225 lines
10 KiB
Java
225 lines
10 KiB
Java
/* Copyright (c) 2020 FIRST. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without modification,
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* are permitted (subject to the limitations in the disclaimer below) provided that
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* the following conditions are met:
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*
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* Redistributions of source code must retain the above copyright notice, this list
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* of conditions and the following disclaimer.
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*
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* Redistributions in binary form must reproduce the above copyright notice, this
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* list of conditions and the following disclaimer in the documentation and/or
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* other materials provided with the distribution.
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*
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* Neither the name of FIRST nor the names of its contributors may be used to endorse or
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* promote products derived from this software without specific prior written permission.
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*
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* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
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* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
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* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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package org.firstinspires.ftc.robotcontroller.external.samples;
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import com.qualcomm.robotcore.eventloop.opmode.Disabled;
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import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
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import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
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import java.util.List;
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import org.firstinspires.ftc.robotcore.external.ClassFactory;
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import org.firstinspires.ftc.robotcore.external.hardware.camera.SwitchableCamera;
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import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
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import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer;
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import org.firstinspires.ftc.robotcore.external.tfod.TFObjectDetector;
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import org.firstinspires.ftc.robotcore.external.tfod.Recognition;
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/**
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* This 2022-2023 OpMode illustrates the basics of using the TensorFlow Object Detection API to
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* determine which image is being presented to the robot.
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*
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* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
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* Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list.
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*
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* IMPORTANT: In order to use this OpMode, you need to obtain your own Vuforia license key as
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* is explained below.
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*/
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@TeleOp(name = "Concept: TensorFlow Object Detection Switchable Cameras", group = "Concept")
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@Disabled
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public class ConceptTensorFlowObjectDetectionSwitchableCameras extends LinearOpMode {
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/*
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* Specify the source for the Tensor Flow Model.
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* If the TensorFlowLite object model is included in the Robot Controller App as an "asset",
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* the OpMode must to load it using loadModelFromAsset(). However, if a team generated model
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* has been downloaded to the Robot Controller's SD FLASH memory, it must to be loaded using loadModelFromFile()
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* Here we assume it's an Asset. Also see method initTfod() below .
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*/
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private static final String TFOD_MODEL_ASSET = "PowerPlay.tflite";
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// private static final String TFOD_MODEL_FILE = "/sdcard/FIRST/tflitemodels/CustomTeamModel.tflite";
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private static final String[] LABELS = {
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"1 Bolt",
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"2 Bulb",
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"3 Panel"
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};
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/*
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* IMPORTANT: You need to obtain your own license key to use Vuforia. The string below with which
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* 'parameters.vuforiaLicenseKey' is initialized is for illustration only, and will not function.
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* A Vuforia 'Development' license key, can be obtained free of charge from the Vuforia developer
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* web site at https://developer.vuforia.com/license-manager.
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*
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* Vuforia license keys are always 380 characters long, and look as if they contain mostly
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* random data. As an example, here is a example of a fragment of a valid key:
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* ... yIgIzTqZ4mWjk9wd3cZO9T1axEqzuhxoGlfOOI2dRzKS4T0hQ8kT ...
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* Once you've obtained a license key, copy the string from the Vuforia web site
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* and paste it in to your code on the next line, between the double quotes.
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*/
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private static final String VUFORIA_KEY =
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" -- YOUR NEW VUFORIA KEY GOES HERE --- ";
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/**
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* {@link #vuforia} is the variable we will use to store our instance of the Vuforia
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* localization engine.
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*/
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private VuforiaLocalizer vuforia;
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/**
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* Variables used for switching cameras.
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*/
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private WebcamName webcam1, webcam2;
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private SwitchableCamera switchableCamera;
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private boolean oldLeftBumper;
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private boolean oldRightBumper;
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/**
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* {@link #tfod} is the variable we will use to store our instance of the TensorFlow Object
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* Detection engine.
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*/
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private TFObjectDetector tfod;
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@Override
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public void runOpMode() {
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// The TFObjectDetector uses the camera frames from the VuforiaLocalizer, so we create that
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// first.
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initVuforia();
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initTfod();
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/**
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* Activate TensorFlow Object Detection before we wait for the start command.
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* Do it here so that the Camera Stream window will have the TensorFlow annotations visible.
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**/
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if (tfod != null) {
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tfod.activate();
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// The TensorFlow software will scale the input images from the camera to a lower resolution.
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// This can result in lower detection accuracy at longer distances (> 55cm or 22").
