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Merge pull request #1074 from FIRST-Tech-Challenge/20240919-122750-release-candidate
FtcRobotController v10.1
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‎FtcRobotController/src/main/AndroidManifest.xml

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<?xml version="1.0" encoding="utf-8"?>
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<manifest xmlns:android="http://schemas.android.com/apk/res/android"
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xmlns:tools="http://schemas.android.com/tools"
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android:versionCode="55"
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android:versionName="10.0">
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android:versionCode="56"
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android:versionName="10.1">
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<uses-permission android:name="android.permission.RECEIVE_BOOT_COMPLETED" />
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‎FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptAprilTagLocalization.java

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* When an AprilTag in the TagLibrary is detected, the SDK provides location and orientation of the robot, relative to the field origin.
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* This information is provided in the "robotPose" member of the returned "detection".
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*
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* To learn about the Field Coordinate System that is defined for FTC (and used by this OpMode), see the FTC-DOCS link below:
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* https://ftc-docs.firstinspires.org/en/latest/game_specific_resources/field_coordinate_system/field-coordinate-system.html
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*
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* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
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* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
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*/

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

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

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