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ConceptAprilTagSwitchableCameras.java
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ConceptAprilTagSwitchableCameras.java
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/* Copyright (c) 2023 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 org.firstinspires.ftc.robotcore.external.ClassFactory;
import org.firstinspires.ftc.robotcore.external.hardware.camera.CameraName;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.vision.VisionPortal;
import org.firstinspires.ftc.vision.VisionPortal.CameraState;
import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
import java.util.List;
/*
* This OpMode illustrates the basics of AprilTag recognition and pose estimation, using
* two webcams.
*
* 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 Switchable Cameras", group = "Concept")
@Disabled
public class ConceptAprilTagSwitchableCameras extends LinearOpMode {
/*
* Variables used for switching cameras.
*/
private WebcamName webcam1, webcam2;
private boolean oldLeftBumper;
private boolean oldRightBumper;
/**
* The variable to store our instance of the AprilTag processor.
*/
private AprilTagProcessor aprilTag;
/**
* The variable to store our instance of the vision portal.
*/
private VisionPortal visionPortal;
@Override
public void runOpMode() {
initAprilTag();
// Wait for the DS start button to be touched.
telemetry.addData("DS preview on/off", "3 dots, Camera Stream");
telemetry.addData(">", "Touch Play to start OpMode");
telemetry.update();
waitForStart();
if (opModeIsActive()) {
while (opModeIsActive()) {
telemetryCameraSwitching();
telemetryAprilTag();
// Push telemetry to the Driver Station.
telemetry.update();
// Save CPU resources; can resume streaming when needed.
if (gamepad1.dpad_down) {
visionPortal.stopStreaming();
} else if (gamepad1.dpad_up) {
visionPortal.resumeStreaming();
}
doCameraSwitching();
// Share the CPU.
sleep(20);
}
}
// Save more CPU resources when camera is no longer needed.
visionPortal.close();
} // end runOpMode()
/**
* Initialize the AprilTag processor.
*/
private void initAprilTag() {
// Create the AprilTag processor by using a builder.
aprilTag = new AprilTagProcessor.Builder().build();
webcam1 = hardwareMap.get(WebcamName.class, "Webcam 1");
webcam2 = hardwareMap.get(WebcamName.class, "Webcam 2");
CameraName switchableCamera = ClassFactory.getInstance()
.getCameraManager().nameForSwitchableCamera(webcam1, webcam2);
// Create the vision portal by using a builder.
visionPortal = new VisionPortal.Builder()
.setCamera(switchableCamera)
.addProcessor(aprilTag)
.build();
} // end method initAprilTag()
/**
* Add telemetry about camera switching.
*/
private void telemetryCameraSwitching() {
if (visionPortal.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");
}
} // end method telemetryCameraSwitching()
/**
* Add telemetry about AprilTag detections.
*/
private void telemetryAprilTag() {
List<AprilTagDetection> currentDetections = aprilTag.getDetections();
telemetry.addData("# AprilTags Detected", currentDetections.size());
// 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.ftcPose.x, detection.ftcPose.y, detection.ftcPose.z));
telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f (deg)", detection.ftcPose.pitch, detection.ftcPose.roll, detection.ftcPose.yaw));
telemetry.addLine(String.format("RBE %6.1f %6.1f %6.1f (inch, deg, deg)", detection.ftcPose.range, detection.ftcPose.bearing, detection.ftcPose.elevation));
} 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
// Add "key" information to telemetry
telemetry.addLine("\nkey:\nXYZ = X (Right), Y (Forward), Z (Up) dist.");
telemetry.addLine("PRY = Pitch, Roll & Yaw (XYZ Rotation)");
telemetry.addLine("RBE = Range, Bearing & Elevation");
} // end method telemetryAprilTag()
/**
* Set the active camera according to input from the gamepad.
*/
private void doCameraSwitching() {
if (visionPortal.getCameraState() == CameraState.STREAMING) {
// 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) {
visionPortal.setActiveCamera(webcam1);
} else if (newRightBumper && !oldRightBumper) {
visionPortal.setActiveCamera(webcam2);
}
oldLeftBumper = newLeftBumper;
oldRightBumper = newRightBumper;
}
} // end method doCameraSwitching()
} // end class