Package ftclib.vision

Class FtcVision

java.lang.Object
ftclib.vision.FtcVision
public class FtcVision extends Object
This class creates an FTC Vision Portal to support multiple vision processors. It also provides methods to configure camera settings.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    private org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName
    activeWebcam
     
    private static final long
    LOOP_INTERVAL_MS
     
    private static final long
    MAX_LOOP_TIME_MS
     
    private final String
    moduleName
     
    private org.openftc.easyopencv.OpenCvCamera
    openCvCamera
     
    final TrcDbgTrace
    tracer
     
    private final org.firstinspires.ftc.vision.VisionPortal
    visionPortal
     

  • Constructor Summary

    Constructors
    Modifier
    Constructor
    Description
     
    FtcVision(org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection cameraDirection, int imageWidth, int imageHeight, boolean enableLiveView, boolean enableStatOverlay, org.firstinspires.ftc.vision.VisionProcessor... visionProcessors)
    Constructor: Create an instance of the object.
     
    FtcVision(org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName webcam, int imageWidth, int imageHeight, boolean enableLiveView, boolean enableStatOverlay, org.firstinspires.ftc.vision.VisionProcessor... visionProcessors)
    Constructor: Create an instance of the object.
     
    FtcVision(org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName webcam1, org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName webcam2, int imageWidth, int imageHeight, boolean enableLiveView, boolean enableStatOverlay, org.firstinspires.ftc.vision.VisionProcessor... visionProcessors)
    Constructor: Create an instance of the object.
    private
    FtcVision(org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName webcam1Name, org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName webcam2Name, org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection cameraDirection, int imageWidth, int imageHeight, boolean enableLiveView, boolean enableStatOverlay, org.firstinspires.ftc.vision.VisionProcessor... visionProcessors)
    Constructor: Create an instance of the object.

  • Method Summary

    Modifier and Type
    Method
    Description
    void
    close()
    This method shuts down VisionPortal.
    org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName
    getActiveWebcam()
    This method returns the active webcam.
    org.firstinspires.ftc.vision.VisionPortal.CameraState
    getCameraState()
    This method returns the camera state.
    long
    getCurrentExposure()
    This method returns the current camera exposure time in usec.
    int
    getCurrentGain()
    This method returns the current camera gain.
    org.firstinspires.ftc.robotcore.external.hardware.camera.controls.ExposureControl.Mode
    getExposureMode()
    This method return the camera exposure mode.
    long[]
    getExposureSetting()
    This method returns the camera min and max exposure setting.
    int[]
    getGainSetting()
    This method returns the camera min and max gain setting.
    org.openftc.easyopencv.OpenCvCamera
    getOpenCvCamera()
    This method returns the OpenCvCamera object.
    org.firstinspires.ftc.vision.VisionPortal
    getVisionPortal()
    This method returns the created vision portal.
    boolean
    isVisionProcessorEnabled(org.firstinspires.ftc.vision.VisionProcessor visionProcessor)
    This method checks if the vision processor is enabled.
    void
    setActiveWebcam(org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName webcamName)
    This method sets the active webcam if we have two webcams.
    boolean
    setExposureMode(org.firstinspires.ftc.robotcore.external.hardware.camera.controls.ExposureControl.Mode exposureMode)
    This method sets the exposure mode.
    void
    setFpsMeterEnabled(boolean enabled)
    This method enables/disables FPS meter on the viewport.
    boolean
    setManualExposure(long exposureUsec, Integer gain)
    This method sets the camera exposure and gain.
    void
    setProcessorEnabled(org.firstinspires.ftc.vision.VisionProcessor visionProcessor, boolean enabled)
    This method enables/disables the vision processor.

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

  • Field Details

    • moduleName

      private final String moduleName

    • LOOP_INTERVAL_MS

      private static final long LOOP_INTERVAL_MS
      See Also:

    • MAX_LOOP_TIME_MS

      private static final long MAX_LOOP_TIME_MS
      See Also:

    • tracer

      public final TrcDbgTrace tracer

    • visionPortal

      private final org.firstinspires.ftc.vision.VisionPortal visionPortal

    • openCvCamera

      private org.openftc.easyopencv.OpenCvCamera openCvCamera

    • activeWebcam

      private org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName activeWebcam

  • Constructor Details

    • FtcVision

      private FtcVision(org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName webcam1Name, org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName webcam2Name, org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection cameraDirection, int imageWidth, int imageHeight, boolean enableLiveView, boolean enableStatOverlay, org.firstinspires.ftc.vision.VisionProcessor... visionProcessors)
      Constructor: Create an instance of the object.
      Parameters:
      webcam1Name - specifies USB webcam1 name, null if using phone built-in camera.
      webcam2Name - specifies USB webcam2 name, null if has only one webcam or using phone built-in camera.
      cameraDirection - specifies the phone camera direction, null if using USB webcam.
      imageWidth - specifies the camera image width in pixels.
      imageHeight - specifies the camera image height in pixels.
      enableLiveView - specifies true to enable camera live view, false to disable.
      enableStatOverlay - specifies true to enable stat overlay, false to disable.
      visionProcessors - specifies an array of vision processors to be added.

