/**
* 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)));
}
/**
* 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;
Rect rect =
new 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 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;
}