trackapi.cpp

good luck to everyone!

	int largestParticleIndex = 0;
	success = GetLargestParticle(cameraImage, &largestParticleIndex, rect );
	if ( !success )	{
		errorCode = GetLastVisionError(); 
		DPRINTF (LOG_DEBUG, "Error after GetLargestParticle = %i  %s ", errorCode, GetVisionErrorText(errorCode));
		frcDispose(__FUNCTION__,cameraImage,histImage,NULL); 
		imaqSetError(ERR_COLOR_NOT_FOUND, __FUNCTION__);
		return success; 
	}
	DPRINTF(LOG_INFO, "largestParticleIndex = %i\n", largestParticleIndex);

	/* Particles were found  */
		/* 
		 * Fill in report information for largest particle found
		 */
		success = frcParticleAnalysis(cameraImage, largestParticleIndex, trackReport);
		trackReport->imageTimestamp = imageTime;
		
		/* clean up */
		if (!success) {frcDispose(__FUNCTION__,cameraImage,histImage,NULL); return success;}
		
		/* particle color statistics */
		/* only if a color report requested */
		if (colorReport != NULL)
		{
			/* first filter out the other particles */
			ParticleFilterCriteria2 criteria;
			ParticleFilterOptions* options = NULL;
			Rect rect;
			int numParticles;
			success = frcParticleFilter(cameraImage, cameraImage, &criteria, 1, options, 
					rect, &numParticles);
			if ( !success )	{ 
				DPRINTF(LOG_INFO, "frcParticleFilter errorCode %i", GetLastVisionError()); 
			}	
					
			/* histogram the original image using the thresholded image as a mask */
			int numClasses = 10; //how many classes?
			ColorHistogramReport* chrep = imaqColorHistogram2(histImage, numClasses, IMAQ_HSL, 
						NULL, cameraImage);
			if (chrep == NULL) { 
				DPRINTF(LOG_INFO, "NULL Color Histogram");
				errorCode = GetLastVisionError(); 
			} else {
				colorReport->particleHueMax = chrep->plane1.max;
				colorReport->particleHueMin = chrep->plane1.min;
				colorReport->particleHueMean = chrep->plane1.mean;
				colorReport->particleSatMax = chrep->plane2.max;
				colorReport->particleSatMin  = chrep->plane2.min;
				colorReport->particleSatMean = chrep->plane2.mean;
				colorReport->particleLumMax = chrep->plane3.max;
				colorReport->particleLumMin = chrep->plane3.min;
				colorReport->particleLumMean = chrep->plane3.mean;
				colorReport->numberParticlesFound = numParticles;
				frcDispose(chrep); 
			}
		}

	/* clean up */
	frcDispose(__FUNCTION__,cameraImage,histImage,NULL); 
	
	return success;	
}


/**
 *   Data functions for tracking
 */


/**
 * @brief Get default HSL tracking parameters
 * Note these parameters are not fully characterized at this point
 * Get these default values and modify them as needed for your environment
 * @param hue tasked color
 * @param light saturation/luminance
 */
TrackingThreshold GetTrackingData(FrcHue hue, FrcLight light)
{
	TrackingThreshold trackingData;	
	
	//set saturation & luminance	
	switch (light) {
		default:
		case FLUORESCENT:
			trackingData.saturation.minValue = 100;
			trackingData.saturation.maxValue = 255;
			trackingData.luminance.minValue = 40;
			trackingData.luminance.maxValue = 255;
			if (hue == GREEN) trackingData.luminance.minValue = 100;
			if (hue == PINK) trackingData.saturation.minValue = 80;
			if (hue == PINK) trackingData.luminance.minValue = 60;
			if (hue == PINK) trackingData.luminance.maxValue = 155;
			break;
		case PASSIVE_LIGHT:
			trackingData.saturation.minValue = 50;
			trackingData.saturation.maxValue = 255;
			trackingData.luminance.minValue = 20;
			trackingData.luminance.maxValue = 255;
			break;
		case BRIGHT_LIGHT:
			trackingData.saturation.minValue = 0;
			trackingData.saturation.maxValue = 100;
			trackingData.luminance.minValue = 100;
			trackingData.luminance.maxValue = 255;
			break;
		case ACTIVE_LIGHT:
			trackingData.saturation.minValue = 0;
			trackingData.saturation.maxValue = 50;
			trackingData.luminance.minValue = 150;
			trackingData.luminance.maxValue = 255;
			break;
		case WHITE_LIGHT:
			trackingData.saturation.minValue = 0;
			trackingData.saturation.maxValue = 20;
			trackingData.luminance.minValue = 200;
			trackingData.luminance.maxValue = 255;
			break;
	}
	
