Summary
static class NIVision.ColorMode
          Enumerations representing the possible color spaces to operate in
static class NIVision.ImageType
          Enumeration representing the possible types of imaq images
static class NIVision.MeasurementType
           
static class NIVision.Range
           
static class NIVision.Rect
           
 
Field Summary
protected static BlockingFunction imaqCreateImageFn
           
 
Method Summary
protected static void assertCleanStatus(int code)
           
static void colorEqualize(Pointer destination, Pointer source, boolean all)
          Calculates the histogram of each plane of a color image and redistributes pixel values across the desired range while maintaining pixel value groupings.
static void colorThreshold(Pointer dest, Pointer source, NIVision.ColorMode mode, Pointer plane1Range, Pointer plane2Range, Pointer plane3Range)
          Convert the given image into a binary image true where the colors match the given thresholds
static void convexHull(Pointer dest, Pointer source, int connectivity8)
           
static int countParticles(Pointer image)
          Counts the number of particles in a binary image.
 float decodeGreyscaleValue(int pixelValue)
           
static EllipseMatch[] detectEllipses(MonoImage image, EllipseDescriptor ellipseDescriptor, CurveOptions curveOptions, ShapeDetectionOptions shapeDetectionOptions, RegionOfInterest roi)
           
static void dispose(Pointer item)
          Cleans up resources associated with images, regions of interest (ROIs), arrays, and reports that you no longer need.
 int encodeGreyscaleValue(float greyscale)
           
 int encodeHSLValue(int h, int s, int l, int a)
           
 int encodeHSVValue(int h, int s, int v, int a)
           
 int encodeRGBValue(int r, int g, int b, int a)
           
static void extractColorPlanes(Pointer source, NIVision.ColorMode mode, Pointer plane1, Pointer plane2, Pointer plane3)
          Extract the color planes from the given source image into the given planes
static int getHeight(Pointer image)
          Get the height of an image.
static int getLastError()
           
static LinearAverages getLinearAverages(Pointer image, LinearAverages.LinearAveragesMode mode, NIVision.Rect rect)
           
static int getWidth(Pointer image)
          Get the width of an image.
 int hslGetA(int hslvalue)
           
 int hslGetH(int hslvalue)
           
 int hslGetL(int hslvalue)
           
 int hslGetS(int hslvalue)
           
 int hsvGetA(int hsvvalue)
           
 int hsvGetH(int hsvvalue)
           
 int hsvGetS(int hsvvalue)
           
 int hsvGetV(int hsvvalue)
           
static Pointer imaqCreateImage(NIVision.ImageType type, int borderSize)
          Allocates space for and creates a new imaq image
static double MeasureParticle(Pointer image, int particleNum, boolean calibrated, NIVision.MeasurementType type)
          Returns a measurement associated with a particle
static int particleFilter(Pointer dest, Pointer source, CriteriaCollection collection)
           
static void readFile(Pointer image, String fileName)
          Read an image from to the given image from the given filename
static void readJpegString(Pointer image, Pointer p)
          Read a pointer to a byte array into the given image
static void replaceColorPlanes(Pointer dest, Pointer source, NIVision.ColorMode mode, Pointer plane1, Pointer plane2, Pointer plane3)
          Replaces one or more of the color planes of a color image.
 int rgbGetA(int rgbvalue)
           
 int rgbGetB(int rgbvalue)
           
 int rgbGetG(int rgbvalue)
           
 int rgbGetR(int rgbvalue)
           
static void setWriteFileAllowed(boolean val)
          Set true to be able to create files on cRio
static void sizeFilter(Pointer dest, Pointer source, boolean connectivity8, int erosions, boolean keepLarger)
           
static void writeFile(Pointer image, String fileName)
          Write an image to the given file.
static void writeFile(Pointer image, String fileName, Pointer colorTable)
          Write an image to the given file.
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Field Detail

imaqCreateImageFn

protected static final BlockingFunction imaqCreateImageFn
Method Detail

encodeRGBValue

public int encodeRGBValue(int r,
                          int g,
                          int b,
                          int a)

rgbGetR

public int rgbGetR(int rgbvalue)

