Experimental Vision Code

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#include

#include <CameraServer.h> #include <IterativeRobot.h> #include <opencv2/imgproc/imgproc.hpp> #include <opencv2/core/core.hpp> #include <opencv2/core/types.hpp>

/**

• This is a demo program showing the use of OpenCV to do vision processing. The

• image is acquired from the USB camera, then a rectangle is put on the image and

• sent to the dashboard. OpenCV has many methods for different types of

• processing. */ class Robot: public frc::IterativeRobot { private: static void VisionThread() { // Get the USB camera from CameraServer cs::UsbCamera camera = CameraServer::GetInstance()->StartAutomaticCapture(0); // Set the resolution camera.SetResolution(160, 120);

   // Get a CvSink. This will capture Mats from the Camera
   cs::CvSink cvSink = CameraServer::GetInstance()->GetVideo();
   // Setup a CvSource. This will send images back to the Dashboard
   cs::CvSource outputStream = CameraServer::GetInstance()->
   		PutVideo("Rectangle", 160, 120);
  
   // Mats are very memory expensive. Lets reuse this Mat.
   cv::Mat mat;
   cv::Mat out;
  
   while (true) {
   	// Tell the CvSink to grab a frame from the camera and put it
   	// in the source mat.  If there is an error notify the output.
   	if (cvSink.GrabFrame(mat) == 0) {
   		// Send the output the error.
   		outputStream.NotifyError(cvSink.GetError());
   		// skip the rest of the current iteration
   		continue;
   	}
   	// Resize the image
   	cv::resize(mat, mat, cv::Size(160, 120), 0.0, 0.0, cv::INTER_CUBIC);
  
   	// HSL threshold
   	double hue[] = {30, 110};
   	double saturation[] = {30, 255};
   	double luminance[] = {25, 255};
   	cv::cvtColor(mat, out, cv::COLOR_BGR2HLS);
   	cv::inRange(out, cv::Scalar(hue[0], luminance[0], saturation[0]),
   			cv::Scalar(hue[1], luminance[1], saturation[1]), out);
  
   	// Find contours
   	//std::vector<cv::Vec4i> hierarchy;
   	//std::vector<std::vector<cv::Point> > contours;
   	//contours.clear();
   	//int mode = false ? cv::RETR_EXTERNAL : cv::RETR_LIST;
   	//int method = cv::CHAIN_APPROX_SIMPLE;
   	//cv::findContours(mat, contours, hierarchy, mode, method);
  
   	//cv::Mat output = cv::Mat(contours);
  
   	// Output to SmartDashboard
   	outputStream.PutFrame(out);
   }
  

  }

  void RobotInit() { // We need to run our vision program in a separate Thread. // If not, our robot program will not run std::thread visionThread(VisionThread); visionThread.detach(); }

};

START_ROBOT_CLASS(Robot)