	//set hue
	switch (hue){
	default:
	case WHITE:
		strcpy (trackingData.name, "WHITE");
		trackingData.hue.minValue = 0;
		trackingData.hue.maxValue = 255;
		break;
	case ORANGE:
		strcpy (trackingData.name, "ORANGE");
		trackingData.hue.minValue = 5;
		trackingData.hue.maxValue = 25;
		break;
	case YELLOW:
		strcpy (trackingData.name, "YELLOW");
		trackingData.hue.minValue = 30;
		trackingData.hue.maxValue = 50;
		break;
	case GREEN:
		strcpy (trackingData.name, "GREEN");
		if (light == FLUORESCENT) {
			trackingData.hue.minValue = 60;
			trackingData.hue.maxValue = 110;
		} else {
			trackingData.hue.minValue = 90;
			trackingData.hue.maxValue = 125;			
		}
		break;
	case BLUE:
		strcpy (trackingData.name, "BLUE");
		trackingData.hue.minValue = 140;
		trackingData.hue.maxValue = 170;
		break;
	case PURPLE:
		strcpy (trackingData.name, "PURPLE");
		trackingData.hue.minValue = 180;
		trackingData.hue.maxValue = 200;
		break;
	case PINK:
		strcpy (trackingData.name, "PINK");
		trackingData.hue.minValue = 210;
		trackingData.hue.maxValue = 250;
		break;
	case RED:
		strcpy (trackingData.name, "RED");
		trackingData.hue.minValue = 240;
		trackingData.hue.maxValue = 255;
		break;
	}
  return(trackingData);
}


/**
 * Print particle analysis report
 * @param myReport Report to print
 */
void PrintReport(ParticleAnalysisReport* myReport)
{
	dprintf(LOG_INFO, "particle analysis:\n    %s%i  %s%i\n    %s%lf\n    %s%i  %s%i\n    %s%g  %s%g\n    %s%g\n    %s%i  %s%i\n    %s%i  %s%i\n",
			"imageHeight = ", myReport->imageHeight, 
			"imageWidth = ", myReport->imageWidth, 
			"imageTimestamp = ", myReport->imageTimestamp, 
			"center_mass_x = ", myReport->center_mass_x, 
			"center_mass_y = ", myReport->center_mass_y, 
			"center_mass_x_normalized = ", myReport->center_mass_x_normalized, 
			"center_mass_y_normalized = ", myReport->center_mass_y_normalized, 
			"particleArea = ", myReport->particleArea, 
			"boundingRectangleTop = ", myReport->boundingRect.top, 
			"boundingRectangleLeft = ", myReport->boundingRect.left,
			"boundingRectangleHeight = ", myReport->boundingRect.height, 
			"boundingRectangleWidth = ", myReport->boundingRect.width);

	dprintf(LOG_INFO, "quality statistics:  \n    %s%g %s%g \n",
			"particleToImagePercent = ", myReport->particleToImagePercent, 
			"particleQuality = ", myReport->particleQuality);
}

/**
 * Print color report
 * @param myReport Report to print
 */
void PrintReport(ColorReport* myReport)
{
	dprintf(LOG_INFO, "particle ranges for %i particles:     ",
			"numberParticlesFound = ", myReport->numberParticlesFound);
	;
	dprintf(LOG_INFO, "\n    %s%f  %s%f  %s%f\n    %s%f %s%f  %s%f\n    %s%f  %s%f  %s%f\n -------",
			"particleHueMax = ", myReport->particleHueMax, 
			"particleHueMin = ", myReport->particleHueMin, 
			"particleHueMean = ", myReport->particleHueMean,
			"particleSatMax = ", myReport->particleSatMax, 
			"particleSatMin = ", myReport->particleSatMin, 
			"particleSatMean = ", myReport->particleSatMean,
			"particleLumMax = ", myReport->particleLumMax, 
			"particleLumMin = ", myReport->particleLumMin, 
			"particleLumMean = ", myReport->particleLumMean);

}

/**
 * Print color report
 * @param myReport Report to print
 */
void PrintReport(TrackingThreshold* myReport)
{
	dprintf(LOG_INFO, "name of color: %s", myReport->name);

	dprintf(LOG_INFO, "\n    %s%i  %s%i\n    %s%i %s%i\n    %s%i  %s%i\n -------",
			"hueMin = ", myReport->hue.minValue, 
			"hueMax = ", myReport->hue.maxValue, 
			"satMin = ", myReport->saturation.minValue, 
			"satMax = ", myReport->saturation.maxValue, 
			"lumMin = ", myReport->luminance.minValue, 
			"lumMax = ", myReport->luminance.maxValue );

}