CATL.java

/* Copyright (c) 2024 Dryw Wade. All rights reserved.
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 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.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;
 
 import java.util.List;
 
 /*
  * 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".
  *
  * 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.
  */
 @TeleOp(name = "Concept: AprilTag Localization", group = "Concept")
 public class CATL extends LinearOpMode {
 
     private static final boolean USE_WEBCAM = true;  // true for webcam, false for phone camera
 
     /**
      * 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.CM,
             -8.3, -16.0, 19.5, 0);
     private YawPitchRollAngles cameraOrientation = new YawPitchRollAngles(AngleUnit.DEGREES,
             -90, -90, 180, 0);
 
     /**
      * 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 START to start OpMode");
         telemetry.update();
         waitForStart();
 
         while (opModeIsActive()) {
 
             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();
             }
 
             // Share the CPU.
             sleep(20);
         }
 
         // Save more CPU resources when camera is no longer needed.
         visionPortal.close();
 
     }   // end method runOpMode()
 
     /**
      * Initialize the AprilTag processor.
      */
     private void initAprilTag() {
 
         // Create the AprilTag processor.
         aprilTag = new AprilTagProcessor.Builder()
 
                 // 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)
 
                 // == 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.
 
                 .build();
 
         // 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);
 
         // Create the vision portal by using a builder.
         VisionPortal.Builder builder = new VisionPortal.Builder();
 
         // 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);
         }
 
         // Choose a camera resolution. Not all cameras support all resolutions.
         //builder.setCameraResolution(new Size(640, 480));
 
         // Enable the RC preview (LiveView).  Set "false" to omit camera monitoring.
         //builder.enableLiveView(true);
 
         // Set the stream format; MJPEG uses less bandwidth than default YUY2.
         //builder.setStreamFormat(VisionPortal.StreamFormat.YUY2);
 
         // 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);
 
         // Set and enable the processor.
         builder.addProcessor(aprilTag);
 
         // Build the Vision Portal, using the above settings.
         visionPortal = builder.build();
 
         // Disable or re-enable the aprilTag processor at any time.
         //visionPortal.setProcessorEnabled(aprilTag, true);
 
     }   // end method initAprilTag()
 
     /**
      * 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.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
 
         // 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