Merge pull request #1074 from FIRST-Tech-Challenge/20240919-122750-re…

…lease-candidate

FtcRobotController v10.1

FtcRobotController/src/main/AndroidManifest.xml

@@ -1,8 +1,8 @@
 <?xml version="1.0" encoding="utf-8"?>
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
           xmlns:tools="http://schemas.android.com/tools"
-    android:versionCode="55"
-          android:versionName="10.0">
+    android:versionCode="56"
+          android:versionName="10.1">
 
   <uses-permission android:name="android.permission.RECEIVE_BOOT_COMPLETED" />
 

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptAprilTagLocalization.java

@@ -58,6 +58,9 @@
  * 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".
  *
+ * To learn about the Field Coordinate System that is defined for FTC (and used by this OpMode), see the FTC-DOCS link below:
+ * https://ftc-docs.firstinspires.org/en/latest/game_specific_resources/field_coordinate_system/field-coordinate-system.html
+ *
  * 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.
  */

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptVisionColorLocator.java

@@ -0,0 +1,191 @@
+/*
+ * Copyright (c) 2024 Phil Malone
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+package org.firstinspires.ftc.robotcontroller.external.samples;
+
+import android.util.Size;
+
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.util.SortOrder;
+
+import org.firstinspires.ftc.robotcore.external.Telemetry;
+import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
+import org.firstinspires.ftc.vision.VisionPortal;
+import org.firstinspires.ftc.vision.opencv.ColorBlobLocatorProcessor;
+import org.firstinspires.ftc.vision.opencv.ColorRange;
+import org.firstinspires.ftc.vision.opencv.ImageRegion;
+import org.opencv.core.RotatedRect;
+
+import java.util.List;
+
+/*
+ * This OpMode illustrates how to use a video source (camera) to locate specifically colored regions
+ *
+ * Unlike a "color sensor" which determines the color of an object in the field of view, this "color locator"
+ * will search the Region Of Interest (ROI) in a camera image, and find any "blobs" of color that match the requested color range.
+ * These blobs can be further filtered and sorted to find the one most likely to be the item the user is looking for.
+ *
+ * To perform this function, a VisionPortal runs a ColorBlobLocatorProcessor process.
+ *   The ColorBlobLocatorProcessor process is created first, and then the VisionPortal is built to use this process.
+ *   The ColorBlobLocatorProcessor analyses the ROI and locates pixels that match the ColorRange to form a "mask".
+ *   The matching pixels are then collected into contiguous "blobs" of pixels.  The outer boundaries of these blobs are called its "contour".
+ *   For each blob, the process then creates the smallest possible rectangle "boxFit" that will fully encase the contour.
+ *   The user can then call getBlobs() to retrieve the list of Blobs, where each Blob contains the contour and the boxFit data.
+ *   Note: The default sort order for Blobs is ContourArea, in descending order, so the biggest contours are listed first.
+ *
+ * To aid the user, a colored boxFit rectangle is drawn on the camera preview to show the location of each Blob
+ * The original Blob contour can also be added to the preview.  This is helpful when configuring the ColorBlobLocatorProcessor parameters.
+ *
+ * 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
+ */
+
+@Disabled
+@TeleOp(name = "Concept: Vision Color-Locator", group = "Concept")
+public class ConceptVisionColorLocator extends LinearOpMode
+{
+    @Override
+    public void runOpMode()
+    {
+        /* Build a "Color Locator" vision processor based on the ColorBlobLocatorProcessor class.
+         * - Specify the color range you are looking for.  You can use a predefined color, or create you own color range
+         *     .setTargetColorRange(ColorRange.BLUE)                      // use a predefined color match
+         *       Available predefined colors are: RED, BLUE YELLOW GREEN
+         *     .setTargetColorRange(new ColorRange(ColorSpace.YCrCb,      // or define your own color match
+         *                                           new Scalar( 32, 176,  0),
+         *                                           new Scalar(255, 255, 132)))
+         *
+         * - Focus the color locator by defining a RegionOfInterest (ROI) which you want to search.
+         *     This can be the entire frame, or a sub-region defined using:
+         *     1) standard image coordinates or 2) a normalized +/- 1.0 coordinate system.
+         *     Use one form of the ImageRegion class to define the ROI.
+         *         ImageRegion.entireFrame()
+         *         ImageRegion.asImageCoordinates(50, 50,  150, 150)  100x100 pixel square near the upper left corner
+         *         ImageRegion.asUnityCenterCoordinates(-0.5, 0.5, 0.5, -0.5)  50% width/height square centered on screen
+         *
+         * - Define which contours are included.
+         *     You can get ALL the contours, or you can skip any contours that are completely inside another contour.
+         *        .setContourMode(ColorBlobLocatorProcessor.ContourMode.ALL_FLATTENED_HIERARCHY)  // return all contours
+         *        .setContourMode(ColorBlobLocatorProcessor.ContourMode.EXTERNAL_ONLY)            // exclude contours inside other contours
+         *        note: EXTERNAL_ONLY helps to avoid bright reflection spots from breaking up areas of solid color.
+         *
+         * - turn the display of contours ON or OFF.  Turning this on helps debugging but takes up valuable CPU time.
+         *        .setDrawContours(true)
+         *
+         * - include any pre-processing of the image or mask before looking for Blobs.
+         *     There are some extra processing you can include to improve the formation of blobs.  Using these features requires
+         *     an understanding of how they may effect the final blobs.  The "pixels" argument sets the NxN kernel size.
+         *        .setBlurSize(int pixels)    Blurring an image helps to provide a smooth color transition between objects, and smoother contours.
