Merge pull request FIRST-Tech-Challenge#731 from FIRST-Tech-Challenge/20230929-083754-release-candidate

CalKestis · web-flow · commit f326c0d033b6 · 2023-09-29T19:13:38.000+09:00
FtcRobotController v9.0.1
diff --git a/FtcRobotController/src/main/AndroidManifest.xml b/FtcRobotController/src/main/AndroidManifest.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0" encoding="utf-8"?>
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
           xmlns:tools="http://schemas.android.com/tools"
-    android:versionCode="51"
-          android:versionName="9.0">
+    android:versionCode="52"
+          android:versionName="9.0.1">
 
   <uses-permission android:name="android.permission.RECEIVE_BOOT_COMPLETED" />
 
diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptAprilTag.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptAprilTag.java
@@ -44,6 +44,23 @@
  * This OpMode illustrates the basics of AprilTag recognition and pose estimation,
  * including Java Builder structures for specifying Vision parameters.
  *
+ * 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 have their position and orientation information displayed.  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 tag, relative to the camera.
+ * This information is provided in the "ftcPose" member of the returned "detection", and is explained in the ftc-docs page linked below.
+ * https://ftc-docs.firstinspires.org/apriltag-detection-values
+ *
+ * To experiment with using AprilTags to navigate, try out these two driving samples:
+ * RobotAutoDriveToAprilTagOmni and RobotAutoDriveToAprilTagTank
+ *
+ * There are many "default" VisionPortal and AprilTag configuration parameters that may be overridden if desired.
+ * These default parameters are shown as comments in the code below.
+ *
  * 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.
  */
@@ -106,6 +123,8 @@ 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)
@@ -117,11 +136,19 @@ private void initAprilTag() {
             // 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();
 
@@ -136,7 +163,7 @@ private void initAprilTag() {
         //builder.setCameraResolution(new Size(640, 480));
 
         // Enable the RC preview (LiveView).  Set "false" to omit camera monitoring.
-        //builder.enableCameraMonitoring(true);
+        //builder.enableLiveView(true);
 
         // Set the stream format; MJPEG uses less bandwidth than default YUY2.
         //builder.setStreamFormat(VisionPortal.StreamFormat.YUY2);
diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptAprilTagEasy.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptAprilTagEasy.java
@@ -44,6 +44,20 @@
  * This OpMode illustrates the basics of AprilTag recognition and pose estimation, using
  * the easy way.
  *
+ * 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 have their position and orientation information displayed.  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 tag, relative to the camera.
+ * This information is provided in the "ftcPose" member of the returned "detection", and is explained in the ftc-docs page linked below.
+ * https://ftc-docs.firstinspires.org/apriltag-detection-values
+ *
+ * To experiment with using AprilTags to navigate, try out these two driving samples:
+ * RobotAutoDriveToAprilTagOmni and RobotAutoDriveToAprilTagTank
+ *
  * 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.
  */
diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTensorFlowObjectDetection.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTensorFlowObjectDetection.java
@@ -53,6 +53,17 @@ public class ConceptTensorFlowObjectDetection extends LinearOpMode {
 
     private static final boolean USE_WEBCAM = true;  // true for webcam, false for phone camera
 
+    // TFOD_MODEL_ASSET points to a model file stored in the project Asset location,
+    // this is only used for Android Studio when using models in Assets.
+    private static final String TFOD_MODEL_ASSET = "MyModelStoredAsAsset.tflite";
+    // TFOD_MODEL_FILE points to a model file stored onboard the Robot Controller's storage,
+    // this is used when uploading models directly to the RC using the model upload interface.
+    private static final String TFOD_MODEL_FILE = "/sdcard/FIRST/tflitemodels/myCustomModel.tflite";
+    // Define the labels recognized in the model for TFOD (must be in training order!)
+    private static final String[] LABELS = {
+       "Pixel",
+    };
+
     /**
      * The variable to store our instance of the TensorFlow Object Detection processor.
      */
@@ -107,11 +118,16 @@ private void initTfod() {
         // Create the TensorFlow processor by using a builder.
         tfod = new TfodProcessor.Builder()
 
