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244
...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)"); | ||
|
|
||
| } // end method telemetryAprilTag() | ||
|
|
||
| } // end class |
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