/* Copyright (c) 2019 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.ClassFactory; import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName; import org.firstinspires.ftc.robotcore.external.matrices.OpenGLMatrix; import org.firstinspires.ftc.robotcore.external.matrices.VectorF; import org.firstinspires.ftc.robotcore.external.navigation.Orientation; import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer; import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackable; import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackableDefaultListener; import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackables; import java.util.ArrayList; import java.util.List; import static org.firstinspires.ftc.robotcore.external.navigation.AngleUnit.DEGREES; import static org.firstinspires.ftc.robotcore.external.navigation.AxesOrder.XYZ; import static org.firstinspires.ftc.robotcore.external.navigation.AxesOrder.XZY; import static org.firstinspires.ftc.robotcore.external.navigation.AxesReference.EXTRINSIC; /** * This OpMode illustrates using the Vuforia localizer to determine positioning and orientation of * robot on the FTC field using a WEBCAM. The code is structured as a LinearOpMode * * NOTE: If you are running on a Phone with a built-in camera, use the ConceptVuforiaFieldNavigation example instead of this one. * NOTE: It is possible to switch between multiple WebCams (eg: one for the left side and one for the right). * For a related example of how to do this, see ConceptTensorFlowObjectDetectionSwitchableCameras * * When images are located, Vuforia is able to determine the position and orientation of the * image relative to the camera. This sample code then combines that information with a * knowledge of where the target images are on the field, to determine the location of the camera. * * Finally, the location of the camera on the robot is used to determine the * robot's location and orientation on the field. * * To learn more about the FTC field coordinate model, see FTC_FieldCoordinateSystemDefinition.pdf in this folder * * 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. * * IMPORTANT: In order to use this OpMode, you need to obtain your own Vuforia license key as * is explained below. */ @TeleOp(name="Vuforia Field Nav Webcam", group ="Concept") @Disabled public class ConceptVuforiaFieldNavigationWebcam extends LinearOpMode { /* * IMPORTANT: You need to obtain your own license key to use Vuforia. The string below with which * 'parameters.vuforiaLicenseKey' is initialized is for illustration only, and will not function. * A Vuforia 'Development' license key, can be obtained free of charge from the Vuforia developer * web site at https://developer.vuforia.com/license-manager. * * Vuforia license keys are always 380 characters long, and look as if they contain mostly * random data. As an example, here is a example of a fragment of a valid key: * ... yIgIzTqZ4mWjk9wd3cZO9T1axEqzuhxoGlfOOI2dRzKS4T0hQ8kT ... * Once you've obtained a license key, copy the string from the Vuforia web site * and paste it in to your code on the next line, between the double quotes. */ private static final String VUFORIA_KEY = " --- YOUR NEW VUFORIA KEY GOES HERE --- "; // Since ImageTarget trackables use mm to specifiy their dimensions, we must use mm for all the physical dimension. // We will define some constants and conversions here private static final float mmPerInch = 25.4f; private static final float mmTargetHeight = 6 * mmPerInch; // the height of the center of the target image above the floor private static final float halfField = 72 * mmPerInch; private static final float halfTile = 12 * mmPerInch; private static final float oneAndHalfTile = 36 * mmPerInch; // Class Members private OpenGLMatrix lastLocation = null; private VuforiaLocalizer vuforia = null; private VuforiaTrackables targets = null ; private WebcamName webcamName = null; private boolean targetVisible = false; @Override public void runOpMode() { // Connect to the camera we are to use. This name must match what is set up in Robot Configuration webcamName = hardwareMap.get(WebcamName.class, "Webcam 1"); /* * Configure Vuforia by creating a Parameter object, and passing it to the Vuforia engine. * We can pass Vuforia the handle to a camera preview resource (on the RC screen); * If no camera-preview is desired, use the parameter-less constructor instead (commented out below). * Note: A preview window is required if you want to view the camera stream on the Driver Station Phone. */ int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier("cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName()); VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters(cameraMonitorViewId); // VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters(); parameters.vuforiaLicenseKey = VUFORIA_KEY; // We also indicate which camera we wish to use. parameters.cameraName = webcamName; // Turn off Extended tracking. Set this true if you want Vuforia to track beyond the target. parameters.useExtendedTracking = false; // Instantiate the Vuforia engine vuforia = ClassFactory.getInstance().createVuforia(parameters); // Load the data sets for the trackable objects. These particular data // sets are stored in the 'assets' part of our application. targets = this.vuforia.loadTrackablesFromAsset("PowerPlay"); // For convenience, gather together all the trackable objects in one easily-iterable collection */ List allTrackables = new ArrayList(); allTrackables.addAll(targets); /** * In order for localization to work, we need to tell the system where each target is on the field, and * where the phone resides on the robot. These specifications are in the form of transformation matrices. * Transformation matrices are a central, important concept in the math here involved in localization. * See Transformation Matrix * for detailed information. Commonly, you'll encounter transformation matrices as instances * of the {@link OpenGLMatrix} class. * * If