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Camera auto

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This commit is contained in:
Yash Karandikar 2022-11-14 18:28:32 -06:00
parent aa4509b1f9
commit 6d1582c26a
3 changed files with 166 additions and 0 deletions
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89
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoCameraRight.java Normal file
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package org.firstinspires.ftc.teamcode.createdcode.enhancedautos;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.teamcode.createdcode.enhancedautos.vendor.AprilTagDetectionPipeline;
import org.openftc.apriltag.AprilTagDetection;
import org.openftc.easyopencv.OpenCvCamera;
import org.openftc.easyopencv.OpenCvCameraFactory;
import org.openftc.easyopencv.OpenCvCameraRotation;
import java.util.ArrayList;
@Autonomous
public class AutoCameraRight extends LinearOpMode {
OpenCvCamera camera;
AprilTagDetectionPipeline aprilTagDetectionPipeline;
int detected_id = 0;
@Override
public void runOpMode() {
int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier(
"cameraMonitorViewId",
"id",
hardwareMap.appContext.getPackageName());
camera = OpenCvCameraFactory.getInstance().createWebcam(
hardwareMap.get(WebcamName.class, "Webcam 1"));
aprilTagDetectionPipeline = new AprilTagDetectionPipeline(
CameraConstants.TAGSIZE,
CameraConstants.FX,
CameraConstants.FY,
CameraConstants.CX,
CameraConstants.CY);
API api = new API(this);
MovementAPI movementAPI = new MovementAPI(api);
camera.setPipeline(aprilTagDetectionPipeline);
camera.openCameraDeviceAsync(new OpenCvCamera.AsyncCameraOpenListener() {
@Override
public void onOpened() {
camera.startStreaming(800, 448, OpenCvCameraRotation.UPRIGHT);
}
@Override
public void onError(int errorCode) {
}
});
waitForStart();
// let the camera settle
api.pause(5);
ArrayList<AprilTagDetection> currentDetections = aprilTagDetectionPipeline.getLatestDetections();
if (currentDetections.size() != 0) {
detected_id = currentDetections.get(currentDetections.size() - 1).id;
telemetry.addData("Tag found", String.valueOf(detected_id));
telemetry.update();
}
switch (detected_id) {
case 1:
movementAPI.move(90, 0.7);
api.pause(1);
movementAPI.move(0, 0.5);
api.pause(0.7);
break;
case 2:
movementAPI.move(0, 0.5);
api.pause(0.7);
break;
case 3:
movementAPI.move(-90, 0.7);
api.pause(1);
movementAPI.move(0, 0.5);
api.pause(0.7);
break;
default:
movementAPI.move(90, 0.5);
api.pause(0.75);
break;
}
movementAPI.stop();
}
}

14
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/CameraConstants.java Normal file
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package org.firstinspires.ftc.teamcode.createdcode.enhancedautos;
public class CameraConstants {
// Lens intrinsics
// UNITS ARE PIXELS
// NOTE: this calibration is for the C920 webcam at 800x448.
// You will need to do your own calibration for other configurations!
public static final double FX = 578.272;
public static final double FY = 578.272;
public static final double CX = 402.145;
public static final double CY = 221.506;
public static final double TAGSIZE = 0.166;
}

63
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/CameraTest.java Normal file
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package org.firstinspires.ftc.teamcode.createdcode.enhancedautos;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.teamcode.createdcode.enhancedautos.vendor.AprilTagDetectionPipeline;
import org.openftc.apriltag.AprilTagDetection;
import org.openftc.easyopencv.OpenCvCamera;
import org.openftc.easyopencv.OpenCvCameraFactory;
import org.openftc.easyopencv.OpenCvCameraRotation;
import java.util.ArrayList;
@Autonomous
public class CameraTest extends LinearOpMode {
OpenCvCamera camera;
AprilTagDetectionPipeline aprilTagDetectionPipeline;
// meters
@Override
public void runOpMode() {
int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier("cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName());
camera = OpenCvCameraFactory.getInstance().createWebcam(hardwareMap.get(WebcamName.class, "Webcam 1"), cameraMonitorViewId);
aprilTagDetectionPipeline = new AprilTagDetectionPipeline(
CameraConstants.TAGSIZE,
CameraConstants.FX,
CameraConstants.FY,
CameraConstants.CX,
CameraConstants.CY);
camera.setPipeline(aprilTagDetectionPipeline);
camera.openCameraDeviceAsync(new OpenCvCamera.AsyncCameraOpenListener() {
@Override
public void onOpened() {
camera.startStreaming(800, 448, OpenCvCameraRotation.UPRIGHT);
}
@Override
public void onError(int errorCode) {
}
});
waitForStart();
while (opModeIsActive()) {
ArrayList<AprilTagDetection> currentDetections = aprilTagDetectionPipeline.getLatestDetections();
if (currentDetections.size() != 0) {
for (AprilTagDetection tag : currentDetections) {
telemetry.addLine(String.format("Detected tag ID=%d", tag.id));
}
telemetry.update();
} else {
telemetry.addLine("No tag detected");
telemetry.update();
}
}
}
}