-            // Use setModelAssetName() if the TF Model is built in as an asset.
-            // Use setModelFileName() if you have downloaded a custom team model to the Robot Controller.
+            // With the following lines commented out, the default TfodProcessor Builder
+            // will load the default model for the season. To define a custom model to load, 
+            // choose one of the following:
+            //   Use setModelAssetName() if the custom TF Model is built in as an asset (AS only).
+            //   Use setModelFileName() if you have downloaded a custom team model to the Robot Controller.
             //.setModelAssetName(TFOD_MODEL_ASSET)
             //.setModelFileName(TFOD_MODEL_FILE)
 
+            // The following default settings are available to un-comment and edit as needed to 
+            // set parameters for custom models.
             //.setModelLabels(LABELS)
             //.setIsModelTensorFlow2(true)
             //.setIsModelQuantized(true)
@@ -134,7 +150,7 @@ private void initTfod() {
         //builder.setCameraResolution(new Size(640, 480));
 
         // Enable the RC preview (LiveView).  Set "false" to omit camera monitoring.
-        //builder.enableCameraMonitoring(true);
+        //builder.enableLiveView(true);
 
         // Set the stream format; MJPEG uses less bandwidth than default YUY2.
         //builder.setStreamFormat(VisionPortal.StreamFormat.YUY2);
diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotAutoDriveToAprilTagOmni.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotAutoDriveToAprilTagOmni.java
@@ -49,6 +49,13 @@
  * This OpMode illustrates using a camera to locate and drive towards a specific AprilTag.
  * The code assumes a Holonomic (Mecanum or X Drive) Robot.
  *
+ * 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
+ *
+ * When an AprilTag in the TagLibrary is detected, the SDK provides location and orientation of the tag, relative to the camera.
+ * This information is provided in the "ftcPose" member of the returned "detection", and is explained in the ftc-docs page linked below.
+ * https://ftc-docs.firstinspires.org/apriltag-detection-values
+ *
  * The drive goal is to rotate to keep the Tag centered in the camera, while strafing to be directly in front of the tag, and
  * driving towards the tag to achieve the desired distance.
  * To reduce any motion blur (which will interrupt the detection process) the Camera exposure is reduced to a very low value (5mS)
@@ -102,7 +109,7 @@ public class RobotAutoDriveToAprilTagOmni extends LinearOpMode
     private DcMotor rightBackDrive   = null;  //  Used to control the right back drive wheel
 
     private static final boolean USE_WEBCAM = true;  // Set true to use a webcam, or false for a phone camera
-    private static final int DESIRED_TAG_ID = 0;     // Choose the tag you want to approach or set to -1 for ANY tag.
+    private static final int DESIRED_TAG_ID = -1;     // Choose the tag you want to approach or set to -1 for ANY tag.
     private VisionPortal visionPortal;               // Used to manage the video source.
     private AprilTagProcessor aprilTag;              // Used for managing the AprilTag detection process.
     private AprilTagDetection desiredTag = null;     // Used to hold the data for a detected AprilTag
@@ -150,25 +157,33 @@ public class RobotAutoDriveToAprilTagOmni extends LinearOpMode
             // Step through the list of detected tags and look for a matching tag
             List<AprilTagDetection> currentDetections = aprilTag.getDetections();
             for (AprilTagDetection detection : currentDetections) {
-                if ((detection.metadata != null) &&
-                    ((DESIRED_TAG_ID < 0) || (detection.id == DESIRED_TAG_ID))  ){
-                    targetFound = true;
-                    desiredTag = detection;
-                    break;  // don't look any further.
+                // Look to see if we have size info on this tag.
+                if (detection.metadata != null) {
+                    //  Check to see if we want to track towards this tag.
+                    if ((DESIRED_TAG_ID < 0) || (detection.id == DESIRED_TAG_ID)) {
+                        // Yes, we want to use this tag.
+                        targetFound = true;
+                        desiredTag = detection;
+                        break;  // don't look any further.
+                    } else {
+                        // This tag is in the library, but we do not want to track it right now.
+                        telemetry.addData("Skipping", "Tag ID %d is not desired", detection.id);
+                    }
                 } else {
-                    telemetry.addData("Unknown Target", "Tag ID %d is not in TagLibrary\n", detection.id);
+                    // This tag is NOT in the library, so we don't have enough information to track to it.
+                    telemetry.addData("Unknown", "Tag ID %d is not in TagLibrary", detection.id);
                 }
             }
 
