190 lines
7.9 KiB
Java
190 lines
7.9 KiB
Java
/* Copyright (c) 2023 FIRST. All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without modification,
|
|
* are permitted (subject to the limitations in the disclaimer below) provided that
|
|
* the following conditions are met:
|
|
*
|
|
* Redistributions of source code must retain the above copyright notice, this list
|
|
* of conditions and the following disclaimer.
|
|
*
|
|
* Redistributions in binary form must reproduce the above copyright notice, this
|
|
* list of conditions and the following disclaimer in the documentation and/or
|
|
* other materials provided with the distribution.
|
|
*
|
|
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
|
|
* promote products derived from this software without specific prior written permission.
|
|
*
|
|
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
|
|
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
|
|
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
|
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
|
|
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
|
|
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
|
|
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
|
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
|
|
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
|
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
|
*/
|
|
|
|
package org.firstinspires.ftc.robotcontroller.external.samples;
|
|
|
|
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
|
|
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
|
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
|
import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection;
|
|
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
|
|
import org.firstinspires.ftc.vision.VisionPortal;
|
|
import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
|
|
import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
|
|
|
|
import java.util.List;
|
|
|
|
/*
|
|
* This OpMode illustrates the basics of AprilTag recognition and pose estimation,
|
|
* including Java Builder structures for specifying Vision parameters.
|
|
*
|
|
* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
|
|
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
|
|
*/
|
|
@TeleOp(name = "Concept: AprilTag", group = "Concept")
|
|
@Disabled
|
|
public class ConceptAprilTag extends LinearOpMode {
|
|
|
|
private static final boolean USE_WEBCAM = true; // true for webcam, false for phone camera
|
|
|
|
/**
|
|
* The variable to store our instance of the AprilTag processor.
|
|
*/
|
|
private AprilTagProcessor aprilTag;
|
|
|
|
/**
|
|
* The variable to store our instance of the vision portal.
|
|
*/
|
|
private VisionPortal visionPortal;
|
|
|
|
@Override
|
|
public void runOpMode() {
|
|
|
|
initAprilTag();
|
|
|
|
// Wait for the DS start button to be touched.
|
|
telemetry.addData("DS preview on/off", "3 dots, Camera Stream");
|
|
telemetry.addData(">", "Touch Play to start OpMode");
|
|
telemetry.update();
|
|
waitForStart();
|
|
|
|
if (opModeIsActive()) {
|
|
while (opModeIsActive()) {
|
|
|
|
telemetryAprilTag();
|
|
|
|
// Push telemetry to the Driver Station.
|
|
telemetry.update();
|
|
|
|
// Save CPU resources; can resume streaming when needed.
|
|
if (gamepad1.dpad_down) {
|
|
visionPortal.stopStreaming();
|
|
} else if (gamepad1.dpad_up) {
|
|
visionPortal.resumeStreaming();
|
|
}
|
|
|
|
// Share the CPU.
|
|
sleep(20);
|
|
}
|
|
}
|
|
|
|
// Save more CPU resources when camera is no longer needed.
|
|
visionPortal.close();
|
|
|
|
} // end method runOpMode()
|
|
|
|
/**
|
|
* Initialize the AprilTag processor.
|
|
*/
|
|
private void initAprilTag() {
|
|
|
|
// Create the AprilTag processor.
|
|
aprilTag = new AprilTagProcessor.Builder()
|
|
//.setDrawAxes(false)
|
|
//.setDrawCubeProjection(false)
|
|
//.setDrawTagOutline(true)
|
|
//.setTagFamily(AprilTagProcessor.TagFamily.TAG_36h11)
|
|
//.setTagLibrary(AprilTagGameDatabase.getCenterStageTagLibrary())
|
|
//.setOutputUnits(DistanceUnit.INCH, AngleUnit.DEGREES)
|
|
|
|
// == CAMERA CALIBRATION ==
|
|
// If you do not manually specify calibration parameters, the SDK will attempt
|
|
// to load a predefined calibration for your camera.
|
|
//.setLensIntrinsics(578.272, 578.272, 402.145, 221.506)
|
|
|
|
// ... these parameters are fx, fy, cx, cy.
|
|
|
|
.build();
|
|
|
|
// Create the vision portal by using a builder.
|
|
VisionPortal.Builder builder = new VisionPortal.Builder();
|
|
|
|
// Set the camera (webcam vs. built-in RC phone camera).
|
|
if (USE_WEBCAM) {
|
|
builder.setCamera(hardwareMap.get(WebcamName.class, "Webcam 1"));
|
|
} else {
|
|
builder.setCamera(BuiltinCameraDirection.BACK);
|
|
}
|
|
|
|
// Choose a camera resolution. Not all cameras support all resolutions.
|
|
//builder.setCameraResolution(new Size(640, 480));
|
|
|
|
// Enable the RC preview (LiveView). Set "false" to omit camera monitoring.
|
|
//builder.enableCameraMonitoring(true);
|
|
|
|
// Set the stream format; MJPEG uses less bandwidth than default YUY2.
|
|
//builder.setStreamFormat(VisionPortal.StreamFormat.YUY2);
|
|
|
|
// Choose whether or not LiveView stops if no processors are enabled.
|
|
// If set "true", monitor shows solid orange screen if no processors enabled.
|
|
// If set "false", monitor shows camera view without annotations.
|
|
//builder.setAutoStopLiveView(false);
|
|
|
|
// Set and enable the processor.
|
|
builder.addProcessor(aprilTag);
|
|
|
|
// Build the Vision Portal, using the above settings.
|
|
visionPortal = builder.build();
|
|
|
|
// Disable or re-enable the aprilTag processor at any time.
|
|
//visionPortal.setProcessorEnabled(aprilTag, true);
|
|
|
|
} // end method initAprilTag()
|
|
|
|
|
|
/**
|
|
* Add telemetry about AprilTag detections.
|
|
*/
|
|
private void telemetryAprilTag() {
|
|
|
|
List<AprilTagDetection> currentDetections = aprilTag.getDetections();
|
|
telemetry.addData("# AprilTags Detected", currentDetections.size());
|
|
|
|
// Step through the list of detections and display info for each one.
|
|
for (AprilTagDetection detection : currentDetections) {
|
|
if (detection.metadata != null) {
|
|
telemetry.addLine(String.format("\n==== (ID %d) %s", detection.id, detection.metadata.name));
|
|
telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f (inch)", detection.ftcPose.x, detection.ftcPose.y, detection.ftcPose.z));
|
|
telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f (deg)", detection.ftcPose.pitch, detection.ftcPose.roll, detection.ftcPose.yaw));
|
|
telemetry.addLine(String.format("RBE %6.1f %6.1f %6.1f (inch, deg, deg)", detection.ftcPose.range, detection.ftcPose.bearing, detection.ftcPose.elevation));
|
|
} else {
|
|
telemetry.addLine(String.format("\n==== (ID %d) Unknown", detection.id));
|
|
telemetry.addLine(String.format("Center %6.0f %6.0f (pixels)", detection.center.x, detection.center.y));
|
|
}
|
|
} // end for() loop
|
|
|
|
// Add "key" information to telemetry
|
|
telemetry.addLine("\nkey:\nXYZ = X (Right), Y (Forward), Z (Up) dist.");
|
|
telemetry.addLine("PRY = Pitch, Roll & Yaw (XYZ Rotation)");
|
|
telemetry.addLine("RBE = Range, Bearing & Elevation");
|
|
|
|
} // end method telemetryAprilTag()
|
|
|
|
} // end class
|