NIVision Forward Port

Ported the NIVision libraries from the old NIVision implementation to
the new autogenerated JNI bindings.

Change-Id: I7c68ca6abef1185d59a9787e9a269d720c825e2f

wpilibj/wpilibJavaDevices/pom.xml

@@ -63,7 +63,6 @@
           <source>1.7</source>
           <target>1.7</target>
 	      <excludes>
-	        <exclude>edu/wpi/first/wpilibj/image/</exclude>
 	        <exclude>edu/wpi/first/wpilibj/camera/</exclude>
 	      </excludes>
         </configuration>
@@ -77,7 +76,6 @@
       	<artifactId>maven-javadoc-plugin</artifactId>
         <configuration>
       	  <sourceFileExcludes>
-      	    <exclude>edu/wpi/first/wpilibj/image/</exclude>
       	    <exclude>edu/wpi/first/wpilibj/camera/</exclude>
       	  </sourceFileExcludes>
         </configuration>

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/camera/AxisCamera.java

@@ -139,19 +139,19 @@ public static class ResolutionT {
         public final int height;
         static final ResolutionT[] allValues = new ResolutionT[4];
         /**
-         * Image is 640 pixels wide by 480 tall
+         * ImageBase is 640 pixels wide by 480 tall
          */
         public static final ResolutionT k640x480 = new ResolutionT(0, 640, 480);
         /**
-         * Image is 640 pixels wide by 360 tall
+         * ImageBase is 640 pixels wide by 360 tall
          */
         public static final ResolutionT k640x360 = new ResolutionT(1, 640, 360);
         /**
-         * Image is 320 pixels wide by 240 tall
+         * ImageBase is 320 pixels wide by 240 tall
          */
         public static final ResolutionT k320x240 = new ResolutionT(2, 320, 240);
         /**
-         * Image is 160 pixels wide by 120 tall
+         * ImageBase is 160 pixels wide by 120 tall
          */
         public static final ResolutionT k160x120 = new ResolutionT(3, 160, 120);
 

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/image/BinaryImage.java

@@ -7,11 +7,12 @@
 
 package edu.wpi.first.wpilibj.image;
 
-import com.sun.jna.Pointer;
 import edu.wpi.first.wpilibj.util.SortedVector;
+import com.ni.vision.NIVision;
 
 /**
  * An image where each pixel is treated as either on or off.
+ *
  * @author dtjones
  */
 public class BinaryImage extends MonoImage {
@@ -26,31 +27,35 @@ public class BinaryImage extends MonoImage {
 
     /**
      * Returns the number of particles.
+     *
      * @return The number of particles
      */
-    public int getNumberParticles () throws NIVisionException {
+    public int getNumberParticles() throws NIVisionException {
         if (numParticles < 0)
-            numParticles = NIVision.countParticles(image);
+            numParticles = NIVision.imaqCountParticles(image, 1);
         return numParticles;
     }
 
 
     private class ParticleSizeReport {
         final int index;
         final double size;
+
         public ParticleSizeReport(int index) throws NIVisionException {
             if ((!(index < BinaryImage.this.getNumberParticles())) || index < 0)
                 throw new IndexOutOfBoundsException();
             this.index = index;
             size = ParticleAnalysisReport.getParticleToImagePercent(BinaryImage.this, index);
         }
-        public ParticleAnalysisReport getParticleAnalysisReport () throws NIVisionException {
+
+        public ParticleAnalysisReport getParticleAnalysisReport() throws NIVisionException {
             return new ParticleAnalysisReport(BinaryImage.this, index);
         }
     }
 
     /**
      * Get a particle analysis report for the particle at the given index.
+     *
      * @param index The index of the particle to report on.
      * @return The ParticleAnalysisReport for the particle at the given index
      */
@@ -61,6 +66,7 @@ public ParticleAnalysisReport getParticleAnalysisReport(int index) throws NIVisi
 
     /**
      * Gets all the particle analysis reports ordered from largest area to smallest.
+     *
      * @param size The number of particles to return
      * @return An array of ParticleReports from largest area to smallest
      */
@@ -70,8 +76,8 @@ public ParticleAnalysisReport[] getOrderedParticleAnalysisReports(int size) thro
         ParticleSizeReport[] reports = new ParticleSizeReport[size];
         SortedVector sorter = new SortedVector(new SortedVector.Comparator() {
             public int compare(Object object1, Object object2) {
-                ParticleSizeReport p1 = (ParticleSizeReport)object1;
-                ParticleSizeReport p2 = (ParticleSizeReport)object2;
+                ParticleSizeReport p1 = (ParticleSizeReport) object1;
+                ParticleSizeReport p2 = (ParticleSizeReport) object2;
                 if (p1.size < p2.size)
                     return -1;
                 else if (p1.size > p2.size)
@@ -91,6 +97,7 @@ else if (p1.size > p2.size)
 
