Updated CommonLib.

Updated FtcLib. Minor cleanup. Changed vision color space to HSV instead of RGB.
trc492 · Sep 25, 2023 · 907bd58 · 907bd58
1 parent 58b040c
commit 907bd58
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Showing 4 changed files with 35 additions and 33 deletions.
diff --git a/TeamCode/src/main/java/TrcCommonLib b/TeamCode/src/main/java/TrcCommonLib
diff --git a/TeamCode/src/main/java/TrcFtcLib b/TeamCode/src/main/java/TrcFtcLib
diff --git a/TeamCode/src/main/java/teamcode/FtcAuto.java b/TeamCode/src/main/java/teamcode/FtcAuto.java
@@ -162,30 +162,31 @@ public void robotInit()
 
         if (robot.vision != null)
         {
-            // Enabling vision early so we can detect signal position before match starts.
-            if (robot.vision.aprilTagVision != null)
-            {
-                robot.globalTracer.traceInfo(funcName, "Enabling AprilTagVision.");
-                robot.vision.setAprilTagVisionEnabled(true);
-            }
-
-            if (robot.vision.redBlobVision != null)
-            {
-                robot.globalTracer.traceInfo(funcName, "Enabling RedBlobVision.");
-                robot.vision.setRedBlobVisionEnabled(true);
-            }
-
-            if (robot.vision.blueBlobVision != null)
-            {
-                robot.globalTracer.traceInfo(funcName, "Enabling BlueBlobVision.");
-                robot.vision.setBlueBlobVisionEnabled(true);
-            }
-
-            if (robot.vision.tensorFlowVision != null)
-            {
-                robot.globalTracer.traceInfo(funcName, "Enabling TensorFlowVision.");
-                robot.vision.setTensorFlowVisionEnabled(true);
-            }
+            // Enabling vision early so we can detect target before match starts if necessary.
+            // Only enable the necessary vision for that purpose.
+//            if (robot.vision.aprilTagVision != null)
+//            {
+//                robot.globalTracer.traceInfo(funcName, "Enabling AprilTagVision.");
+//                robot.vision.setAprilTagVisionEnabled(true);
+//            }
+//
+//            if (robot.vision.redBlobVision != null)
+//            {
+//                robot.globalTracer.traceInfo(funcName, "Enabling RedBlobVision.");
+//                robot.vision.setRedBlobVisionEnabled(true);
+//            }
+//
+//            if (robot.vision.blueBlobVision != null)
+//            {
+//                robot.globalTracer.traceInfo(funcName, "Enabling BlueBlobVision.");
+//                robot.vision.setBlueBlobVisionEnabled(true);
+//            }
+//
+//            if (robot.vision.tensorFlowVision != null)
+//            {
+//                robot.globalTracer.traceInfo(funcName, "Enabling TensorFlowVision.");
+//                robot.vision.setTensorFlowVisionEnabled(true);
+//            }
         }
 
         robot.zeroCalibrate();
@@ -196,8 +197,8 @@ public void robotInit()
     //
 
     /**
-     * This method is called periodically after robotInit() is called but before competition starts. For this season,
-     * we are detecting the duck's barcode position before the match starts.
+     * This method is called periodically after robotInit() is called but before competition starts. For example,
+     * we can put vision code here to detect target before autonomous starts.
      */
     @Override
     public void initPeriodic()

diff --git a/TeamCode/src/main/java/teamcode/vision/Vision.java b/TeamCode/src/main/java/teamcode/vision/Vision.java
@@ -58,10 +58,10 @@ public class Vision
 {
     private static final String moduleName = "Vision";
     private static final double[] DEF_COLORBLOB_THRESHOLDS = {0.0, 255.0, 0.0, 255.0, 0.0, 255.0};
-    // RGB Color Space.
-    private static final int colorConversion = Imgproc.COLOR_BGRA2BGR;
-    private static final double[] redBlobColorThresholds = {100.0, 255.0, 0.0, 100.0, 0.0, 60.0};
-    private static final double[] blueBlobColorThresholds = {0.0, 60.0, 0.0, 100.0, 100, 255.0};
+    // HSV Color Space.
+    private static final int colorConversion = Imgproc.COLOR_BGR2HSV;
+    private static final double[] redBlobColorThresholds = {160.0, 200.0, 120.0, 255.0, 150.0, 255.0};
+    private static final double[] blueBlobColorThresholds = {0.0, 80.0, 120.0, 255.0, 100.0, 255.0};
     private static final TrcOpenCvColorBlobPipeline.FilterContourParams colorBlobFilterContourParams =
         new TrcOpenCvColorBlobPipeline.FilterContourParams()
             .setMinArea(1000.0)
@@ -70,7 +70,8 @@ public class Vision
             .setHeightRange(10.0, 1000.0)
             .setSolidityRange(0.0, 100.0)
             .setVerticesRange(0.0, 1000.0)
-            .setAspectRatioRange(0.0, 10.0);
+            .setAspectRatioRange(0.5, 2.0);
+
     private static final String TFOD_MODEL_ASSET = "MyObject.tflite";
     private static final float TFOD_MIN_CONFIDENCE = 0.75f;
     public static final String[] TFOD_TARGET_LABELS = {"MyObject"};