    • FtcVision

      public FtcVision(org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName webcam1, org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName webcam2, int imageWidth, int imageHeight, boolean enableLiveView, boolean enableStatOverlay, org.firstinspires.ftc.vision.VisionProcessor... visionProcessors)
      Constructor: Create an instance of the object.
      Parameters:
      webcam1 - specifies USB webcam1.
      webcam2 - specifies USB webcam2, null if has only one webcam.
      imageWidth - specifies the camera image width in pixels.
      imageHeight - specifies the camera image height in pixels.
      enableLiveView - specifies true to enable camera live view, false to disable.
      enableStatOverlay - specifies true to enable stat overlay, false to disable.
      visionProcessors - specifies an array of vision processors to be added.

    • FtcVision

      public FtcVision(org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName webcam, int imageWidth, int imageHeight, boolean enableLiveView, boolean enableStatOverlay, org.firstinspires.ftc.vision.VisionProcessor... visionProcessors)
      Constructor: Create an instance of the object.
      Parameters:
      webcam - specifies USB webcam.
      imageWidth - specifies the camera image width in pixels.
      imageHeight - specifies the camera image height in pixels.
      enableLiveView - specifies true to enable camera live view, false to disable.
      enableStatOverlay - specifies true to enable stat overlay, false to disable.
      visionProcessors - specifies an array of vision processors to be added.

    • FtcVision

      public FtcVision(org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection cameraDirection, int imageWidth, int imageHeight, boolean enableLiveView, boolean enableStatOverlay, org.firstinspires.ftc.vision.VisionProcessor... visionProcessors)
      Constructor: Create an instance of the object.
      Parameters:
      cameraDirection - specifies the phone camera direction, null if using USB webcam.
      imageWidth - specifies the camera image width in pixels.
      imageHeight - specifies the camera image height in pixels.
      enableLiveView - specifies true to enable camera live view, false to disable.
      enableStatOverlay - specifies true to enable stat overlay, false to disable.
      visionProcessors - specifies an array of vision processors to be added.

  • Method Details

    • getVisionPortal

      public org.firstinspires.ftc.vision.VisionPortal getVisionPortal()
      This method returns the created vision portal.
      Returns:
      created vision portal.

    • close

      public void close()
      This method shuts down VisionPortal.

    • getOpenCvCamera

      public org.openftc.easyopencv.OpenCvCamera getOpenCvCamera()
      This method returns the OpenCvCamera object.
      Returns:
      OpenCvCamera object.

    • setFpsMeterEnabled

      public void setFpsMeterEnabled(boolean enabled)
      This method enables/disables FPS meter on the viewport.
      Parameters:
      enabled - specifies true to enable FPS meter, false to disable.

    • getActiveWebcam

      public org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName getActiveWebcam()
      This method returns the active webcam.
      Returns:
      active webcam.

    • setActiveWebcam

      public void setActiveWebcam(org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName webcamName)
      This method sets the active webcam if we have two webcams.
      Parameters:
      webcamName - specifies the webcam to be the active webcam.
      Throws:
      UnsupportedOperationException - – if you are not using a switchable webcam.

    • setProcessorEnabled

      public void setProcessorEnabled(org.firstinspires.ftc.vision.VisionProcessor visionProcessor, boolean enabled)
      This method enables/disables the vision processor.
      Parameters:
      visionProcessor - specifies the vision processor to enable/disable.
      enabled - specifies true to enable the vision processor, false to disable.

    • isVisionProcessorEnabled

      public boolean isVisionProcessorEnabled(org.firstinspires.ftc.vision.VisionProcessor visionProcessor)
      This method checks if the vision processor is enabled.
      Parameters:
      visionProcessor - specifies the vision processor.
      Returns:
      true if the vision processor is enabled, false if disabled.

    • getCameraState

      public org.firstinspires.ftc.vision.VisionPortal.CameraState getCameraState()
      This method returns the camera state.
      Returns:
      camera state.

    • getExposureMode

      public org.firstinspires.ftc.robotcore.external.hardware.camera.controls.ExposureControl.Mode getExposureMode()
      This method return the camera exposure mode.
      Returns:
      exposure mode, null if unsuccessful.

    • setExposureMode

      public boolean setExposureMode(org.firstinspires.ftc.robotcore.external.hardware.camera.controls.ExposureControl.Mode exposureMode)
      This method sets the exposure mode.
      Parameters:
      exposureMode - specifies the exposure mode.
      Returns:
      true if successful, false otherwise.

    • getExposureSetting

      public long[] getExposureSetting()
      This method returns the camera min and max exposure setting.
      Returns:
      array containing min and max exposure times in usec, null if unsuccessful.

    • getCurrentExposure

      public long getCurrentExposure()
      This method returns the current camera exposure time in usec.
      Returns:
      current exposure time in usec, 0 if unsuccessful.

    • getGainSetting

      public int[] getGainSetting()
      This method returns the camera min and max gain setting.
      Returns:
      array containing min and max gain values, null if unsuccessful.

    • getCurrentGain

      public int getCurrentGain()
      This method returns the current camera gain.
      Returns:
      current gain, 0 if unsuccessful.

    • setManualExposure

      public boolean setManualExposure(long exposureUsec, Integer gain)
      This method sets the camera exposure and gain. This can only be done if the camera is in manual exposure mode. If the camera is not already in manual exposure mode, this method will switch the camera to manual exposure mode. Note: This is a synchronous call and may take some time, so it should only be called at robotInit time.
      Parameters:
      exposureUsec - specifies the exposure time in usec.
      gain - specifies the camera gain, null if setting exposure only.
      Returns:
      true if successful, false otherwise.