forked from gallant/freesight
unfinished
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f3a5a54f67
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822a502a2e
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@ -6,7 +6,9 @@ import java.text.SimpleDateFormat
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apply plugin: 'com.android.library'
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android {
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buildFeatures{
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buildConfig = true;
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}
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defaultConfig {
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minSdkVersion 24
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//noinspection ExpiredTargetSdkVersion
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@ -0,0 +1,46 @@
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package org.firstinspires.ftc.teamcode.freesight.opmodes;
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import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
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import org.firstinspires.ftc.robotcore.external.Telemetry;
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import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
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import org.firstinspires.ftc.teamcode.freesight.vision.FreeSightPipeline;
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import org.openftc.easyopencv.*;
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public class FreeSight {
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private FreeSightPipeline pipe;
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private final OpenCvWebcam web;
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private final Telemetry telemetry;
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public FreeSight(LinearOpMode op)
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{
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web = OpenCvCameraFactory.getInstance().createWebcam(
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op.hardwareMap.get(WebcamName.class,"webcam")
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);
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telemetry = op.telemetry;
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}
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public void findStuff()
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{
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pipe = new FreeSightPipeline();
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web.openCameraDeviceAsync(new OpenCvCamera.AsyncCameraOpenListener() {
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@Override
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public void onOpened() {
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web.setPipeline(pipe);
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web.startStreaming(800, 448, OpenCvCameraRotation.UPRIGHT);
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}
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@Override
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public void onError(int errorCode) {
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telemetry.addData("Error:", "Camera produced error code: " + errorCode);
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stop();
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}
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});
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}
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public void stop()
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{
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web.stopStreaming();
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}
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}
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@ -0,0 +1,148 @@
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package org.firstinspires.ftc.teamcode.freesight.vision;
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//import com.acmerobotics.dashboard.config.Config;
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import org.firstinspires.ftc.robotcore.external.Telemetry;
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import org.firstinspires.ftc.robotcore.internal.opmode.TelemetryImpl;
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import org.opencv.core.Core;
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import org.opencv.core.Mat;
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import org.opencv.core.MatOfPoint;
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import org.opencv.core.MatOfRect;
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import org.opencv.core.Rect;
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import org.opencv.core.Scalar;
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import org.opencv.imgproc.Imgproc;
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import org.openftc.easyopencv.OpenCvPipeline;
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import java.util.ArrayList;
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//@Config
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public class FreeSightPipeline extends OpenCvPipeline {
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public enum Prop
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{
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BLUE,ORANGE,NONE
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}
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public enum Side
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{
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LEFT,RIGHT,MIDDLE
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}
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ArrayList<double[]> frameList = new ArrayList<>();
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public Side positionState;
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public Scalar lowHSV = new Scalar(0,0,0);
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public Scalar highHSV = new Scalar(0,0,0);
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public Scalar outline = new Scalar(0,0,0);
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public Prop colorState = Prop.NONE;
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/**
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* @param input the frame to be manipulated
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* @return The altered matrix
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*/
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@Override
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public Mat processFrame(Mat input) {
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int width = input.width();
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int height = input.height();
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Mat mat = new Mat();
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Imgproc.cvtColor(input, mat, Imgproc.COLOR_RGB2HSV);
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if(mat.empty()) return input;
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/*
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* BLUE
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* Scalar lowHSV = new Scalar(55.3, 62.3, 53.8);
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* Scalar highHSV = new Scalar(213.9, 240.8, 255);
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*/
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if(colorState == Prop.BLUE)
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{
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lowHSV = new Scalar(55.3, 62.3, 53.8);
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highHSV = new Scalar(213.9, 240.8, 255);
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}
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else if(colorState == Prop.ORANGE)
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{
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lowHSV = new Scalar(0,106.3,198.3);
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highHSV = new Scalar(14.2, 255, 255);
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}
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Mat threshold = new Mat();
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Core.inRange(mat, lowHSV, highHSV, threshold);
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Mat masked = new Mat();
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Core.bitwise_and(mat, mat, masked, threshold);
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Scalar avg = Core.mean(masked, threshold);
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Mat scaledMask = new Mat();
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masked.convertTo(scaledMask, -1, 150/avg.val[1],0);
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Mat scaledThresh = new Mat();
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double strictLowS;
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//you probably want to tune this
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if(colorState == Prop.BLUE)
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strictLowS = 62.3;
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else
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strictLowS = 86.4; // orange
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Scalar strictLowHSV = new Scalar(0, strictLowS, 0); //strict lower bound HSV for yellow
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Scalar strictHighHSV = new Scalar(255, 255, 255); //strict higher bound HSV for yellow
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//apply strict HSV filter onto scaledMask to get rid of any yellow other than pole
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Core.inRange(scaledMask, strictLowHSV, strictHighHSV, scaledThresh);
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//contours, apply post processing to information
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ArrayList<MatOfPoint> contours = new ArrayList<>();
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Mat hierarchy = new Mat();
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//find contours, input scaledThresh because it has hard edges
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Imgproc.findContours(scaledThresh, contours, hierarchy, Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_NONE);
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int index = 0;
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int area = 0;
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for (int i = 0; i < contours.size(); i++)
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{
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MatOfPoint bar = contours.get(i);
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int foo = bar.width() * bar.height();
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if(foo > area)
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{
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index = i;
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area = foo;
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}
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}
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MatOfPoint contour = contours.get(index);
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Rect boundingRect = Imgproc.boundingRect(contour);
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int min_x = boundingRect.x;
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int max_x = boundingRect.x - boundingRect.width;
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int min_y = boundingRect.y;
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int max_y = boundingRect.y - boundingRect.height;
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// center is ( x + w ) / 2
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Imgproc.rectangle(
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threshold,
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new Rect(
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min_x,
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min_y,
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(max_x + min_x),
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(max_y + min_y)),
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outline
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);
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//list of frames to reduce inconsistency, not too many so that it is still real-time, change the number from 5 if you want
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if (frameList.size() > 5) {
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frameList.remove(0);
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}
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//releasing for ram related reasons
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input.release();
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scaledThresh.release();
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scaledMask.release();
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mat.release();
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masked.release();
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return threshold;
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}
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}
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@ -0,0 +1,7 @@
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{
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"sourcesPath": ".",
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"resourcesPath": ".",
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"excludedPaths": [],
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"excludedFileExtensions": [],
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"eocvSimVersion": "3.5.2"
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}
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@ -1,6 +1,7 @@
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repositories {
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mavenCentral()
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google() // Needed for androidx
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maven { url = 'https://maven.brott.dev/' }
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}
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dependencies {
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@ -17,5 +18,7 @@ dependencies {
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implementation 'org.tensorflow:tensorflow-lite-task-vision:0.4.3'
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runtimeOnly 'org.tensorflow:tensorflow-lite:2.12.0'
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implementation 'androidx.appcompat:appcompat:1.2.0'
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implementation 'com.acmerobotics.dashboard:dashboard:0.4.12'
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implementation 'org.openftc:easyopencv:1.7.0'
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}
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@ -11,7 +11,7 @@ buildscript {
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}
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dependencies {
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// Note for FTC Teams: Do not modify this yourself.
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classpath 'com.android.tools.build:gradle:7.2.0'
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classpath 'com.android.tools.build:gradle:8.1.1'
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}
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}
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