rgbGetG

public int rgbGetG(int rgbvalue)

rgbGetB

public int rgbGetB(int rgbvalue)

rgbGetA

public int rgbGetA(int rgbvalue)

encodeHSLValue

public int encodeHSLValue(int h,
                          int s,
                          int l,
                          int a)

hslGetH

public int hslGetH(int hslvalue)

hslGetS

public int hslGetS(int hslvalue)

hslGetL

public int hslGetL(int hslvalue)

hslGetA

public int hslGetA(int hslvalue)

encodeHSVValue

public int encodeHSVValue(int h,
                          int s,
                          int v,
                          int a)

hsvGetH

public int hsvGetH(int hsvvalue)

hsvGetS

public int hsvGetS(int hsvvalue)

hsvGetV

public int hsvGetV(int hsvvalue)

hsvGetA

public int hsvGetA(int hsvvalue)

encodeGreyscaleValue

public int encodeGreyscaleValue(float greyscale)

decodeGreyscaleValue

public float decodeGreyscaleValue(int pixelValue)

getHeight

public static int getHeight(Pointer image)
                     throws NIVisionException
Get the height of an image.

Parameters:
image - The image to get the height of.
Returns:
The height of the image.
Throws:
NIVisionException

getWidth

public static int getWidth(Pointer image)
                    throws NIVisionException
Get the width of an image.

Parameters:
image - The image to get the width of.
Returns:
The width of the image.
Throws:
NIVisionException

convexHull

public static void convexHull(Pointer dest,
                              Pointer source,
                              int connectivity8)
                       throws NIVisionException
Throws:
NIVisionException

sizeFilter

public static void sizeFilter(Pointer dest,
                              Pointer source,
                              boolean connectivity8,
                              int erosions,
                              boolean keepLarger)
                       throws NIVisionException
Throws:
NIVisionException

countParticles

public static int countParticles(Pointer image)
                          throws NIVisionException
Counts the number of particles in a binary image.

Parameters:
image - The image to count the particles in
Returns:
The number of particles
Throws:
NIVisionException

MeasureParticle

public static double MeasureParticle(Pointer image,
                                     int particleNum,
                                     boolean calibrated,
                                     NIVision.MeasurementType type)
                              throws NIVisionException
Returns a measurement associated with a particle

Parameters:
image - The image containing the particle to get information about.
particleNum - The number of the particle to get information about.
calibrated - Specifies whether to return the measurement as a real-world value.
type - The measurement to make on the particle.
Returns:
The value of the requested measurement.
Throws:
NIVisionException

particleFilter

public static int particleFilter(Pointer dest,
                                 Pointer source,
                                 CriteriaCollection collection)
                          throws NIVisionException
Throws:
NIVisionException

imaqCreateImage

public static Pointer imaqCreateImage(NIVision.ImageType type,
                                      int borderSize)
                               throws NIVisionException
Allocates space for and creates a new imaq image

Parameters:
type - the imaq encoding to use for the image
borderSize - the size of border to use for the image
Returns:
a newly allocated pointer to an imaqImage
Throws:
NIVisionException

colorThreshold

public static void colorThreshold(Pointer dest,
                                  Pointer source,
                                  NIVision.ColorMode mode,
                                  Pointer plane1Range,
                                  Pointer plane2Range,
                                  Pointer plane3Range)
                           throws NIVisionException
Convert the given image into a binary image true where the colors match the given thresholds

Parameters:
dest - the 8 bit monocolor image to store the result in
source - the color image source
mode - The mode of color to use
plane1Range - First color range
plane2Range - Second color range
plane3Range - Third color range
Throws:
NIVisionException

colorEqualize

public static void colorEqualize(Pointer destination,
                                 Pointer source,
                                 boolean all)
                          throws NIVisionException
Calculates the histogram of each plane of a color image and redistributes pixel values across the desired range while maintaining pixel value groupings.

