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Updated to FTC SDK 10.1.

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Titan Robotics Club
2024-09-21 13:04:40 -07:00
parent 4dce48e5cd
commit 223a7eb55b
6 changed files with 407 additions and 11 deletions
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4
FtcRobotController/src/main/AndroidManifest.xml
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@ -1,8 +1,8 @@
<?xml version="1.0" encoding="utf-8"?>
<manifest xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:tools="http://schemas.android.com/tools"
android:versionCode="55"
android:versionName="10.0">
android:versionCode="56"
android:versionName="10.1">
<uses-permission android:name="android.permission.RECEIVE_BOOT_COMPLETED" />

3
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptAprilTagLocalization.java vendored
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@ -58,6 +58,9 @@ import java.util.List;
* When an AprilTag in the TagLibrary is detected, the SDK provides location and orientation of the robot, relative to the field origin.
* This information is provided in the "robotPose" member of the returned "detection".
*
* To learn about the Field Coordinate System that is defined for FTC (and used by this OpMode), see the FTC-DOCS link below:
* https://ftc-docs.firstinspires.org/en/latest/game_specific_resources/field_coordinate_system/field-coordinate-system.html
*
* 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.
*/

191
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptVisionColorLocator.java vendored Normal file
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/*
* Copyright (c) 2024 Phil Malone
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/
package org.firstinspires.ftc.robotcontroller.external.samples;
import android.util.Size;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.util.SortOrder;
import org.firstinspires.ftc.robotcore.external.Telemetry;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.vision.VisionPortal;
import org.firstinspires.ftc.vision.opencv.ColorBlobLocatorProcessor;
import org.firstinspires.ftc.vision.opencv.ColorRange;
import org.firstinspires.ftc.vision.opencv.ImageRegion;
import org.opencv.core.RotatedRect;
import java.util.List;
/*
* This OpMode illustrates how to use a video source (camera) to locate specifically colored regions
*
* Unlike a "color sensor" which determines the color of an object in the field of view, this "color locator"
* will search the Region Of Interest (ROI) in a camera image, and find any "blobs" of color that match the requested color range.
* These blobs can be further filtered and sorted to find the one most likely to be the item the user is looking for.
*
* To perform this function, a VisionPortal runs a ColorBlobLocatorProcessor process.
* The ColorBlobLocatorProcessor process is created first, and then the VisionPortal is built to use this process.
* The ColorBlobLocatorProcessor analyses the ROI and locates pixels that match the ColorRange to form a "mask".
* The matching pixels are then collected into contiguous "blobs" of pixels. The outer boundaries of these blobs are called its "contour".
* For each blob, the process then creates the smallest possible rectangle "boxFit" that will fully encase the contour.
* The user can then call getBlobs() to retrieve the list of Blobs, where each Blob contains the contour and the boxFit data.
* Note: The default sort order for Blobs is ContourArea, in descending order, so the biggest contours are listed first.
*
* To aid the user, a colored boxFit rectangle is drawn on the camera preview to show the location of each Blob
* The original Blob contour can also be added to the preview. This is helpful when configuring the ColorBlobLocatorProcessor 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
*/
@Disabled
@TeleOp(name = "Concept: Vision Color-Locator", group = "Concept")
public class ConceptVisionColorLocator extends LinearOpMode
{
@Override
public void runOpMode()
{
/* Build a "Color Locator" vision processor based on the ColorBlobLocatorProcessor class.
* - Specify the color range you are looking for. You can use a predefined color, or create you own color range
* .setTargetColorRange(ColorRange.BLUE) // use a predefined color match
* Available predefined colors are: RED, BLUE YELLOW GREEN
* .setTargetColorRange(new ColorRange(ColorSpace.YCrCb, // or define your own color match
* new Scalar( 32, 176, 0),
* new Scalar(255, 255, 132)))
*
* - Focus the color locator by defining a RegionOfInterest (ROI) which you want to search.
* This can be the entire frame, or a sub-region defined using:
* 1) standard image coordinates or 2) a normalized +/- 1.0 coordinate system.
* Use one form of the ImageRegion class to define the ROI.
* ImageRegion.entireFrame()
* ImageRegion.asImageCoordinates(50, 50, 150, 150) 100x100 pixel square near the upper left corner
* ImageRegion.asUnityCenterCoordinates(-0.5, 0.5, 0.5, -0.5) 50% width/height square centered on screen
*
* - Define which contours are included.
* You can get ALL the contours, or you can skip any contours that are completely inside another contour.
* .setContourMode(ColorBlobLocatorProcessor.ContourMode.ALL_FLATTENED_HIERARCHY) // return all contours
* .setContourMode(ColorBlobLocatorProcessor.ContourMode.EXTERNAL_ONLY) // exclude contours inside other contours
* note: EXTERNAL_ONLY helps to avoid bright reflection spots from breaking up areas of solid color.
*
* - turn the display of contours ON or OFF. Turning this on helps debugging but takes up valuable CPU time.
* .setDrawContours(true)
*
* - include any pre-processing of the image or mask before looking for Blobs.