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// If your target is at distance greater than 50 cm (20") you can increase the magnification value
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// to artificially zoom in to the center of image. For best results, the "aspectRatio" argument
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// should be set to the value of the images used to create the TensorFlow Object Detection model
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// (typically 16/9).
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tfod.setZoom(1.0, 16.0/9.0);
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}
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/** Wait for the game to begin */
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telemetry.addData(">", "Press Play to start op mode");
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telemetry.update();
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waitForStart();
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if (opModeIsActive()) {
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while (opModeIsActive()) {
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if (tfod != null) {
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doCameraSwitching();
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List<Recognition> recognitions = tfod.getRecognitions();
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telemetry.addData("# Objects Detected", recognitions.size());
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// step through the list of recognitions and display image size and position
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// Note: "Image number" refers to the randomized image orientation/number
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for (Recognition recognition : recognitions) {
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double col = (recognition.getLeft() + recognition.getRight()) / 2 ;
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double row = (recognition.getTop() + recognition.getBottom()) / 2 ;
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double width = Math.abs(recognition.getRight() - recognition.getLeft()) ;
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double height = Math.abs(recognition.getTop() - recognition.getBottom()) ;
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telemetry.addData(""," ");
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telemetry.addData("Image", "%s (%.0f %% Conf.)", recognition.getLabel(), recognition.getConfidence() * 100 );
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telemetry.addData("- Position (Row/Col)","%.0f / %.0f", row, col);
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telemetry.addData("- Size (Width/Height)","%.0f / %.0f", width, height);
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}
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telemetry.update();
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}
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}
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}
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}
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/**
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* Initialize the Vuforia localization engine.
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*/
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private void initVuforia() {
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/*
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* Configure Vuforia by creating a Parameter object, and passing it to the Vuforia engine.
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*/
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VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters();
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parameters.vuforiaLicenseKey = VUFORIA_KEY;
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// Indicate that we wish to be able to switch cameras.
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webcam1 = hardwareMap.get(WebcamName.class, "Webcam 1");
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webcam2 = hardwareMap.get(WebcamName.class, "Webcam 2");
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parameters.cameraName = ClassFactory.getInstance().getCameraManager().nameForSwitchableCamera(webcam1, webcam2);
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// Instantiate the Vuforia engine
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vuforia = ClassFactory.getInstance().createVuforia(parameters);
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// Set the active camera to Webcam 1.
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switchableCamera = (SwitchableCamera) vuforia.getCamera();
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switchableCamera.setActiveCamera(webcam1);
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}
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/**
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* Initialize the TensorFlow Object Detection engine.
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*/
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private void initTfod() {
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int tfodMonitorViewId = hardwareMap.appContext.getResources().getIdentifier(
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"tfodMonitorViewId", "id", hardwareMap.appContext.getPackageName());
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TFObjectDetector.Parameters tfodParameters = new TFObjectDetector.Parameters(tfodMonitorViewId);
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tfodParameters.minResultConfidence = 0.75f;
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tfodParameters.isModelTensorFlow2 = true;
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tfodParameters.inputSize = 300;
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tfod = ClassFactory.getInstance().createTFObjectDetector(tfodParameters, vuforia);
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// Use loadModelFromAsset() if the TF Model is built in as an asset by Android Studio
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// Use loadModelFromFile() if you have downloaded a custom team model to the Robot Controller's FLASH.
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tfod.loadModelFromAsset(TFOD_MODEL_ASSET, LABELS);
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// tfod.loadModelFromFile(TFOD_MODEL_FILE, LABELS);
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}
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private void doCameraSwitching() {
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// If the left bumper is pressed, use Webcam 1.
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// If the right bumper is pressed, use Webcam 2.
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boolean newLeftBumper = gamepad1.left_bumper;
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boolean newRightBumper = gamepad1.right_bumper;
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if (newLeftBumper && !oldLeftBumper) {
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switchableCamera.setActiveCamera(webcam1);
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} else if (newRightBumper && !oldRightBumper) {
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switchableCamera.setActiveCamera(webcam2);
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}
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oldLeftBumper = newLeftBumper;
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oldRightBumper = newRightBumper;
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if (switchableCamera.getActiveCamera().equals(webcam1)) {
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telemetry.addData("activeCamera", "Webcam 1");
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telemetry.addData("Press RightBumper", "to switch to Webcam 2");
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} else {
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telemetry.addData("activeCamera", "Webcam 2");
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telemetry.addData("Press LeftBumper", "to switch to Webcam 1");
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}
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}
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}
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