public TargetFinder() {
System.out.println("TargetFinder() begin " + Timer.getFPGATimestamp());
cam = AxisCamera.getInstance();
cam.writeResolution(AxisCamera.ResolutionT.k320x240);
cam.writeBrightness(camBrightness);
cam.writeColorLevel(camColor);
cam.writeWhiteBalance(camWhiteBalance);
cam.writeExposureControl(camExposure);
cam.writeMaxFPS(15);
cam.writeExposurePriority(AxisCamera.ExposurePriorityT.none);
cam.writeCompression(50);
// System.out.println("TargetFinder() * " + cam.toString() + "[" + Timer.getFPGATimestamp());
boxCriteria = new CriteriaCollection();
inertiaCriteria = new CriteriaCollection();
boxCriteria.addCriteria(
NIVision.MeasurementType.IMAQ_MT_BOUNDING_RECT_WIDTH, 30, bboxWidthMin, false);
boxCriteria.addCriteria(
NIVision.MeasurementType.IMAQ_MT_BOUNDING_RECT_HEIGHT, 40, bboxHeightMin, false);
inertiaCriteria.addCriteria(
NIVision.MeasurementType.IMAQ_MT_NORM_MOMENT_OF_INERTIA_XX, 0, inertiaXMin, true);
inertiaCriteria.addCriteria(
NIVision.MeasurementType.IMAQ_MT_NORM_MOMENT_OF_INERTIA_YY, 0, inertiaYMin, true);
Timer.delay(7);
}
public AutonomousShooterAngle() {
requires(wheelSet[0]);
requires(wheelSet[1]);
requires(wheelSet[2]);
requires(wheelSet[3]);
requires(shooterAngler);
cc = new CriteriaCollection(); // create the criteria for the particle filter
cc.addCriteria(MeasurementType.IMAQ_MT_AREA, 500, 65535, false);
}
/**
* Creates a new Robocam instance
*
* @param ip String of the camera's IP address
* @return
*/
public Robocam(String ip) {
// camera = AxisCamera.getInstance(ip);
collection = new CriteriaCollection();
collection.addCriteria(MeasurementType.IMAQ_MT_AREA, 500, 65535, false);
}
