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Updated ftclib.

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Removed all TensorFlow support.
This commit is contained in:
Titan Robotics Club
2024-09-08 17:16:02 -07:00
parent 1378634f3d
commit 1ae145317f
7 changed files with 3 additions and 125 deletions
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2
TeamCode/src/main/java/ftclib

Submodule TeamCode/src/main/java/ftclib updated: 542c65c802...52c7b712bc

16
TeamCode/src/main/java/teamcode/FtcAuto.java
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@ -182,12 +182,6 @@ public class FtcAuto extends FtcOpMode
// {
// robot.globalTracer.traceInfo(moduleName, "Enabling BlueBlobVision.");
// robot.vision.setBlueBlobVisionEnabled(true);
// }
//
// if (robot.vision.tensorFlowVision != null)
// {
// robot.globalTracer.traceInfo(moduleName, "Enabling TensorFlowVision.");
// robot.vision.setTensorFlowVisionEnabled(true);
// }
}
@ -235,16 +229,6 @@ public class FtcAuto extends FtcOpMode
//
robot.startMode(nextMode);
if (robot.vision != null)
{
// We are done with detecting object with TensorFlow, shut it down.
if (robot.vision.tensorFlowVision != null)
{
robot.globalTracer.traceInfo(moduleName, "Disabling TensorFlowVision.");
robot.vision.setTensorFlowVisionEnabled(false);
}
}
if (robot.battery != null)
{
robot.battery.setEnabled(true);

19
TeamCode/src/main/java/teamcode/FtcTest.java
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@ -209,14 +209,6 @@ public class FtcTest extends FtcTeleOp
}
break;
}
//
// Only VISION_TEST needs TensorFlow, shut it down for all other tests.
//
if (robot.vision != null && robot.vision.tensorFlowVision != null && testChoices.test != Test.VISION_TEST)
{
robot.globalTracer.traceInfo(moduleName, "Disabling TensorFlowVision.");
robot.vision.setTensorFlowVisionEnabled(false);
}
} //robotInit
//
@ -258,12 +250,6 @@ public class FtcTest extends FtcTeleOp
robot.globalTracer.traceInfo(moduleName, "Enabling BlueBlobVision.");
robot.vision.setBlueBlobVisionEnabled(true);
}
if (robot.vision.tensorFlowVision != null)
{
robot.globalTracer.traceInfo(moduleName, "Enabling TensorFlowVison.");
robot.vision.setTensorFlowVisionEnabled(true);
}
}
break;
@ -1099,11 +1085,6 @@ public class FtcTest extends FtcTeleOp
{
robot.vision.getDetectedBlueBlob(lineNum++);
}
if (robot.vision.tensorFlowVision != null)
{
robot.vision.getDetectedTensorFlowPixel(lineNum++);
}
}
} //doVisionTest

8
TeamCode/src/main/java/teamcode/Robot.java
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@ -85,8 +85,7 @@ public class Robot
if (RobotParams.Preferences.useVision &&
(RobotParams.Preferences.tuneColorBlobVision ||
RobotParams.Preferences.useAprilTagVision ||
RobotParams.Preferences.useColorBlobVision ||
RobotParams.Preferences.useTensorFlowVision))
RobotParams.Preferences.useColorBlobVision))
{
vision = new Vision(this);
}
@ -219,11 +218,6 @@ public class Robot
vision.setBlueBlobVisionEnabled(false);
}
if (vision.tensorFlowVision != null)
{
globalTracer.traceInfo(moduleName, "Disabling TensorFlowVision.");
vision.setTensorFlowVisionEnabled(false);
}
vision.close();
}

1
TeamCode/src/main/java/teamcode/RobotParams.java
View File

@ -146,7 +146,6 @@ public class RobotParams
public static final boolean tuneColorBlobVision = false;
public static final boolean useAprilTagVision = false;
public static final boolean useColorBlobVision = false;
public static final boolean useTensorFlowVision = false;
public static final boolean showVisionView = !inCompetition;
public static final boolean showVisionStat = false;
// Drive Base

2
TeamCode/src/main/java/teamcode/subsystems/BlinkinLEDs.java
View File

@ -36,7 +36,6 @@ public class BlinkinLEDs extends FtcRevBlinkin
public static final String APRIL_TAG = "AprilTag";
public static final String RED_BLOB = "RedBlob";
public static final String BLUE_BLOB = "BlueBlob";
public static final String TENSOR_FLOW = "TensorFlow";
public static final String DRIVE_ORIENTATION_FIELD = "FieldMode";
public static final String DRIVE_ORIENTATION_ROBOT = "RobotMode";
public static final String DRIVE_ORIENTATION_INVERTED = "InvertedMode";
@ -56,7 +55,6 @@ public class BlinkinLEDs extends FtcRevBlinkin
new TrcRevBlinkin.Pattern(APRIL_TAG, RevLedPattern.SolidAqua),
new TrcRevBlinkin.Pattern(RED_BLOB, RevLedPattern.SolidRed),
new TrcRevBlinkin.Pattern(BLUE_BLOB, RevLedPattern.SolidBlue),
new TrcRevBlinkin.Pattern(TENSOR_FLOW, RevLedPattern.SolidYellow),
new TrcRevBlinkin.Pattern(DRIVE_ORIENTATION_FIELD, RevLedPattern.SolidViolet),
new TrcRevBlinkin.Pattern(DRIVE_ORIENTATION_ROBOT, RevLedPattern.SolidWhite),
new TrcRevBlinkin.Pattern(DRIVE_ORIENTATION_INVERTED, RevLedPattern.SolidGray),