* There are some extra processing you can include to improve the formation of blobs. Using these features requires
* an understanding of how they may effect the final blobs. The "pixels" argument sets the NxN kernel size.
* .setBlurSize(int pixels) Blurring an image helps to provide a smooth color transition between objects, and smoother contours.
* The higher the number of pixels, the more blurred the image becomes.
* Note: Even "pixels" values will be incremented to satisfy the "odd number" requirement.
* Blurring too much may hide smaller features. A "pixels" size of 5 is good for a 320x240 image.
* .setErodeSize(int pixels) Erosion removes floating pixels and thin lines so that only substantive objects remain.
* Erosion can grow holes inside regions, and also shrink objects.
* "pixels" in the range of 2-4 are suitable for low res images.
* .setDilateSize(int pixels) Dilation makes objects more visible by filling in small holes, making lines appear thicker,
* and making filled shapes appear larger. Dilation is useful for joining broken parts of an
* object, such as when removing noise from an image.
* "pixels" in the range of 2-4 are suitable for low res images.
*/
ColorBlobLocatorProcessor colorLocator = new ColorBlobLocatorProcessor.Builder()
.setTargetColorRange(ColorRange.BLUE) // use a predefined color match
.setContourMode(ColorBlobLocatorProcessor.ContourMode.EXTERNAL_ONLY) // exclude blobs inside blobs
.setRoi(ImageRegion.asUnityCenterCoordinates(-0.5, 0.5, 0.5, -0.5)) // search central 1/4 of camera view
.setDrawContours(true) // Show contours on the Stream Preview
.setBlurSize(5) // Smooth the transitions between different colors in image
.build();
/*
* Build a vision portal to run the Color Locator process.
*
* - Add the colorLocator process created above.
* - Set the desired video resolution.
* Since a high resolution will not improve this process, choose a lower resolution that is
* supported by your camera. This will improve overall performance and reduce latency.
* - Choose your video source. This may be
* .setCamera(hardwareMap.get(WebcamName.class, "Webcam 1")) ..... for a webcam
* or
* .setCamera(BuiltinCameraDirection.BACK) ... for a Phone Camera
*/
VisionPortal portal = new VisionPortal.Builder()
.addProcessor(colorLocator)
.setCameraResolution(new Size(320, 240))
.setCamera(hardwareMap.get(WebcamName.class, "Webcam 1"))
.build();
telemetry.setMsTransmissionInterval(50); // Speed up telemetry updates, Just use for debugging.
telemetry.setDisplayFormat(Telemetry.DisplayFormat.MONOSPACE);
// WARNING: To be able to view the stream preview on the Driver Station, this code runs in INIT mode.
while (opModeIsActive() || opModeInInit())
{
telemetry.addData("preview on/off", "... Camera Stream\n");
// Read the current list
List<ColorBlobLocatorProcessor.Blob> blobs = colorLocator.getBlobs();
/*
* The list of Blobs can be filtered to remove unwanted Blobs.
* Note: All contours will be still displayed on the Stream Preview, but only those that satisfy the filter
* conditions will remain in the current list of "blobs". Multiple filters may be used.
*
* Use any of the following filters.
*
* ColorBlobLocatorProcessor.Util.filterByArea(minArea, maxArea, blobs);
* A Blob's area is the number of pixels contained within the Contour. Filter out any that are too big or small.
* Start with a large range and then refine the range based on the likely size of the desired object in the viewfinder.
*
* ColorBlobLocatorProcessor.Util.filterByDensity(minDensity, maxDensity, blobs);
* A blob's density is an indication of how "full" the contour is.
* If you put a rubber band around the contour you would get the "Convex Hull" of the contour.
* The density is the ratio of Contour-area to Convex Hull-area.
*
* ColorBlobLocatorProcessor.Util.filterByAspectRatio(minAspect, maxAspect, blobs);
* A blob's Aspect ratio is the ratio of boxFit long side to short side.
* A perfect Square has an aspect ratio of 1. All others are > 1
*/
ColorBlobLocatorProcessor.Util.filterByArea(50, 20000, blobs); // filter out very small blobs.
/*
* The list of Blobs can be sorted using the same Blob attributes as listed above.
* No more than one sort call should be made. Sorting can use ascending or descending order.
* ColorBlobLocatorProcessor.Util.sortByArea(SortOrder.DESCENDING, blobs); // Default
* ColorBlobLocatorProcessor.Util.sortByDensity(SortOrder.DESCENDING, blobs);
* ColorBlobLocatorProcessor.Util.sortByAspectRatio(SortOrder.DESCENDING, blobs);
*/
telemetry.addLine(" Area Density Aspect Center");
// Display the size (area) and center location for each Blob.
for(ColorBlobLocatorProcessor.Blob b : blobs)
{
RotatedRect boxFit = b.getBoxFit();
telemetry.addLine(String.format("%5d %4.2f %5.2f (%3d,%3d)",
b.getContourArea(), b.getDensity(), b.getAspectRatio(), (int) boxFit.center.x, (int) boxFit.center.y));
}
telemetry.update();
sleep(50);
}
}
}

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FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptVisionColorSensor.java vendored Normal file
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@ -0,0 +1,136 @@
/*
* Copyright (c) 2024 Phil Malone
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/
package org.firstinspires.ftc.robotcontroller.external.samples;
import android.graphics.Color;
import android.util.Size;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.vision.VisionPortal;
import org.firstinspires.ftc.vision.opencv.ImageRegion;
import org.firstinspires.ftc.vision.opencv.PredominantColorProcessor;
/*
* This OpMode illustrates how to use a video source (camera) as a color sensor
*
* A "color sensor" will typically determine the color of the object that it is pointed at.
