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Updated ftclib.

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Fixed NullPointerException in FtcTest trying to display ExposureSettings which is only available for VisionPortal and not in RawColorBlob tuning.
Added Limelight 3A support.
Removed TensorFlow references.
This commit is contained in:
Titan Robotics Club
2024-09-11 19:16:39 -07:00
parent 5ee9bba8a0
commit fa32f5ba34
5 changed files with 76 additions and 16 deletions
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36
TeamCode/src/main/java/teamcode/vision/Vision.java
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@ -22,6 +22,8 @@
package teamcode.vision;
import com.qualcomm.hardware.limelightvision.LLResult;
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.AngleUnit;
@ -36,6 +38,7 @@ import java.util.ArrayList;
import ftclib.robotcore.FtcOpMode;
import ftclib.vision.FtcEocvColorBlobProcessor;
import ftclib.vision.FtcLimelightVision;
import ftclib.vision.FtcRawEocvColorBlobPipeline;
import ftclib.vision.FtcRawEocvVision;
import ftclib.vision.FtcVision;
@ -51,9 +54,9 @@ import trclib.vision.TrcOpenCvDetector;
import trclib.vision.TrcVisionTargetInfo;
/**
* 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.
* This class implements AprilTag/Eocv/Limelight 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.
*/
public class Vision
{
@ -75,11 +78,6 @@ public class Vision
.setVerticesRange(0.0, 1000.0)
.setAspectRatioRange(0.3, 1.0);
private static final String TFOD_MODEL_ASSET = "MyObject.tflite";
private static final float TFOD_MIN_CONFIDENCE = 0.75f;
public static final String TFOD_OBJECT_LABEL = "MyObject";
public static final String[] TFOD_TARGET_LABELS = {TFOD_OBJECT_LABEL};
private final TrcDbgTrace tracer;
private final Robot robot;
private final WebcamName webcam1, webcam2;
@ -92,6 +90,7 @@ public class Vision
public FtcVisionEocvColorBlob blueBlobVision;
private FtcEocvColorBlobProcessor blueBlobProcessor;
public FtcVision vision;
public FtcLimelightVision limelightVision;
/**
* Constructor: Create an instance of the object.
@ -142,6 +141,11 @@ public class Vision
rawColorBlobVision.setFpsMeterEnabled(RobotParams.Preferences.showVisionStat);
setRawColorBlobVisionEnabled(false);
}
else if (RobotParams.Preferences.useLimelightVision)
{
limelightVision = new FtcLimelightVision(
robot.robotInfo.limelight.camName, robot.robotInfo.limelight.camPose, this::getTargetGroundOffset);
}
else
{
// Creating Vision Processors for VisionPortal.
@ -315,7 +319,6 @@ public class Vision
}
} //setRawColorBlobThresholds
/**
* This method enables/disables raw ColorBlob vision.
*
@ -423,7 +426,9 @@ public class Vision
TrcPose2D aprilTagPose =
RobotParams.Game.APRILTAG_POSES[aprilTagInfo.detectedObj.aprilTagDetection.id - 1];
TrcPose2D cameraPose = aprilTagPose.subtractRelativePose(aprilTagInfo.objPose);
robotPose = cameraPose.subtractRelativePose(robot.robotInfo.webCam1.camPose);
robotPose = cameraPose.subtractRelativePose(
new TrcPose2D(robot.robotInfo.webCam1.camXOffset, robot.robotInfo.webCam1.camYOffset,
robot.robotInfo.webCam1.camYaw));
tracer.traceInfo(
moduleName,
"AprilTagId=" + aprilTagInfo.detectedObj.aprilTagDetection.id +
@ -556,6 +561,17 @@ public class Vision
return colorBlobInfo;
} //getDetectedBlueBlob
/**
* This method returns the target Z offset from ground.
*
* @param result specifies the detected object.
* @return target ground offset.
*/
private double getTargetGroundOffset(LLResult result)
{
return 0.0;
} //getTargetGroundOffset
/**
* This method is called by the Arrays.sort to sort the target object by increasing distance.
*