Parameters:
destination - The destination image.
source - The image to equalize.
all - Set this parameter to TRUE to equalize all three planes of the image. Set this parameter to FALSE to equalize only the luminance plane.
Throws:
NIVisionException

detectEllipses

public static EllipseMatch[] detectEllipses(MonoImage image,
                                            EllipseDescriptor ellipseDescriptor,
                                            CurveOptions curveOptions,
                                            ShapeDetectionOptions shapeDetectionOptions,
                                            RegionOfInterest roi)
                                     throws NIVisionException
Throws:
NIVisionException

getLinearAverages

public static LinearAverages getLinearAverages(Pointer image,
                                               LinearAverages.LinearAveragesMode mode,
                                               NIVision.Rect rect)
                                        throws NIVisionException
Throws:
NIVisionException

getLastError

public static int getLastError()

assertCleanStatus

protected static void assertCleanStatus(int code)
                                 throws NIVisionException
Throws:
NIVisionException

dispose

public static void dispose(Pointer item)
                    throws NIVisionException
Cleans up resources associated with images, regions of interest (ROIs), arrays, and reports that you no longer need. After you dispose of something, you can no longer use it.

Parameters:
item - The image, ROI, array, or report whose memory you want to free.
Throws:
NIVisionException

readJpegString

public static void readJpegString(Pointer image,
                                  Pointer p)
Read a pointer to a byte array into the given image

Parameters:
image - pointer to an imaq image object
p - pointer to a byte array holding image data

setWriteFileAllowed

public static void setWriteFileAllowed(boolean val)
Set true to be able to create files on cRio

Parameters:
val - true allows files to be created

writeFile

public static void writeFile(Pointer image,
                             String fileName)
                      throws NIVisionException
Write an image to the given file. Supported extensions: .aipd or .apd AIPD .bmp BMP .jpg or .jpeg JPEG .jp2 JPEG2000 .png PNG .tif or .tiff TIFF

Parameters:
image - The image to write to a file.
fileName - The name of the destination file.
Throws:
NIVisionException

writeFile

public static void writeFile(Pointer image,
                             String fileName,
                             Pointer colorTable)
                      throws NIVisionException
Write an image to the given file. Supported extensions: .aipd or .apd AIPD .bmp BMP .jpg or .jpeg JPEG .jp2 JPEG2000 .png PNG .tif or .tiff TIFF

Parameters:
image - The image to write to a file.
fileName - The name of the destination file.
colorTable - The color table to use for 8-bit images
Throws:
NIVisionException

readFile

public static void readFile(Pointer image,
                            String fileName)
                     throws NIVisionException
Read an image from to the given image from the given filename

Parameters:
image - The image to store the data in.
fileName - The name of the file to load.
Throws:
NIVisionException

extractColorPlanes

public static void extractColorPlanes(Pointer source,
                                      NIVision.ColorMode mode,
                                      Pointer plane1,
                                      Pointer plane2,
                                      Pointer plane3)
                               throws NIVisionException
Extract the color planes from the given source image into the given planes

Parameters:
source - The color source image.
mode - The color space to extract the planes of.
plane1 - MonoImage destination for the first plane.
plane2 - MonoImage destination for the first plane.
plane3 - MonoImage destination for the first plane.
Throws:
NIVisionException

replaceColorPlanes

public static void replaceColorPlanes(Pointer dest,
                                      Pointer source,
                                      NIVision.ColorMode mode,
                                      Pointer plane1,
                                      Pointer plane2,
                                      Pointer plane3)
                               throws NIVisionException
Replaces one or more of the color planes of a color image. The plane you replace may be independent of the image type. For example, you can replace the green plane of an RGB image or the hue plane of an HSL image.

Parameters:
dest - The destination image.
source - The source image.
mode - The color space in which the function replaces planes.
plane1 - The first plane of replacement data. Set this parameter to null if you do not want to change the first plane of the source image.
plane2 - The second plane of replacement data. Set this parameter to null if you do not want to change the second plane of the source image.
plane3 - The third plane of replacement data. Set this parameter to null if you do not want to change the third plane of the source image.
Throws:
NIVisionException
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2013 FRC Java API

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SUMMARY: NESTED | FIELD | CONSTR | METHOD DETAIL: FIELD | CONSTR | METHOD
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