*
* This sample performs the same function, except it uses a video camera to inspect an object or scene.
* The user may choose to inspect all, or just a Region of Interest (ROI), of the active camera view.
* The user must also provide a list of "acceptable colors" (Swatches) from which the closest matching color will be selected.
*
* To perform this function, a VisionPortal runs a PredominantColorProcessor process.
* The PredominantColorProcessor process is created first, and then the VisionPortal is built to use this process.
* The PredominantColorProcessor analyses the ROI and splits the colored pixels into several color-clusters.
* The largest of these clusters is then considered to be the "Predominant Color"
* The process then matches the Predominant Color with the closest Swatch and returns that match.
*
* To aid the user, a colored rectangle is drawn on the camera preview to show the RegionOfInterest,
* The Predominant Color is used to paint the rectangle border, so the user can verify that the color is reasonable.
*
* 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
*/
@Disabled
@TeleOp(name = "Concept: Vision Color-Sensor", group = "Concept")
public class ConceptVisionColorSensor extends LinearOpMode
{
@Override
public void runOpMode()
{
/* Build a "Color Sensor" vision processor based on the PredominantColorProcessor class.
*
* - Focus the color sensor by defining a RegionOfInterest (ROI) which you want to inspect.
* This can be the entire frame, or a sub-region defined using:
* 1) standard image coordinates or 2) a normalized +/- 1.0 coordinate system.
* Use one form of the ImageRegion class to define the ROI.
* ImageRegion.entireFrame()
* ImageRegion.asImageCoordinates(50, 50, 150, 150) 100x100 pixel square near the upper left corner
* ImageRegion.asUnityCenterCoordinates(-0.1, 0.1, 0.1, -0.1) 10% width/height square centered on screen
*
* - Set the list of "acceptable" color swatches (matches).
* Only colors that you assign here will be returned.
* If you know the sensor will be pointing to one of a few specific colors, enter them here.
* Or, if the sensor may be pointed randomly, provide some additional colors that may match the surrounding.
* Possible choices are:
* RED, ORANGE, YELLOW, GREEN, CYAN, BLUE, PURPLE, MAGENTA, BLACK, WHITE;
*
* Note that in the example shown below, only some of the available colors are included.
* This will force any other colored region into one of these colors.
* eg: Green may be reported as YELLOW, as this may be the "closest" match.
*/
PredominantColorProcessor colorSensor = new PredominantColorProcessor.Builder()
.setRoi(ImageRegion.asUnityCenterCoordinates(-0.1, 0.1, 0.1, -0.1))
.setSwatches(
PredominantColorProcessor.Swatch.RED,
PredominantColorProcessor.Swatch.BLUE,
PredominantColorProcessor.Swatch.YELLOW,
PredominantColorProcessor.Swatch.BLACK,
PredominantColorProcessor.Swatch.WHITE)
.build();
/*
* Build a vision portal to run the Color Sensor process.
*
* - Add the colorSensor process created above.
* - Set the desired video resolution.
* Since a high resolution will not improve this process, choose a lower resolution that is
* supported by your camera. This will improve overall performance and reduce latency.
* - Choose your video source. This may be
* .setCamera(hardwareMap.get(WebcamName.class, "Webcam 1")) ..... for a webcam
* or
* .setCamera(BuiltinCameraDirection.BACK) ... for a Phone Camera
*/
VisionPortal portal = new VisionPortal.Builder()
.addProcessor(colorSensor)
.setCameraResolution(new Size(320, 240))
.setCamera(hardwareMap.get(WebcamName.class, "Webcam 1"))
.build();
telemetry.setMsTransmissionInterval(50); // Speed up telemetry updates, Just use for debugging.
// WARNING: To be able to view the stream preview on the Driver Station, this code runs in INIT mode.
while (opModeIsActive() || opModeInInit())
{
telemetry.addData("DS preview on/off", "3 dots, Camera Stream\n");
// Request the most recent color analysis.
// This will return the closest matching colorSwatch and the predominant RGB color.
// Note: to take actions based on the detected color, simply use the colorSwatch in a comparison or switch.
// eg:
// if (result.closestSwatch == PredominantColorProcessor.Swatch.RED) {... some code ...}
PredominantColorProcessor.Result result = colorSensor.getAnalysis();
// Display the Color Sensor result.
telemetry.addData("Best Match:", result.closestSwatch);
telemetry.addLine(String.format("R %3d, G %3d, B %3d", Color.red(result.rgb), Color.green(result.rgb), Color.blue(result.rgb)));
telemetry.update();
sleep(20);
}
}
}