TimeCrafters/CenterStage
1
0
Fork 0
mirror of https://github.com/TimeCrafters/CenterStage synced 2025-12-15 16:52:35 +00:00
Code Issues Packages Projects Releases Wiki Activity

RedCrab: Refactor to allow usage of multiple different vision processors, update vision processors to allow getting results for telemetry purposes.

Browse Source
This commit is contained in:
Cyberarm
2023-12-18 14:47:27 -06:00
parent ae60529e29
commit d2b2096af2
5 changed files with 57 additions and 33 deletions
Download Patch File Download Diff File Expand all files Collapse all files

26
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/RedCrabMinibot.java
View File

@@ -11,18 +11,14 @@ import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.IMU;
import com.qualcomm.robotcore.hardware.Servo;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.CurrentUnit;
import org.firstinspires.ftc.robotcore.external.tfod.TFObjectDetector;
import org.firstinspires.ftc.vision.VisionPortal;
import org.firstinspires.ftc.vision.tfod.TfodProcessor;
import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfiguration;
import org.timecrafters.TimeCraftersConfigurationTool.library.backend.config.Action;
import org.timecrafters.TimeCraftersConfigurationTool.library.backend.config.Variable;
import java.sql.Time;
import dev.cyberarm.engine.V2.CyberarmEngine;
import dev.cyberarm.engine.V2.Utilities;
@@ -80,6 +76,7 @@ public class RedCrabMinibot {
public TimeCraftersConfiguration config;
private final PIDController clawArmPIDController;
public final String webcamName = "Webcam 1";
public enum Path {
LEFT,
@@ -87,8 +84,16 @@ public class RedCrabMinibot {
RIGHT
}
public final TfodProcessor tfod;
public final VisionPortal visionPortal;
/* --- VisionProcessors --- */
/// Tensorflow Lite Pixel detector.
/// NOTE: detects april tags as pixels, use with caution!
public TfodProcessor tfPixel = null;
/// TeamProp detector: using OpenCV for subframe saturation threshold detection.
public TeamPropVisionProcessor teamProp = null;
/// Spike Mark detector: using OpenCV for full frame saturation threshold detection.
public SpikeMarkDetectorVisionProcessor spikeMark = null;
/// Doohickey
public VisionPortal visionPortal = null;
public RedCrabMinibot(boolean autonomous) {
engine = CyberarmEngine.instance;
@@ -96,15 +101,6 @@ public class RedCrabMinibot {
config = new TimeCraftersConfiguration("cyberarm_RedCrab");
loadConstants();
if (autonomous) {
tfod = TfodProcessor.easyCreateWithDefaults();
visionPortal = VisionPortal.easyCreateWithDefaults(
engine.hardwareMap.get(WebcamName.class, "Webcam 1"), tfod);
} else {
tfod = null;
visionPortal = null;
}
/// IMU ///
/// ------------------------------------------------------------------------------------ ///
imu = engine.hardwareMap.get(IMU.class, "imu"); // | Ctrl Hub, I2C Port: 0

14
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/SpikeMarkDetectorVisionProcessor.java
View File

@@ -27,22 +27,24 @@ public class SpikeMarkDetectorVisionProcessor implements VisionProcessor {
private Selection selection = Selection.NONE;
/// NOTE: Rect defined with a 480x640 (WxH) frame size assumed
private Rect rect = new Rect(1, 1, 479, 639);
/// NOTE: Rect defined with a 640x480 (WxH) frame size assumed
private final Rect rect = new Rect(1, 1, 639, 479);
private Mat subMat = new Mat();
private Mat rotatedMat = new Mat();
private Mat hsvMat = new Mat();
private double saturation;
@Override
public void init(int width, int height, CameraCalibration calibration) {
}
@Override
public Object processFrame(Mat frame, long captureTimeNanos) {
Core.rotate(frame, rotatedMat,Core.ROTATE_90_CLOCKWISE);
Core.rotate(frame, rotatedMat,Core.ROTATE_180);
Imgproc.cvtColor(rotatedMat, hsvMat, Imgproc.COLOR_RGB2HSV);
double saturation = averageSaturation(hsvMat, rect);
saturation = averageSaturation(hsvMat, rect);
// TODO: Tune this value or do more processing
if (saturation > 0.5) {
@@ -100,6 +102,10 @@ public class SpikeMarkDetectorVisionProcessor implements VisionProcessor {
return selection;
}
public double getSaturation() {
return saturation;
}
private android.graphics.Rect makeDrawableRect(Rect rect, float scaleBmpPxToCanvasPx) {
int left = Math.round(rect.x * scaleBmpPxToCanvasPx);
int top = Math.round(rect.y * scaleBmpPxToCanvasPx);

1
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/TODO.md
View File

@@ -1,5 +1,6 @@
# Red Crab / Copy Bot
## TODO LIST
- [ ] Test CyberarmEngine threadless mode
- [ ] Verify drivetrain motor gearbox modules are with highest gear reduction closest to the motor.
- [ ] Tune ClawArm PIDF
- [ ] Test and tune TeamProp and SpikeMark VisionProcessor