     /**
      * Gets all the particle analysis reports ordered from largest area to smallest.
+     *
      * @return An array of ParticleReports from largest are to smallest
      */
     public ParticleAnalysisReport[] getOrderedParticleAnalysisReports() throws NIVisionException {
@@ -99,19 +106,9 @@ public ParticleAnalysisReport[] getOrderedParticleAnalysisReports() throws NIVis
 
 
     public void write(String fileName) throws NIVisionException {
-        Pointer colorTable = new Pointer(1024);
-        //Black Background
-        colorTable.setByte(0, (byte)0);   //B
-        colorTable.setByte(1, (byte)0);   //G
-        colorTable.setByte(2, (byte)0);   //R
-        colorTable.setByte(3, (byte)0);     //Alpha
-        //Red Particles:
-        colorTable.setByte(4, (byte)0);     //B
-        colorTable.setByte(5, (byte)0);     //G
-        colorTable.setByte(6, (byte)255);   //R
-        colorTable.setByte(7, (byte)0);     //Alpha
+        NIVision.RGBValue colorTable = new NIVision.RGBValue(0, 0, 255, 0);
         try {
-            NIVision.writeFile(image, fileName, colorTable);
+            NIVision.imaqWriteFile(image, fileName, colorTable);
         } finally {
             colorTable.free();
         }
@@ -121,60 +118,50 @@ public void write(String fileName) throws NIVisionException {
      * removeSmallObjects filters particles based on their size.
      * The algorithm erodes the image a specified number of times and keeps the
      * particles from the original image that remain in the eroded image.
+     *
      * @param connectivity8 true to use connectivity-8 or false for connectivity-4 to determine
-     * whether particles are touching. For more information about connectivity, see Chapter 9,
-     * Binary Morphology, in the NI Vision Concepts manual.
-     * @param erosions the number of erosions to perform
+     *                      whether particles are touching. For more information about connectivity, see Chapter 9,
+     *                      Binary Morphology, in the NI Vision Concepts manual.
+     * @param erosions      the number of erosions to perform
      * @return a BinaryImage after applying the filter
      * @throws NIVisionException
      */
     public BinaryImage removeSmallObjects(boolean connectivity8, int erosions) throws NIVisionException {
         BinaryImage result = new BinaryImage();
-        try {
-            NIVision.sizeFilter(result.image, image, connectivity8, erosions, true);
-        } catch (NIVisionException ex) {
-            result.free();
-            throw ex;
-        }
+        NIVision.imaqSizeFilter(result.image, image, connectivity8 ? 1 : 0, erosions, NIVision.SizeType.KEEP_LARGE, null);
+        result.free();
         return result;
     }
 
     /**
-      * removeLargeObjects filters particles based on their size.
-      * The algorithm erodes the image a specified number of times and discards the
-      * particles from the original image that remain in the eroded image.
-      * @param connectivity8 true to use connectivity-8 or false for connectivity-4 to determine
-      * whether particles are touching. For more information about connectivity, see Chapter 9,
-      * Binary Morphology, in the NI Vision Concepts manual.
-      * @param erosions the number of erosions to perform
-      * @return a BinaryImage after applying the filter
-      * @throws NIVisionException
-      */
+     * removeLargeObjects filters particles based on their size.
+     * The algorithm erodes the image a specified number of times and discards the
+     * particles from the original image that remain in the eroded image.
+     *
+     * @param connectivity8 true to use connectivity-8 or false for connectivity-4 to determine
+     *                      whether particles are touching. For more information about connectivity, see Chapter 9,
+     *                      Binary Morphology, in the NI Vision Concepts manual.
+     * @param erosions      the number of erosions to perform
+     * @return a BinaryImage after applying the filter
+     * @throws NIVisionException
+     */
     public BinaryImage removeLargeObjects(boolean connectivity8, int erosions) throws NIVisionException {
         BinaryImage result = new BinaryImage();
-        try {
-            NIVision.sizeFilter(result.image, image, connectivity8, erosions, false);
-        } catch (NIVisionException ex) {
-            result.free();
-            throw ex;
-        }
+        NIVision.imaqSizeFilter(result.image, image, connectivity8 ? 1 : 0, erosions, NIVision.SizeType.KEEP_SMALL, null);
         return result;
     }
 
     public BinaryImage convexHull(boolean connectivity8) throws NIVisionException {
         BinaryImage result = new BinaryImage();
-        try {
-            NIVision.convexHull(result.image, image, connectivity8 ? 1 : 0);
-        } catch (NIVisionException ex) {
-            result.free();
-            throw ex;
-        }
+        NIVision.imaqConvexHull(result.image, image, connectivity8 ? 1 : 0);
         return result;
     }
 
-    public BinaryImage particleFilter(CriteriaCollection criteria) throws NIVisionException {
+    public BinaryImage particleFilter(NIVision.ParticleFilterCriteria2[] criteria) throws NIVisionException {
         BinaryImage result = new BinaryImage();
-        NIVision.particleFilter(result.image, image, criteria);
+        NIVision.ParticleFilterOptions2 options = new NIVision.ParticleFilterOptions2(0, 0, 0, 1);
+        NIVision.imaqParticleFilter4(result.image, image, criteria, options, null);
+        options.free();
         return result;
     }
 }