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Merge pull request #261 from FIRST-Tech-Challenge/20200824-090813-rel…
…ease-candidate SkyStone v5.5
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,11 +1,11 @@ | ||
| dependencies { | ||
| implementation (name:'Inspection-release', ext: 'aar') | ||
| implementation (name:'Blocks-release', ext: 'aar') | ||
| implementation (name:'RobotCore-release', ext: 'aar') | ||
| implementation (name:'RobotServer-release', ext: 'aar') | ||
| implementation (name:'OnBotJava-release', ext: 'aar') | ||
| implementation (name:'Hardware-release', ext: 'aar') | ||
| implementation (name:'FtcCommon-release', ext: 'aar') | ||
| implementation 'org.firstinspires.ftc:Inspection:5.5' | ||
| implementation 'org.firstinspires.ftc:Blocks:5.5' | ||
| implementation 'org.firstinspires.ftc:RobotCore:5.5' | ||
| implementation 'org.firstinspires.ftc:RobotServer:5.5' | ||
| implementation 'org.firstinspires.ftc:OnBotJava:5.5' | ||
| implementation 'org.firstinspires.ftc:Hardware:5.5' | ||
| implementation 'org.firstinspires.ftc:FtcCommon:5.5' | ||
| implementation (name:'WirelessP2p-release', ext:'aar') | ||
| implementation 'com.android.support:support-compat:28.0.0' | ||
| implementation 'androidx.appcompat:appcompat:1.2.0' | ||
| } |
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199 changes: 199 additions & 0 deletions
199
...c/robotcontroller/external/samples/ConceptTensorFlowObjectDetectionSwitchableCameras.java
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| /* Copyright (c) 2020 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.firstinspires.ftc.robotcontroller.external.samples; | ||
|
|
||
| import com.qualcomm.robotcore.eventloop.opmode.Disabled; | ||
| import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; | ||
| import com.qualcomm.robotcore.eventloop.opmode.TeleOp; | ||
| import java.util.List; | ||
| import org.firstinspires.ftc.robotcore.external.ClassFactory; | ||
| import org.firstinspires.ftc.robotcore.external.hardware.camera.SwitchableCamera; | ||
| import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName; | ||
| import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer; | ||
| import org.firstinspires.ftc.robotcore.external.tfod.TFObjectDetector; | ||
| import org.firstinspires.ftc.robotcore.external.tfod.Recognition; | ||
|
|
||
| /** | ||
| * This 2019-2020 OpMode illustrates the basics of using the TensorFlow Object Detection API to | ||
| * determine the position of the Skystone game elements. | ||
| * | ||
| * 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 below. | ||
| */ | ||
| @TeleOp(name = "Concept: TensorFlow Object Detection Switchable Cameras", group = "Concept") | ||
| @Disabled | ||
| public class ConceptTensorFlowObjectDetectionSwitchableCameras extends LinearOpMode { | ||
| private static final String TFOD_MODEL_ASSET = "Skystone.tflite"; | ||
| private static final String LABEL_FIRST_ELEMENT = "Stone"; | ||
| private static final String LABEL_SECOND_ELEMENT = "Skystone"; | ||
|
|
||
| /* | ||
| * 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. | ||
| */ | ||
| private static final String VUFORIA_KEY = | ||
| " -- YOUR NEW VUFORIA KEY GOES HERE --- "; | ||
|
|
||
| /** | ||
| * {@link #vuforia} is the variable we will use to store our instance of the Vuforia | ||
| * localization engine. | ||
| */ | ||
| private VuforiaLocalizer vuforia; | ||
|
|
||
| /** | ||
| * Variables used for switching cameras. | ||
| */ | ||
| private WebcamName webcam1, webcam2; | ||
| private SwitchableCamera switchableCamera; | ||
| private boolean oldLeftBumper; | ||
| private boolean oldRightBumper; | ||
|
|
||
| /** | ||
| * {@link #tfod} is the variable we will use to store our instance of the TensorFlow Object | ||
| * Detection engine. | ||
| */ | ||
| private TFObjectDetector tfod; | ||
|
|
||
| @Override | ||
| public void runOpMode() { | ||
| // The TFObjectDetector uses the camera frames from the VuforiaLocalizer, so we create that | ||
| // first. | ||
