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Archived 2021 Code - Setup IMU testing code
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TeamCode/src/main/java/org/firstinspires/ftc/teamcode/2021/ColorDensity.java
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|---|---|---|
| @@ -0,0 +1,138 @@ | ||
| //package org.firstinspires.ftc.teamcode; | ||
| // | ||
| //import com.qualcomm.robotcore.eventloop.opmode.Autonomous; | ||
| //import com.qualcomm.robotcore.eventloop.opmode.Disabled; | ||
| //import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; | ||
| // | ||
| //import org.firstinspires.ftc.robotcore.external.Telemetry; | ||
| //import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName; | ||
| //import org.opencv.core.Core; | ||
| //import org.opencv.core.Mat; | ||
| //import org.opencv.core.Rect; | ||
| //import org.opencv.core.Scalar; | ||
| //import org.opencv.core.Size; | ||
| //import org.openftc.easyopencv.OpenCvCamera; | ||
| //import org.openftc.easyopencv.OpenCvCameraFactory; | ||
| //import org.openftc.easyopencv.OpenCvCameraRotation; | ||
| //import org.openftc.easyopencv.OpenCvPipeline; | ||
| // | ||
| //@Autonomous(name = "Color Density", group = "Concept") | ||
| //@Disabled | ||
| //public class ColorDensity extends LinearOpMode { | ||
| // | ||
| // // Constants | ||
| // private final int cameraPixelWidth = 1920; | ||
| // private final int cameraPixelHeight = 1080; | ||
| // | ||
| // // Instance Variables | ||
| // private int level = 0; | ||
| // private ColorDensityPipeline pipeline; | ||
| // | ||
| // @Override | ||
| // public void runOpMode() { | ||
| // // Get the camera and configure it | ||
| // OpenCvCamera camera = getExternalCamera(); | ||
| // | ||
| // // Create the pipeline and give it access to debugging | ||
| // pipeline = new ColorDensityPipeline(telemetry); | ||
| // | ||
| // // Give the camera the pipeline. | ||
| // camera.setPipeline(pipeline); | ||
| // // Open up the camera. Send to inCameraOpenSuccessResult or inCameraOpenErrorResult depending on if opening was successful | ||
| // // This is an Asynchronous function call, so when it is done opening it will call the function depending on result. | ||
| // camera.openCameraDeviceAsync(new OpenCvCamera.AsyncCameraOpenListener() | ||
| // { | ||
| // @Override public void onOpened() { inCameraOpenSuccessResult(camera); } | ||
| // @Override public void onError(int errorCode) { inCameraOpenErrorResult(errorCode); } | ||
| // }); | ||
| // | ||
| // waitForStart(); | ||
| // if (isStopRequested()) return; | ||
| // } | ||
| // | ||
| // // Get the webcam (External camera) | ||
| // public OpenCvCamera getExternalCamera() { | ||
| // int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier("cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName()); | ||
| // WebcamName webcamName = hardwareMap.get(WebcamName.class, "Webcam 1"); | ||
| // return OpenCvCameraFactory.getInstance().createWebcam(webcamName, cameraMonitorViewId); | ||
| // } | ||
| // | ||
| // // If the camera was opened up, then start streaming. | ||
| // public void inCameraOpenSuccessResult(OpenCvCamera camera) { | ||
| // camera.startStreaming(cameraPixelWidth, cameraPixelHeight, OpenCvCameraRotation.UPRIGHT); | ||
| // } | ||
| // | ||
| // // If camera had an error when trying to be opened. | ||
| // public void inCameraOpenErrorResult(int errorCode) { | ||
| // System.out.println("Error occurred, check logcat if possible. The error code is " + errorCode); | ||
| // } | ||
| //} | ||
| // | ||
| //class ColorDensityPipeline extends OpenCvPipeline | ||
| //{ | ||
| // // Constants | ||
| // private final int threshold = 30; | ||
| // private final int levelCount = 3; | ||
| // private final double thresholdConfirm = 0.7; | ||
| // // Instance Variables | ||
| // private Telemetry telemetry; | ||
| // private int levelResult = -1; | ||
| // | ||
| // | ||
| // public ColorDensityPipeline(Telemetry telemetry) { | ||
| // this.telemetry = telemetry; | ||
| // } | ||
| // | ||
| // @Override | ||
| // public Mat processFrame(Mat input) | ||
| // { | ||
| // // Debug | ||
| // System.out.println("Entering Pipeline"); | ||
| // | ||
| // if (levelResult != -1) { | ||
| // return input; | ||
| // } | ||
| // | ||
| // // Create a mat to put our threshold image into. | ||
| // Mat thresholdMat = new Mat(); | ||
| // // Get the average color for green and then add on the green threshold. | ||
| // Scalar meanColor = Core.mean(input); | ||
| // Scalar min = new Scalar(0,meanColor.val[1]+threshold,0,0); | ||
| // Scalar max = new Scalar(150,255,150,255); | ||
| // // Do the thresholding and put the result in the thresholdMat. | ||
| // Core.inRange(input, min, max,thresholdMat); | ||
| // | ||
| // // Get image size for splitting the image later. | ||
| // Size imageSize = thresholdMat.size(); | ||
| // | ||
| // double brightestValue = 0; | ||
| // int brightestLevel = 2; | ||
| // double sum = 0; | ||
| // | ||
| // for (int level = 0; level < levelCount; level++) { | ||
| // Rect rectCrop = new Rect((int)(imageSize.width/levelCount) * level, 0, (int)(imageSize.width/levelCount), (int)imageSize.height); | ||
| // Mat matCropped = new Mat(thresholdMat, rectCrop); | ||
| // double brightness = Core.mean(matCropped).val[0]; | ||
| // | ||
| // sum += brightness; | ||
| // if (brightness > brightestValue) { | ||
| // brightestValue = brightness; | ||
| // brightestLevel = level; | ||
| // } | ||
| // } | ||
| // | ||
| // // Check brightest level if good enough to confirm successful result. | ||
| // if (sum * thresholdConfirm < brightestValue) { | ||
| // telemetry.addData("SUCCESSFUL, level result: : ", brightestLevel); | ||
| // levelResult = brightestLevel; | ||
| // } else { | ||
| // telemetry.addData("FAILED, with sum:", sum); | ||
| // telemetry.addData("FAILED, with brightest value of:", brightestValue); | ||
| // telemetry.addData("FAILED, brightest level: ", brightestLevel); | ||
| // } | ||
| // telemetry.update(); | ||
| // | ||
| // System.out.println("Exiting Pipeline"); | ||
| // return thresholdMat; | ||
| // } | ||
| //} |
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