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ConceptTensorFlowObjectDetectionSwitchableCameras.java
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ConceptTensorFlowObjectDetectionSwitchableCameras.java
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/* Copyright (c) 2020 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 java.util.List;
import org.firstinspires.ftc.robotcore.external.ClassFactory;
import org.firstinspires.ftc.robotcore.external.hardware.camera.SwitchableCamera;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer;
import org.firstinspires.ftc.robotcore.external.tfod.TFObjectDetector;
import org.firstinspires.ftc.robotcore.external.tfod.Recognition;
/**
* This 2020-2021 OpMode illustrates the basics of using the TensorFlow Object Detection API to
* determine the position of the Freight Frenzy game elements.
*
* 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 = "Concept: TensorFlow Object Detection Switchable Cameras", group = "Concept")
@Disabled
public class ConceptTensorFlowObjectDetectionSwitchableCameras extends LinearOpMode {
/* Note: This sample uses the all-objects Tensor Flow model (FreightFrenzy_BCDM.tflite), which contains
* the following 4 detectable objects
* 0: Ball,
* 1: Cube,
* 2: Duck,
* 3: Marker (duck location tape marker)
*
* Two additional model assets are available which only contain a subset of the objects:
* FreightFrenzy_BC.tflite 0: Ball, 1: Cube
* FreightFrenzy_DM.tflite 0: Duck, 1: Marker
*/
private static final String TFOD_MODEL_ASSET = "FreightFrenzy_BCDM.tflite";
private static final String[] LABELS = {
"Ball",
"Cube",
"Duck",
"Marker"
};
/*
* 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 --- ";
/**
* {@link #vuforia} is the variable we will use to store our instance of the Vuforia
* localization engine.
*/
private VuforiaLocalizer vuforia;
/**
* Variables used for switching cameras.
*/
private WebcamName webcam1, webcam2;
private SwitchableCamera switchableCamera;
private boolean oldLeftBumper;
private boolean oldRightBumper;
/**
* {@link #tfod} is the variable we will use to store our instance of the TensorFlow Object
* Detection engine.
*/
private TFObjectDetector tfod;
@Override
public void runOpMode() {
// The TFObjectDetector uses the camera frames from the VuforiaLocalizer, so we create that
// first.
initVuforia();
initTfod();
/**
* Activate TensorFlow Object Detection before we wait for the start command.
* Do it here so that the Camera Stream window will have the TensorFlow annotations visible.
**/
if (tfod != null) {
tfod.activate();
// The TensorFlow software will scale the input images from the camera to a lower resolution.
// This can result in lower detection accuracy at longer distances (> 55cm or 22").
// If your target is at distance greater than 50 cm (20") you can adjust the magnification value
// to artificially zoom in to the center of image. For best results, the "aspectRatio" argument
// should be set to the value of the images used to create the TensorFlow Object Detection model
// (typically 16/9).
tfod.setZoom(2.5, 16.0/9.0);
}
/** Wait for the game to begin */
telemetry.addData(">", "Press Play to start op mode");
telemetry.update();
waitForStart();
if (opModeIsActive()) {
while (opModeIsActive()) {
if (tfod != null) {
doCameraSwitching();
List<Recognition> recognitions = tfod.getRecognitions();
telemetry.addData("# Object Detected", recognitions.size());
// step through the list of recognitions and display boundary info.
int i = 0;
for (Recognition recognition : recognitions) {
telemetry.addData(String.format("label (%d)", i), recognition.getLabel());
telemetry.addData(String.format(" left,top (%d)", i), "%.03f , %.03f",
recognition.getLeft(), recognition.getTop());
telemetry.addData(String.format(" right,bottom (%d)", i), "%.03f , %.03f",
recognition.getRight(), recognition.getBottom());
i++;
}
telemetry.update();
}
}
}
}
/**
* Initialize the Vuforia localization engine.
*/
private void initVuforia() {
/*
* Configure Vuforia by creating a Parameter object, and passing it to the Vuforia engine.
*/
VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters();
parameters.vuforiaLicenseKey = VUFORIA_KEY;
// Indicate that we wish to be able to switch cameras.
webcam1 = hardwareMap.get(WebcamName.class, "Webcam 1");
webcam2 = hardwareMap.get(WebcamName.class, "Webcam 2");
parameters.cameraName = ClassFactory.getInstance().getCameraManager().nameForSwitchableCamera(webcam1, webcam2);
// Instantiate the Vuforia engine
vuforia = ClassFactory.getInstance().createVuforia(parameters);
// Set the active camera to Webcam 1.
switchableCamera = (SwitchableCamera) vuforia.getCamera();
switchableCamera.setActiveCamera(webcam1);
// Loading trackables is not necessary for the TensorFlow Object Detection engine.
}
/**
* Initialize the TensorFlow Object Detection engine.
*/
private void initTfod() {
int tfodMonitorViewId = hardwareMap.appContext.getResources().getIdentifier(
"tfodMonitorViewId", "id", hardwareMap.appContext.getPackageName());
TFObjectDetector.Parameters tfodParameters = new TFObjectDetector.Parameters(tfodMonitorViewId);
tfodParameters.minResultConfidence = 0.8f;
tfodParameters.isModelTensorFlow2 = true;
tfodParameters.inputSize = 320;
tfod = ClassFactory.getInstance().createTFObjectDetector(tfodParameters, vuforia);
tfod.loadModelFromAsset(TFOD_MODEL_ASSET, LABELS);
}
private void doCameraSwitching() {
// If the left bumper is pressed, use Webcam 1.
// If the right bumper is pressed, use Webcam 2.
boolean newLeftBumper = gamepad1.left_bumper;
boolean newRightBumper = gamepad1.right_bumper;
if (newLeftBumper && !oldLeftBumper) {
switchableCamera.setActiveCamera(webcam1);
} else if (newRightBumper && !oldRightBumper) {
switchableCamera.setActiveCamera(webcam2);
}
oldLeftBumper = newLeftBumper;
oldRightBumper = newRightBumper;
if (switchableCamera.getActiveCamera().equals(webcam1)) {
telemetry.addData("activeCamera", "Webcam 1");
telemetry.addData("Press RightBumper", "to switch to Webcam 2");
} else {
telemetry.addData("activeCamera", "Webcam 2");
telemetry.addData("Press LeftBumper", "to switch to Webcam 1");
}
}
}