             // Tell the driver what we see, and what to do.
             if (targetFound) {
-                telemetry.addData(">","HOLD Left-Bumper to Drive to Target\n");
-                telemetry.addData("Target", "ID %d (%s)", desiredTag.id, desiredTag.metadata.name);
+                telemetry.addData("\n>","HOLD Left-Bumper to Drive to Target\n");
+                telemetry.addData("Found", "ID %d (%s)", desiredTag.id, desiredTag.metadata.name);
                 telemetry.addData("Range",  "%5.1f inches", desiredTag.ftcPose.range);
                 telemetry.addData("Bearing","%3.0f degrees", desiredTag.ftcPose.bearing);
                 telemetry.addData("Yaw","%3.0f degrees", desiredTag.ftcPose.yaw);
             } else {
-                telemetry.addData(">","Drive using joysticks to find valid target\n");
+                telemetry.addData("\n>","Drive using joysticks to find valid target\n");
             }
 
             // If Left Bumper is being pressed, AND we have found the desired target, Drive to target Automatically .
@@ -243,6 +258,15 @@ private void initAprilTag() {
         // Create the AprilTag processor by using a builder.
         aprilTag = new AprilTagProcessor.Builder().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
+        // Decimation = 3 ..  Detect 5" Tag from 10 feet away at 30 Frames Per Second
+        // Note: Decimation can be changed on-the-fly to adapt during a match.
+        aprilTag.setDecimation(2);
+
         // Create the vision portal by using a builder.
         if (USE_WEBCAM) {
             visionPortal = new VisionPortal.Builder()
diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotAutoDriveToAprilTagTank.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotAutoDriveToAprilTagTank.java
@@ -49,6 +49,13 @@
  * This OpMode illustrates using a camera to locate and drive towards a specific AprilTag.
  * The code assumes a basic two-wheel (Tank) Robot Drivetrain
  *
+ * 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
+ *
+ * When an AprilTag in the TagLibrary is detected, the SDK provides location and orientation of the tag, relative to the camera.
+ * This information is provided in the "ftcPose" member of the returned "detection", and is explained in the ftc-docs page linked below.
+ * https://ftc-docs.firstinspires.org/apriltag-detection-values
+ *
  * The driving goal is to rotate to keep the tag centered in the camera, while driving towards the tag to achieve the desired distance.
  * To reduce any motion blur (which will interrupt the detection process) the Camera exposure is reduced to a very low value (5mS)
  * You can determine the best exposure and gain values by using the ConceptAprilTagOptimizeExposure OpMode in this Samples folder.
@@ -97,7 +104,7 @@ public class RobotAutoDriveToAprilTagTank extends LinearOpMode
     private DcMotor rightDrive  = null;  //  Used to control the right drive wheel
 
