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...a/org/firstinspires/ftc/robotcontroller/external/samples/ConceptAprilTagLocalization.java
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/* Copyright (c) 2024 Dryw Wade. 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. | ||
*/ | ||
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package org.firstinspires.ftc.robotcontroller.external.samples; | ||
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import com.qualcomm.robotcore.eventloop.opmode.Disabled; | ||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; | ||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp; | ||
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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; | ||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit; | ||
import org.firstinspires.ftc.robotcore.external.navigation.Position; | ||
import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles; | ||
import org.firstinspires.ftc.vision.VisionPortal; | ||
import org.firstinspires.ftc.vision.apriltag.AprilTagDetection; | ||
import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor; | ||
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import java.util.List; | ||
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/* | ||
* This OpMode illustrates the basics of AprilTag based localization. | ||
* | ||
* For an introduction to AprilTags, see the FTC-DOCS link below: | ||
* https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html | ||
* | ||
* In this sample, any visible tag ID will be detected and displayed, but only tags that are included in the default | ||
* "TagLibrary" will be used to compute the robot's location and orientation. This default TagLibrary contains | ||
* the current Season's AprilTags and a small set of "test Tags" in the high number range. | ||
* | ||
* 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". | ||
* | ||
* 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. | ||
*/ | ||
@TeleOp(name = "Concept: AprilTag Localization", group = "Concept") | ||
@Disabled | ||
public class ConceptAprilTagLocalization extends LinearOpMode { | ||
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private static final boolean USE_WEBCAM = true; // true for webcam, false for phone camera | ||
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/** | ||
* Variables to store the position and orientation of the camera on the robot. Setting these | ||
* values requires a definition of the axes of the camera and robot: | ||
* | ||
* Camera axes: | ||
* Origin location: Center of the lens | ||
* Axes orientation: +x right, +y down, +z forward (from camera's perspective) | ||
* | ||
* Robot axes (this is typical, but you can define this however you want): | ||
* Origin location: Center of the robot at field height | ||
* Axes orientation: +x right, +y forward, +z upward | ||
* | ||
* Position: | ||
* If all values are zero (no translation), that implies the camera is at the center of the | ||
* robot. Suppose your camera is positioned 5 inches to the left, 7 inches forward, and 12 | ||
* inches above the ground - you would need to set the position to (-5, 7, 12). | ||
* | ||
* Orientation: | ||
* If all values are zero (no rotation), that implies the camera is pointing straight up. In | ||
* most cases, you'll need to set the pitch to -90 degrees (rotation about the x-axis), meaning | ||
* the camera is horizontal. Use a yaw of 0 if the camera is pointing forwards, +90 degrees if | ||
* it's pointing straight left, -90 degrees for straight right, etc. You can also set the roll | ||
* to +/-90 degrees if it's vertical, or 180 degrees if it's upside-down. | ||
*/ | ||
private Position cameraPosition = new Position(DistanceUnit.INCH, | ||
0, 0, 0, 0); | ||
private YawPitchRollAngles cameraOrientation = new YawPitchRollAngles(AngleUnit.DEGREES, | ||
0, -90, 0, 0); | ||
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/** | ||
* The variable to store our instance of the AprilTag processor. | ||
*/ | ||
private AprilTagProcessor aprilTag; | ||
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/** | ||
* The variable to store our instance of the vision portal. | ||
*/ | ||
private VisionPortal visionPortal; | ||
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@Override | ||
public void runOpMode() { | ||
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initAprilTag(); | ||
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// Wait for the DS start button to be touched. | ||
telemetry.addData("DS preview on/off", "3 dots, Camera Stream"); | ||
telemetry.addData(">", "Touch START to start OpMode"); | ||
telemetry.update(); | ||
waitForStart(); | ||
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while (opModeIsActive()) { | ||
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telemetryAprilTag(); | ||
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// Push telemetry to the Driver Station. | ||
telemetry.update(); | ||
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// Save CPU resources; can resume streaming when needed. | ||
if (gamepad1.dpad_down) { | ||
visionPortal.stopStreaming(); | ||
} else if (gamepad1.dpad_up) { | ||
visionPortal.resumeStreaming(); | ||
} | ||
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// Share the CPU. | ||
sleep(20); | ||
} | ||
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// Save more CPU resources when camera is no longer needed. | ||
visionPortal.close(); | ||
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} // end method runOpMode() | ||