80
TeamCode/src/main/java/teamcode/vision/Vision.java
View File

@ -28,7 +28,6 @@ import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
import org.firstinspires.ftc.vision.VisionProcessor;
import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
import org.firstinspires.ftc.vision.tfod.TfodProcessor;
import org.opencv.imgproc.Imgproc;
import org.openftc.easyopencv.OpenCvCamera;
import org.openftc.easyopencv.OpenCvCameraFactory;
@ -42,7 +41,6 @@ import ftclib.vision.FtcRawEocvVision;
import ftclib.vision.FtcVision;
import ftclib.vision.FtcVisionAprilTag;
import ftclib.vision.FtcVisionEocvColorBlob;
import ftclib.vision.FtcVisionTensorFlow;
import teamcode.Robot;
import teamcode.RobotParams;
import teamcode.subsystems.BlinkinLEDs;
@ -53,7 +51,7 @@ import trclib.vision.TrcOpenCvDetector;
import trclib.vision.TrcVisionTargetInfo;
/**
* This class implements AprilTag/TensorFlow/Eocv Vision for the game season. It creates and initializes all the
* This class implements AprilTag/Eocv Vision for the game season. It creates and initializes all the
* vision target info as well as providing info for the robot, camera and the field. It also provides methods to get
* the location of the robot and detected targets.
*/
@ -93,8 +91,6 @@ public class Vision
private FtcEocvColorBlobProcessor redBlobProcessor;
public FtcVisionEocvColorBlob blueBlobVision;
private FtcEocvColorBlobProcessor blueBlobProcessor;
public FtcVisionTensorFlow tensorFlowVision;
private TfodProcessor tensorFlowProcessor;
public FtcVision vision;
/**
@ -184,17 +180,6 @@ public class Vision
visionProcessorsList.add(blueBlobProcessor);
}
if (RobotParams.Preferences.useTensorFlowVision)
{
tracer.traceInfo(moduleName, "Starting TensorFlowVision...");
tensorFlowVision = new FtcVisionTensorFlow(
null, true, TFOD_MODEL_ASSET, TFOD_TARGET_LABELS, robot.robotInfo.webCam1.cameraRect,
robot.robotInfo.webCam1.worldRect);
tensorFlowProcessor = tensorFlowVision.getVisionProcessor();
tensorFlowProcessor.setMinResultConfidence(TFOD_MIN_CONFIDENCE);
visionProcessorsList.add(tensorFlowProcessor);
}
VisionProcessor[] visionProcessors = new VisionProcessor[visionProcessorsList.size()];
visionProcessorsList.toArray(visionProcessors);
if (RobotParams.Preferences.useWebCam)
@ -571,54 +556,6 @@ public class Vision
return colorBlobInfo;
} //getDetectedBlueBlob
/**
* This method enables/disables TensorFlow vision.
*
* @param enabled specifies true to enable, false to disable.
*/
public void setTensorFlowVisionEnabled(boolean enabled)
{
if (tensorFlowProcessor != null)
{
vision.setProcessorEnabled(tensorFlowProcessor, enabled);
}
} //setTensorFlowVisionEnabled
/**
* This method checks if TensorFlow vision is enabled.
*
* @return true if enabled, false if disabled.
*/
public boolean isTensorFlowVisionEnabled()
{
return tensorFlowProcessor != null && vision.isVisionProcessorEnabled(tensorFlowProcessor);
} //isTensorFlowVisionEnabled
/**
* This method calls TensorFlow vision to detect the Pixel objects.
*
* @param lineNum specifies the dashboard line number to display the detected object info, -1 to disable printing.
* @return detected Pixel object info.
*/
public TrcVisionTargetInfo<FtcVisionTensorFlow.DetectedObject> getDetectedTensorFlowPixel(int lineNum)
{
TrcVisionTargetInfo<FtcVisionTensorFlow.DetectedObject> tensorFlowInfo =
tensorFlowVision.getBestDetectedTargetInfo(TFOD_OBJECT_LABEL, null, this::compareConfidence, 0.0, 0.0);
if (tensorFlowInfo != null && robot.blinkin != null)
{
robot.blinkin.setDetectedPattern(BlinkinLEDs.TENSOR_FLOW);
}
if (lineNum != -1)
{
robot.dashboard.displayPrintf(
lineNum, "%s: %s", BlinkinLEDs.TENSOR_FLOW, tensorFlowInfo != null? tensorFlowInfo: "Not found.");
}
return tensorFlowInfo;
} //getDetectedTensorFlowPixel
/**
* This method is called by the Arrays.sort to sort the target object by increasing distance.
*
@ -634,19 +571,4 @@ public class Vision
return (int)((b.objPose.y - a.objPose.y)*100);
} //compareDistance
/**
* This method is called by the Arrays.sort to sort the target object by decreasing confidence.
*
* @param a specifies the first target
* @param b specifies the second target.
* @return negative value if a has higher confidence than b, 0 if a and b have equal confidence, positive value
* if a has lower confidence than b.
*/
private int compareConfidence(
TrcVisionTargetInfo<FtcVisionTensorFlow.DetectedObject> a,
TrcVisionTargetInfo<FtcVisionTensorFlow.DetectedObject> b)
{
return (int)((b.detectedObj.confidence - a.detectedObj.confidence)*100);
} //compareConfidence
} //class Vision