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192
...src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptAprilTag.java
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| /* 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; | ||
|
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| import com.qualcomm.robotcore.eventloop.opmode.Disabled; | ||
| import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; | ||
| import com.qualcomm.robotcore.eventloop.opmode.TeleOp; | ||
| import java.util.List; | ||
| import android.util.Size; | ||
| import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection; | ||
| import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName; | ||
| import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit; | ||
| import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit; | ||
| import org.firstinspires.ftc.vision.VisionPortal; | ||
| import org.firstinspires.ftc.vision.apriltag.AprilTagDetection; | ||
| import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor; | ||
| import org.firstinspires.ftc.vision.apriltag.AprilTagGameDatabase; | ||
|
|
||
| /** | ||
| * This 2023-2024 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 | ||
|
|
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| /** | ||
| * {@link #aprilTag} is the variable to store our instance of the AprilTag processor. | ||
| */ | ||
| private AprilTagProcessor aprilTag; | ||
|
|
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| /** | ||
| * {@link #visionPortal} is the variable to store our instance of the vision portal. | ||
| */ | ||
| private VisionPortal visionPortal; | ||
|
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| @Override | ||
| public void runOpMode() { | ||
|
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| initAprilTag(); | ||
|
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||
| // 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(); | ||
|
|
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| if (opModeIsActive()) { | ||
| while (opModeIsActive()) { | ||
|
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| telemetryAprilTag(); | ||
|
|
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| // Push telemetry to the Driver Station. | ||
| telemetry.update(); | ||
|
|
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| // 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); | ||
| } | ||
| } | ||
|
|
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| // Save more CPU resources when camera is no longer needed. | ||
| visionPortal.close(); | ||
|
|
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| } // 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) | ||
|
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||
| // == 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. | ||
|
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| .build(); | ||
|
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| // Create the vision portal by using a builder. | ||
| VisionPortal.Builder builder = new VisionPortal.Builder(); | ||
|
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| // 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)); | ||
|
|
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| // Enable the RC preview (LiveView). Set "false" to omit camera monitoring. | ||
| //builder.enableCameraMonitoring(true); | ||
|
|
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| // Set the stream format; MJPEG uses less bandwidth than default YUY2. | ||
| //builder.setStreamFormat(VisionPortal.StreamFormat.YUY2); | ||
|
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| // 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); | ||
|
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| // Set and enable the processor. | ||
| builder.addProcessor(aprilTag); | ||
|
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| // Build the Vision Portal, using the above settings. | ||
| visionPortal = builder.build(); | ||
|
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| // Disable or re-enable the aprilTag processor at any time. | ||
| //visionPortal.setProcessorEnabled(aprilTag, true); | ||
|
|
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| } // end method initAprilTag() | ||
|
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|
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| /** | ||
| * Function to add telemetry about AprilTag detections. | ||
| */ | ||
| private void telemetryAprilTag() { | ||
|
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| List<AprilTagDetection> currentDetections = aprilTag.getDetections(); | ||
| telemetry.addData("# AprilTags Detected", currentDetections.size()); | ||
|
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| // 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 |
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