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/** | ||
* Initialize the AprilTag processor. | ||
*/ | ||
private void initAprilTag() { | ||
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// Create the AprilTag processor. | ||
aprilTag = new AprilTagProcessor.Builder() | ||
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// The following default settings are available to un-comment and edit as needed. | ||
//.setDrawAxes(false) | ||
//.setDrawCubeProjection(false) | ||
//.setDrawTagOutline(true) | ||
//.setTagFamily(AprilTagProcessor.TagFamily.TAG_36h11) | ||
//.setTagLibrary(AprilTagGameDatabase.getCenterStageTagLibrary()) | ||
//.setOutputUnits(DistanceUnit.INCH, AngleUnit.DEGREES) | ||
.setCameraPose(cameraPosition, cameraOrientation) | ||
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// == CAMERA CALIBRATION == | ||
// If you do not manually specify calibration parameters, the SDK will attempt | ||
// to load a predefined calibration for your camera. | ||
//.setLensIntrinsics(578.272, 578.272, 402.145, 221.506) | ||
// ... these parameters are fx, fy, cx, cy. | ||
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.build(); | ||
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// Adjust Image Decimation to trade-off detection-range for detection-rate. | ||
// eg: Some typical detection data using a Logitech C920 WebCam | ||
// Decimation = 1 .. Detect 2" Tag from 10 feet away at 10 Frames per second | ||
// Decimation = 2 .. Detect 2" Tag from 6 feet away at 22 Frames per second | ||
// Decimation = 3 .. Detect 2" Tag from 4 feet away at 30 Frames Per Second (default) | ||
// Decimation = 3 .. Detect 5" Tag from 10 feet away at 30 Frames Per Second (default) | ||
// Note: Decimation can be changed on-the-fly to adapt during a match. | ||
//aprilTag.setDecimation(3); | ||
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// Create the vision portal by using a builder. | ||
VisionPortal.Builder builder = new VisionPortal.Builder(); | ||
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// Set the camera (webcam vs. built-in RC phone camera). | ||
if (USE_WEBCAM) { | ||
builder.setCamera(hardwareMap.get(WebcamName.class, "Webcam 1")); | ||
} else { | ||
builder.setCamera(BuiltinCameraDirection.BACK); | ||
} | ||
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// Choose a camera resolution. Not all cameras support all resolutions. | ||
//builder.setCameraResolution(new Size(640, 480)); | ||
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// Enable the RC preview (LiveView). Set "false" to omit camera monitoring. | ||
//builder.enableLiveView(true); | ||
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// Set the stream format; MJPEG uses less bandwidth than default YUY2. | ||
//builder.setStreamFormat(VisionPortal.StreamFormat.YUY2); | ||
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// Choose whether or not LiveView stops if no processors are enabled. | ||
// If set "true", monitor shows solid orange screen if no processors enabled. | ||
// If set "false", monitor shows camera view without annotations. | ||
//builder.setAutoStopLiveView(false); | ||
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// Set and enable the processor. | ||
builder.addProcessor(aprilTag); | ||
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// Build the Vision Portal, using the above settings. | ||
visionPortal = builder.build(); | ||
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// Disable or re-enable the aprilTag processor at any time. | ||
//visionPortal.setProcessorEnabled(aprilTag, true); | ||
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} // end method initAprilTag() | ||
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/** | ||
* Add telemetry about AprilTag detections. | ||
*/ | ||
private void telemetryAprilTag() { | ||
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List<AprilTagDetection> currentDetections = aprilTag.getDetections(); | ||
telemetry.addData("# AprilTags Detected", currentDetections.size()); | ||
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// Step through the list of detections and display info for each one. | ||
for (AprilTagDetection detection : currentDetections) { | ||
if (detection.metadata != null) { | ||
telemetry.addLine(String.format("\n==== (ID %d) %s", detection.id, detection.metadata.name)); | ||
telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f (inch)", | ||
detection.robotPose.getPosition().x, | ||
detection.robotPose.getPosition().y, | ||
detection.robotPose.getPosition().z)); | ||
telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f (deg)", | ||
detection.robotPose.getOrientation().getPitch(AngleUnit.DEGREES), | ||
detection.robotPose.getOrientation().getRoll(AngleUnit.DEGREES), | ||
detection.robotPose.getOrientation().getYaw(AngleUnit.DEGREES))); | ||
} else { | ||
telemetry.addLine(String.format("\n==== (ID %d) Unknown", detection.id)); | ||
telemetry.addLine(String.format("Center %6.0f %6.0f (pixels)", detection.center.x, detection.center.y)); | ||
} | ||
} // end for() loop | ||
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// Add "key" information to telemetry | ||
telemetry.addLine("\nkey:\nXYZ = X (Right), Y (Forward), Z (Up) dist."); | ||
telemetry.addLine("PRY = Pitch, Roll & Yaw (XYZ Rotation)"); | ||
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} // end method telemetryAprilTag() | ||
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} // end class |
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