+         *                                    The higher the number of pixels, the more blurred the image becomes.
+         *                                    Note:  Even "pixels" values will be incremented to satisfy the "odd number" requirement.
+         *                                    Blurring too much may hide smaller features.  A "pixels" size of 5 is good for a 320x240 image.
+         *        .setErodeSize(int pixels)   Erosion removes floating pixels and thin lines so that only substantive objects remain.
+         *                                    Erosion can grow holes inside regions, and also shrink objects.
+         *                                    "pixels" in the range of 2-4 are suitable for low res images.
+         *        .setDilateSize(int pixels)  Dilation makes objects more visible by filling in small holes, making lines appear thicker,
+         *                                    and making filled shapes appear larger. Dilation is useful for joining broken parts of an
+         *                                    object, such as when removing noise from an image.
+         *                                    "pixels" in the range of 2-4 are suitable for low res images.
+         */
+        ColorBlobLocatorProcessor colorLocator = new ColorBlobLocatorProcessor.Builder()
+                .setTargetColorRange(ColorRange.BLUE)         // use a predefined color match
+                .setContourMode(ColorBlobLocatorProcessor.ContourMode.EXTERNAL_ONLY)    // exclude blobs inside blobs
+                .setRoi(ImageRegion.asUnityCenterCoordinates(-0.5, 0.5, 0.5, -0.5))  // search central 1/4 of camera view
+                .setDrawContours(true)                        // Show contours on the Stream Preview
+                .setBlurSize(5)                               // Smooth the transitions between different colors in image
+                .build();
+
+        /*
+         * Build a vision portal to run the Color Locator process.
+         *
+         *  - Add the colorLocator process created above.
+         *  - Set the desired video resolution.
+         *      Since a high resolution will not improve this process, choose a lower resolution that is
+         *      supported by your camera.  This will improve overall performance and reduce latency.
+         *  - Choose your video source.  This may be
+         *      .setCamera(hardwareMap.get(WebcamName.class, "Webcam 1"))  .....   for a webcam
+         *  or
+         *      .setCamera(BuiltinCameraDirection.BACK)    ... for a Phone Camera
+         */
+        VisionPortal portal = new VisionPortal.Builder()
+                .addProcessor(colorLocator)
+                .setCameraResolution(new Size(320, 240))
+                .setCamera(hardwareMap.get(WebcamName.class, "Webcam 1"))
+                .build();
+
+        telemetry.setMsTransmissionInterval(50);   // Speed up telemetry updates, Just use for debugging.
+        telemetry.setDisplayFormat(Telemetry.DisplayFormat.MONOSPACE);
+
+        // WARNING:  To be able to view the stream preview on the Driver Station, this code runs in INIT mode.
+        while (opModeIsActive() || opModeInInit())
+        {
+            telemetry.addData("preview on/off", "... Camera Stream\n");
+
+            // Read the current list
+            List<ColorBlobLocatorProcessor.Blob> blobs = colorLocator.getBlobs();
+
+            /*
+             * The list of Blobs can be filtered to remove unwanted Blobs.
+             *   Note:  All contours will be still displayed on the Stream Preview, but only those that satisfy the filter
+             *          conditions will remain in the current list of "blobs".  Multiple filters may be used.
+             *
+             * Use any of the following filters.
+             *
+             * ColorBlobLocatorProcessor.Util.filterByArea(minArea, maxArea, blobs);
+             *   A Blob's area is the number of pixels contained within the Contour.  Filter out any that are too big or small.
+             *   Start with a large range and then refine the range based on the likely size of the desired object in the viewfinder.
+             *
+             * ColorBlobLocatorProcessor.Util.filterByDensity(minDensity, maxDensity, blobs);
+             *   A blob's density is an indication of how "full" the contour is.
+             *   If you put a rubber band around the contour you would get the "Convex Hull" of the contour.
+             *   The density is the ratio of Contour-area to Convex Hull-area.
+             *
+             * ColorBlobLocatorProcessor.Util.filterByAspectRatio(minAspect, maxAspect, blobs);
+             *   A blob's Aspect ratio is the ratio of boxFit long side to short side.
+             *   A perfect Square has an aspect ratio of 1.  All others are > 1
+             */
+            ColorBlobLocatorProcessor.Util.filterByArea(50, 20000, blobs);  // filter out very small blobs.
+
+            /*
+             * The list of Blobs can be sorted using the same Blob attributes as listed above.
+             * No more than one sort call should be made.  Sorting can use ascending or descending order.
+             *     ColorBlobLocatorProcessor.Util.sortByArea(SortOrder.DESCENDING, blobs);      // Default
+             *     ColorBlobLocatorProcessor.Util.sortByDensity(SortOrder.DESCENDING, blobs);
+             *     ColorBlobLocatorProcessor.Util.sortByAspectRatio(SortOrder.DESCENDING, blobs);
+             */
+
+            telemetry.addLine(" Area Density Aspect  Center");
+
+            // Display the size (area) and center location for each Blob.
+            for(ColorBlobLocatorProcessor.Blob b : blobs)
+            {
+                RotatedRect boxFit = b.getBoxFit();
+                telemetry.addLine(String.format("%5d  %4.2f   %5.2f  (%3d,%3d)",
+                          b.getContourArea(), b.getDensity(), b.getAspectRatio(), (int) boxFit.center.x, (int) boxFit.center.y));
+            }
+
+            telemetry.update();
+            sleep(50);
+        }
+    }
+}