     private static final boolean USE_WEBCAM = true;  // Set true to use a webcam, or false for a phone camera
-    private static final int DESIRED_TAG_ID = 0;     // Choose the tag you want to approach or set to -1 for ANY tag.
+    private static final int DESIRED_TAG_ID = -1;    // Choose the tag you want to approach or set to -1 for ANY tag.
     private VisionPortal visionPortal;               // Used to manage the video source.
     private AprilTagProcessor aprilTag;              // Used for managing the AprilTag detection process.
     private AprilTagDetection desiredTag = null;     // Used to hold the data for a detected AprilTag
@@ -140,24 +147,32 @@ public class RobotAutoDriveToAprilTagTank extends LinearOpMode
             // Step through the list of detected tags and look for a matching tag
             List<AprilTagDetection> currentDetections = aprilTag.getDetections();
             for (AprilTagDetection detection : currentDetections) {
-                if ((detection.metadata != null) &&
-                    ((DESIRED_TAG_ID < 0) || (detection.id == DESIRED_TAG_ID))  ){
-                    targetFound = true;
-                    desiredTag = detection;
-                    break;  // don't look any further.
+                // Look to see if we have size info on this tag.
+                if (detection.metadata != null) {
+                    //  Check to see if we want to track towards this tag.
+                    if ((DESIRED_TAG_ID < 0) || (detection.id == DESIRED_TAG_ID)) {
+                        // Yes, we want to use this tag.
+                        targetFound = true;
+                        desiredTag = detection;
+                        break;  // don't look any further.
+                    } else {
+                        // This tag is in the library, but we do not want to track it right now.
+                        telemetry.addData("Skipping", "Tag ID %d is not desired", detection.id);
+                    }
                 } else {
-                    telemetry.addData("Unknown Target", "Tag ID %d is not in TagLibrary\n", detection.id);
+                    // This tag is NOT in the library, so we don't have enough information to track to it.
+                    telemetry.addData("Unknown", "Tag ID %d is not in TagLibrary", detection.id);
                 }
             }
 
             // Tell the driver what we see, and what to do.
             if (targetFound) {
-                telemetry.addData(">","HOLD Left-Bumper to Drive to Target\n");
-                telemetry.addData("Target", "ID %d (%s)", desiredTag.id, desiredTag.metadata.name);
+                telemetry.addData("\n>","HOLD Left-Bumper to Drive to Target\n");
+                telemetry.addData("Found", "ID %d (%s)", desiredTag.id, desiredTag.metadata.name);
                 telemetry.addData("Range",  "%5.1f inches", desiredTag.ftcPose.range);
                 telemetry.addData("Bearing","%3.0f degrees", desiredTag.ftcPose.bearing);
             } else {
-                telemetry.addData(">","Drive using joysticks to find valid target\n");
+                telemetry.addData("\n>","Drive using joysticks to find valid target\n");
             }
 
             // If Left Bumper is being pressed, AND we have found the desired target, Drive to target Automatically .
@@ -218,6 +233,15 @@ private void initAprilTag() {
         // Create the AprilTag processor by using a builder.
         aprilTag = new AprilTagProcessor.Builder().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
+        // Decimation = 3 ..  Detect 5" Tag from 10 feet away at 30 Frames Per Second
+        // Note: Decimation can be changed on-the-fly to adapt during a match.
+        aprilTag.setDecimation(2);
+
         // Create the vision portal by using a builder.
         if (USE_WEBCAM) {
             visionPortal = new VisionPortal.Builder()
diff --git a/README.md b/README.md
@@ -59,6 +59,19 @@ The readme.md file located in the [/TeamCode/src/main/java/org/firstinspires/ftc
 
 # Release Information
 
+## Version 9.0.1 (20230929-083754)
+
+### Enhancements
+* Updates AprilTag samples to include Decimation and additional Comments.  Also corrects misleading tag ID warnings
+* Increases maximum size of Blocks inline comments to 140 characters
+* Adds Blocks sample BasicOmniOpMode.
+* Updated CENTERSTAGE library AprilTag orientation quaternions
+    * Thanks [@FromenActual](https://github.com/FromenActual)
+* Updated Java Sample ConceptTensorFlowObjectDetection.java to include missing elements needed for custom model support.
+
+### Bug Fixes
+* Fixes a problem where after October 1 the Driver Station will report as obsolete on v9.0 and prompt the user to update.
+
 ## Version 9.0 (20230830-154348)
 
 ### Breaking Changes
diff --git a/build.dependencies.gradle b/build.dependencies.gradle