| initVuforia(); | ||
| initTfod(); | ||
|
|
||
| /** | ||
| * Activate TensorFlow Object Detection before we wait for the start command. | ||
| * Do it here so that the Camera Stream window will have the TensorFlow annotations visible. | ||
| **/ | ||
| if (tfod != null) { | ||
| tfod.activate(); | ||
| } | ||
|
|
||
| /** Wait for the game to begin */ | ||
| telemetry.addData(">", "Press Play to start op mode"); | ||
| telemetry.update(); | ||
| waitForStart(); | ||
|
|
||
| if (opModeIsActive()) { | ||
| while (opModeIsActive()) { | ||
| if (tfod != null) { | ||
| doCameraSwitching(); | ||
| List<Recognition> recognitions = tfod.getRecognitions(); | ||
| telemetry.addData("# Object Detected", recognitions.size()); | ||
| // step through the list of recognitions and display boundary info. | ||
| int i = 0; | ||
| for (Recognition recognition : recognitions) { | ||
| telemetry.addData(String.format("label (%d)", i), recognition.getLabel()); | ||
| telemetry.addData(String.format(" left,top (%d)", i), "%.03f , %.03f", | ||
| recognition.getLeft(), recognition.getTop()); | ||
| telemetry.addData(String.format(" right,bottom (%d)", i), "%.03f , %.03f", | ||
| recognition.getRight(), recognition.getBottom()); | ||
| } | ||
| telemetry.update(); | ||
| } | ||
| } | ||
| } | ||
|
|
||
| if (tfod != null) { | ||
| tfod.shutdown(); | ||
| } | ||
| } | ||
|
|
||
| /** | ||
| * Initialize the Vuforia localization engine. | ||
| */ | ||
| private void initVuforia() { | ||
| /* | ||
| * Configure Vuforia by creating a Parameter object, and passing it to the Vuforia engine. | ||
| */ | ||
| VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters(); | ||
|
|
||
| parameters.vuforiaLicenseKey = VUFORIA_KEY; | ||
|
|
||
| // Indicate that we wish to be able to switch cameras. | ||
| webcam1 = hardwareMap.get(WebcamName.class, "Webcam 1"); | ||
| webcam2 = hardwareMap.get(WebcamName.class, "Webcam 2"); | ||
| parameters.cameraName = ClassFactory.getInstance().getCameraManager().nameForSwitchableCamera(webcam1, webcam2); | ||
|
|
||
| // Instantiate the Vuforia engine | ||
| vuforia = ClassFactory.getInstance().createVuforia(parameters); | ||
|
|
||
| // Set the active camera to Webcam 1. | ||
| switchableCamera = (SwitchableCamera) vuforia.getCamera(); | ||
| switchableCamera.setActiveCamera(webcam1); | ||
|
|
||
| // Loading trackables is not necessary for the TensorFlow Object Detection engine. | ||
| } | ||
|
|
||
| /** | ||
| * Initialize the TensorFlow Object Detection engine. | ||
| */ | ||
| private void initTfod() { | ||
| int tfodMonitorViewId = hardwareMap.appContext.getResources().getIdentifier( | ||
| "tfodMonitorViewId", "id", hardwareMap.appContext.getPackageName()); | ||
| TFObjectDetector.Parameters tfodParameters = new TFObjectDetector.Parameters(tfodMonitorViewId); | ||
| tfodParameters.minResultConfidence = 0.8f; | ||
| tfod = ClassFactory.getInstance().createTFObjectDetector(tfodParameters, vuforia); | ||
| tfod.loadModelFromAsset(TFOD_MODEL_ASSET, LABEL_FIRST_ELEMENT, LABEL_SECOND_ELEMENT); | ||
| } | ||
|
|
||
| private void doCameraSwitching() { | ||
| // If the left bumper is pressed, use Webcam 1. | ||
| // If the right bumper is pressed, use Webcam 2. | ||
| boolean newLeftBumper = gamepad1.left_bumper; | ||
| boolean newRightBumper = gamepad1.right_bumper; | ||
| if (newLeftBumper && !oldLeftBumper) { | ||
| switchableCamera.setActiveCamera(webcam1); | ||
| } else if (newRightBumper && !oldRightBumper) { | ||
| switchableCamera.setActiveCamera(webcam2); | ||
| } | ||
| oldLeftBumper = newLeftBumper; | ||
| oldRightBumper = newRightBumper; | ||
|
|
||
| if (switchableCamera.getActiveCamera().equals(webcam1)) { | ||
| telemetry.addData("activeCamera", "Webcam 1"); | ||
| telemetry.addData("Press RightBumper", "to switch to Webcam 2"); | ||
| } else { | ||
| telemetry.addData("activeCamera", "Webcam 2"); | ||
| telemetry.addData("Press LeftBumper", "to switch to Webcam 1"); | ||
| } | ||
| } | ||
| } |
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