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Prepared FTC samples code for Vuforia and TensorFlow testing

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Nathaniel Palme
2020-10-17 08:37:24 -05:00
parent 32d65ce7c3
commit 39af308506
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TeamCode/src/main/java/org/samples/ConceptVuMarkIdentificationWebcam.java Normal file
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/* Copyright (c) 2017 FIRST. 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.
*/
package org.samples;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.robotcontroller.external.samples.ConceptVuforiaNavigationWebcam;
import org.firstinspires.ftc.robotcore.external.ClassFactory;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.robotcore.external.matrices.OpenGLMatrix;
import org.firstinspires.ftc.robotcore.external.matrices.VectorF;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder;
import org.firstinspires.ftc.robotcore.external.navigation.AxesReference;
import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
import org.firstinspires.ftc.robotcore.external.navigation.RelicRecoveryVuMark;
import org.firstinspires.ftc.robotcore.external.navigation.VuMarkInstanceId;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackable;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackableDefaultListener;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackables;
/**
* This OpMode illustrates the basics of using the Vuforia engine to determine
* the identity of Vuforia VuMarks encountered on the field. The code is structured as
* a LinearOpMode. It shares much structure with {@link ConceptVuforiaNavigationWebcam}; we do not here
* duplicate the core Vuforia documentation found there, but rather instead focus on the
* differences between the use of Vuforia for navigation vs VuMark identification.
*
* @see ConceptVuforiaNavigationWebcam
* @see VuforiaLocalizer
* @see VuforiaTrackableDefaultListener
* see ftc_app/doc/tutorial/FTC_FieldCoordinateSystemDefinition.pdf
*
* 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.
*
* IMPORTANT: In order to use this OpMode, you need to obtain your own Vuforia license key as
* is explained in {@link ConceptVuforiaNavigationWebcam}.
*/
@TeleOp(name="Concept: VuMark Id Webcam", group ="Concept")
@Disabled
public class ConceptVuMarkIdentificationWebcam extends LinearOpMode {
public static final String TAG = "Vuforia VuMark Sample";
OpenGLMatrix lastLocation = null;
/**
* {@link #vuforia} is the variable we will use to store our instance of the Vuforia
* localization engine.
*/
VuforiaLocalizer vuforia;
/**
* This is the webcam we are to use. As with other hardware devices such as motors and
* servos, this device is identified using the robot configuration tool in the FTC application.
*/
WebcamName webcamName;
@Override public void runOpMode() {
/*
* Retrieve the camera we are to use.
*/
webcamName = hardwareMap.get(WebcamName.class, "Webcam 1");
/*
* To start up Vuforia, tell it the view that we wish to use for camera monitor (on the RC phone);
* If no camera monitor is desired, use the parameterless constructor instead (commented out below).
*/
int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier("cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName());
VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters(cameraMonitorViewId);
// OR... Do Not Activate the Camera Monitor View, to save power
// VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters();
/*
* IMPORTANT: You need to obtain your own license key to use Vuforia. The string below with which
* 'parameters.vuforiaLicenseKey' is initialized is for illustration only, and will not function.
* A Vuforia 'Development' license key, can be obtained free of charge from the Vuforia developer
* web site at https://developer.vuforia.com/license-manager.
*
* Vuforia license keys are always 380 characters long, and look as if they contain mostly
* random data. As an example, here is a example of a fragment of a valid key:
* ... yIgIzTqZ4mWjk9wd3cZO9T1axEqzuhxoGlfOOI2dRzKS4T0hQ8kT ...
* Once you've obtained a license key, copy the string from the Vuforia web site
* and paste it in to your code on the next line, between the double quotes.
*/
parameters.vuforiaLicenseKey = "AcU+kbn/////AAAAGWDmHA7mS0gCoiMy9pA5e1AVyLZeqKejLOtP9c3COfi9g9m4Cs1XuVQVdqRFhyrFkNUynXwrhQyV65hPnPkGgRky9MjHlLLCWuqdpHzDLJonuOSBh5zVO11PleXH+2utK1lCnbBxvOM+/OrB9EAHUBrcB0ItRxjzFQOe8TXrjGGe1IyjC/Ljke3lZf/LVVinej3zjGNqwsNQoZ0+ahxYNPCJOdzRFkXjyMDXJVDQYMtVQcWKpbEM6dJ9jQ9f0UFIVXANJ7CC8ZDyrl2DQ8o4sOX981OktCKWW0d4PH0IwAw/c2nGgt1t2V/7PwTwysBYM1N+SjVpMNRg52u9gNl9os4ulF6AZw+U2LcVj4kqGZDi";
/**
* We also indicate which camera on the RC we wish to use. For pedagogical purposes,
* we use the same logic as in {@link ConceptVuforiaNavigationWebcam}.
*/
parameters.cameraName = webcamName;
this.vuforia = ClassFactory.getInstance().createVuforia(parameters);
/**
* Load the data set containing the VuMarks for Relic Recovery. There's only one trackable
* in this data set: all three of the VuMarks in the game were created from this one template,
* but differ in their instance id information.
* @see VuMarkInstanceId
*/
VuforiaTrackables relicTrackables = this.vuforia.loadTrackablesFromAsset("RelicVuMark");
VuforiaTrackable relicTemplate = relicTrackables.get(0);
relicTemplate.setName("relicVuMarkTemplate"); // can help in debugging; otherwise not necessary
telemetry.addData(">", "Press Play to start");
telemetry.update();
waitForStart();
relicTrackables.activate();
while (opModeIsActive()) {
/**
* See if any of the instances of {@link relicTemplate} are currently visible.
* {@link RelicRecoveryVuMark} is an enum which can have the following values:
* UNKNOWN, LEFT, CENTER, and RIGHT. When a VuMark is visible, something other than
* UNKNOWN will be returned by {@link RelicRecoveryVuMark#from(VuforiaTrackable)}.
*/
RelicRecoveryVuMark vuMark = RelicRecoveryVuMark.from(relicTemplate);
if (vuMark != RelicRecoveryVuMark.UNKNOWN) {
/* Found an instance of the template. In the actual game, you will probably
* loop until this condition occurs, then move on to act accordingly depending
* on which VuMark was visible. */
telemetry.addData("VuMark", "%s visible", vuMark);
/* For fun, we also exhibit the navigational pose. In the Relic Recovery game,
* it is perhaps unlikely that you will actually need to act on this pose information, but
* we illustrate it nevertheless, for completeness. */
OpenGLMatrix pose = ((VuforiaTrackableDefaultListener)relicTemplate.getListener()).getFtcCameraFromTarget();
telemetry.addData("Pose", format(pose));
/* We further illustrate how to decompose the pose into useful rotational and
* translational components */
if (pose != null) {
VectorF trans = pose.getTranslation();
Orientation rot = Orientation.getOrientation(pose, AxesReference.EXTRINSIC, AxesOrder.XYZ, AngleUnit.DEGREES);
// Extract the X, Y, and Z components of the offset of the target relative to the robot
double tX = trans.get(0);
double tY = trans.get(1);
double tZ = trans.get(2);
// Extract the rotational components of the target relative to the robot
double rX = rot.firstAngle;
double rY = rot.secondAngle;
double rZ = rot.thirdAngle;
}
}
else {
telemetry.addData("VuMark", "not visible");
}
telemetry.update();
}
}
String format(OpenGLMatrix transformationMatrix) {
return (transformationMatrix != null) ? transformationMatrix.formatAsTransform() : "null";
}
}