34
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/TeamPropVisionProcessor.java
View File

@@ -31,14 +31,17 @@ public class TeamPropVisionProcessor implements VisionProcessor {
private Location location = Location.NONE;
/// NOTE: Rects are defined with a 480x640 (WxH) frame size assumed
/// NOTE: Rects are defined with a 640x480 (WxH) frame size assumed
// 640 / 3 = ~212
private Rect rectLeft = new Rect(1, 1, 160, 639);
private Rect rectCenter = new Rect(rectLeft.x + rectLeft.width, 1, 160, 639);
private Rect rectRight = new Rect(rectCenter.x + rectCenter.width, 1, 160, 639);
private final Rect rectLeft = new Rect(1, 1, 639, 160);
private final Rect rectCenter = new Rect(rectLeft.x + rectLeft.width, 1, 639, 160);
private final Rect rectRight = new Rect(rectCenter.x + rectCenter.width, 1, 639, 160);
private Mat subMat = new Mat();
private Mat rotatedMat = new Mat();
private Mat hsvMat = new Mat();
private double saturationLeft;
private double saturationCenter;
private double saturationRight;
@Override
public void init(int width, int height, CameraCalibration calibration) {
@@ -46,12 +49,12 @@ public class TeamPropVisionProcessor implements VisionProcessor {
@Override
public Object processFrame(Mat frame, long captureTimeNanos) {
Core.rotate(frame, rotatedMat,Core.ROTATE_90_CLOCKWISE);
Core.rotate(frame, rotatedMat,Core.ROTATE_180);
Imgproc.cvtColor(rotatedMat, hsvMat, Imgproc.COLOR_RGB2HSV);
double saturationLeft = averageSaturation(hsvMat, rectLeft);
double saturationCenter = averageSaturation(hsvMat, rectLeft);
double saturationRight = averageSaturation(hsvMat, rectLeft);
saturationLeft = averageSaturation(hsvMat, rectLeft);
saturationCenter = averageSaturation(hsvMat, rectLeft);
saturationRight = averageSaturation(hsvMat, rectLeft);
if (saturationLeft > saturationCenter && saturationLeft > saturationRight) {
location = Location.LEFT;
@@ -88,8 +91,7 @@ public class TeamPropVisionProcessor implements VisionProcessor {
float textYOffset = selectedPaint.getTextSize() + selectedPaint.getStrokeWidth();
Location loc = (Location) userContext;
switch (loc) {
switch ((Location) userContext) {
case LEFT:
canvas.drawRect(drawRectLeft, selectedPaint);
canvas.drawRect(drawRectCenter, notSelectedPaint);
@@ -131,6 +133,18 @@ public class TeamPropVisionProcessor implements VisionProcessor {
return location;
}
public double getSaturationLeft() {
return saturationLeft;
}
public double getSaturationCenter() {
return saturationCenter;
}
public double getSaturationRight() {
return saturationRight;
}
private android.graphics.Rect makeDrawableRect(Rect rect, float scaleBmpPxToCanvasPx) {
int left = Math.round(rect.x * scaleBmpPxToCanvasPx);
int top = Math.round(rect.y * scaleBmpPxToCanvasPx);

15
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/PathSelector.java
View File

@@ -1,6 +1,9 @@
package dev.cyberarm.minibots.red_crab.states;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.robotcore.external.tfod.Recognition;
import org.firstinspires.ftc.vision.VisionPortal;
import org.firstinspires.ftc.vision.tfod.TfodProcessor;
import java.util.ArrayList;
import java.util.List;
@@ -25,8 +28,12 @@ public class PathSelector extends CyberarmState {
@Override
public void init() {
robot.tfod.setClippingMargins(0, 0, 0, 0);
robot.tfod.setMinResultConfidence((float) minConfidence);
robot.tfPixel = TfodProcessor.easyCreateWithDefaults();
robot.visionPortal = VisionPortal.easyCreateWithDefaults(
engine.hardwareMap.get(WebcamName.class, robot.webcamName), robot.tfPixel);
robot.tfPixel.setClippingMargins(0, 0, 0, 0);
robot.tfPixel.setMinResultConfidence((float) minConfidence);
engine.blackboardSet("autonomousPath", 0);
}
@@ -39,7 +46,7 @@ public class PathSelector extends CyberarmState {
return;
}
recognitions = robot.tfod.getRecognitions();
recognitions = robot.tfPixel.getRecognitions();
for (Recognition recognition : recognitions) {
double x = (recognition.getLeft() + recognition.getRight()) / 2;
double y = (recognition.getTop() + recognition.getBottom()) / 2;
@@ -58,7 +65,7 @@ public class PathSelector extends CyberarmState {
private void stopVision() {
robot.visionPortal.close();
robot.tfod.shutdown();
robot.tfPixel.shutdown();
}
@Override