/**
* 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 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 distance away from the target
*
* @param image The image containing the particle to score
* @param report The Particle Analysis Report for the particle
* @param particleNumber Particle number in the analysis
* @param outer Indicates whether the particle aspect ratio should be compared to the ratio for
* the inner target or the outer
* @return Approximate distance from the target
* @throws NIVisionException
*/
double computeDistance(
BinaryImage image, ParticleAnalysisReport report, int particleNumber, boolean outer)
throws NIVisionException {
double rectShort, height;
int targetHeight;
angle = CommandBase.shooterPitch.getPosition();
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(angle * Math.PI / (180 * 2)));
}
public double getDistance(Target t) {
boolean debugMyProc = true;
double result;
if (debugMyProc) {
writeDebug("t.rawBboxHeight=" + t.rawBboxHeight);
writeDebug("Center x, y (" + t.centerX + "," + t.centerY + ")");
writeDebug("Cornerr x, y (" + t.rawBboxCornerX + "," + t.rawBboxCornerY + ")");
}
result = 3185.6 / (t.rawBboxHeight * Math.tan(0.4101));
return (result * 1.0125);
}