you are standing in the Red Alliance Station looking towards the center of the field, * - The X axis runs from your left to the right. (positive from the center to the right) * - The Y axis runs from the Red Alliance Station towards the other side of the field * where the Blue Alliance Station is. (Positive is from the center, towards the BlueAlliance station) * - The Z axis runs from the floor, upwards towards the ceiling. (Positive is above the floor) * * Before being transformed, each target image is conceptually located at the origin of the field's * coordinate system (the center of the field), facing up. */ // Name and locate each trackable object identifyTarget(0, "Red Audience Wall", -halfField, -oneAndHalfTile, mmTargetHeight, 90, 0, 90); identifyTarget(1, "Red Rear Wall", halfField, -oneAndHalfTile, mmTargetHeight, 90, 0, -90); identifyTarget(2, "Blue Audience Wall", -halfField, oneAndHalfTile, mmTargetHeight, 90, 0, 90); identifyTarget(3, "Blue Rear Wall", halfField, oneAndHalfTile, mmTargetHeight, 90, 0, -90); /* * Create a transformation matrix describing where the camera is on the robot. * * Info: The coordinate frame for the robot looks the same as the field. * The robot's "forward" direction is facing out along X axis, with the LEFT side facing out along the Y axis. * Z is UP on the robot. This equates to a bearing angle of Zero degrees. * * For a WebCam, the default starting orientation of the camera is looking UP (pointing in the Z direction), * with the wide (horizontal) axis of the camera aligned with the X axis, and * the Narrow (vertical) axis of the camera aligned with the Y axis * * But, this example assumes that the camera is actually facing forward out the front of the robot. * So, the "default" camera position requires two rotations to get it oriented correctly. * 1) First it must be rotated +90 degrees around the X axis to get it horizontal (its now facing out the right side of the robot) * 2) Next it must be be rotated +90 degrees (counter-clockwise) around the Z axis to face forward. * * Finally the camera can be translated to its actual mounting position on the robot. * In this example, it is centered on the robot (left-to-right and front-to-back), and 6 inches above ground level. */ final float CAMERA_FORWARD_DISPLACEMENT = 0.0f * mmPerInch; // eg: Enter the forward distance from the center of the robot to the camera lens final float CAMERA_VERTICAL_DISPLACEMENT = 6.0f * mmPerInch; // eg: Camera is 6 Inches above ground final float CAMERA_LEFT_DISPLACEMENT = 0.0f * mmPerInch; // eg: Enter the left distance from the center of the robot to the camera lens OpenGLMatrix cameraLocationOnRobot = OpenGLMatrix .translation(CAMERA_FORWARD_DISPLACEMENT, CAMERA_LEFT_DISPLACEMENT, CAMERA_VERTICAL_DISPLACEMENT) .multiplied(Orientation.getRotationMatrix(EXTRINSIC, XZY, DEGREES, 90, 90, 0)); /** Let all the trackable listeners know where the camera is. */ for (VuforiaTrackable trackable : allTrackables) { ((VuforiaTrackableDefaultListener) trackable.getListener()).setCameraLocationOnRobot(parameters.cameraName, cameraLocationOnRobot); } /* * WARNING: * In this sample, we do not wait for PLAY to be pressed. Target Tracking is started immediately when INIT is pressed. * This sequence is used to enable the new remote DS Camera Preview feature to be used with this sample. * CONSEQUENTLY do not put any driving commands in this loop. * To restore the normal opmode structure, just un-comment the following line: */ // waitForStart(); /* Note: To use the remote camera preview: * AFTER you hit Init on the Driver Station, use the "options menu" to select "Camera Stream" * Tap the preview window to receive a fresh image. * It is not permitted to transition to RUN while the camera preview window is active. * Either press STOP to exit the OpMode, or use the "options menu" again, and select "Camera Stream" to close the preview window. */ targets.activate(); while (!isStopRequested()) { // check all the trackable targets to see which one (if any) is visible. targetVisible = false; for (VuforiaTrackable trackable : allTrackables) { if (((VuforiaTrackableDefaultListener)trackable.getListener()).isVisible()) { telemetry.addData("Visible Target", trackable.getName()); targetVisible = true; // getUpdatedRobotLocation() will return null if no new information is available since // the last time that call was made, or if the trackable is not currently visible. OpenGLMatrix robotLocationTransform = ((VuforiaTrackableDefaultListener)trackable.getListener()).getUpdatedRobotLocation(); if (robotLocationTransform != null) { lastLocation = robotLocationTransform; } break; } } // Provide feedback as to where the robot is located (if we know). if (targetVisible) { // express position (translation) of robot in inches. VectorF translation = lastLocation.getTranslation(); telemetry.addData("Pos (inches)", "{X, Y, Z} = %.1f, %.1f, %.1f", translation.get(0) / mmPerInch, translation.get(1) / mmPerInch, translation.get(2) / mmPerInch); // express the rotation of the robot in degrees. Orientation rotation = Orientation.getOrientation(lastLocation, EXTRINSIC, XYZ, DEGREES); telemetry.addData("Rot (deg)", "{Roll, Pitch, Heading} = %.0f, %.0f, %.0f", rotation.firstAngle, rotation.secondAngle, rotation.thirdAngle); } else { telemetry.addData("Visible Target", "none"); } telemetry.update(); } // Disable Tracking when we are done; targets.deactivate(); } /*** * Identify a target by naming it, and setting its position and orientation on the field * @param targetIndex * @param targetName * @param dx, dy, dz Target offsets in x,y,z axes * @param rx, ry, rz Target rotations in x,y,z axes */ void identifyTarget(int targetIndex, String targetName, float dx, float dy, float dz, float rx, float ry, float rz) { VuforiaTrackable aTarget = targets.get(targetIndex); aTarget.setName(targetName); aTarget.setLocation(OpenGLMatrix.translation(dx, dy, dz) .multiplied(Orientation.getRotationMatrix(EXTRINSIC, XYZ, DEGREES, rx, ry, rz))); } }