Sample OpModesļ
The intent of this tutorial is to describe the available webcam controls, allowing programmers to develop their own solutions guided by the SDK API (Javadoc).
The following sample OpModes are linked here for reference only. These rudimentary OpModes may not apply to your webcam and may not meet your needs in general.
Adjust exposure, gain and AE Priority
W_WebcamControls_Exp_Gain.java
/*
This example OpMode allows direct gamepad control of webcam exposure and
gain. It's a companion to the FTC wiki tutorial on Webcam Controls.
Add your own Vuforia key, where shown below.
Questions, comments and corrections to [email protected]
from v06 11/10/21
*/
package org.firstinspires.ftc.teamcode;
import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.ExposureControl;
import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.GainControl;
import java.util.concurrent.TimeUnit;
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.ClassFactory;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer;
@TeleOp(name="Webcam Controls - Exp & Gain v06", group ="Webcam Controls")
public class W_WebcamControls_Exp_Gain_v06 extends LinearOpMode {
private static final String VUFORIA_KEY =
" INSERT YOUR VUFORIA KEY HERE ";
// Declare class members
private VuforiaLocalizer vuforia = null;
private WebcamName webcamName = null;
ExposureControl myExposureControl; // declare exposure control object
long minExp;
long maxExp;
long curExp; // exposure is duration, in time units specified
GainControl myGainControl; // declare gain control object
int minGain;
int maxGain;
int curGain;
boolean wasSetGainSuccessful; // returned from setGain()
@Override public void runOpMode() {
telemetry.setMsTransmissionInterval(50);
// Connect to the webcam, using exact name per robot Configuration.
webcamName = hardwareMap.get(WebcamName.class, "Webcam 1");
/*
* Configure Vuforia by creating a Parameter object, and passing it to the Vuforia engine.
* We pass Vuforia the handle to a camera preview resource (on the RC screen).
*/
int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier("cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName());
VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters(cameraMonitorViewId);
// VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters();
parameters.vuforiaLicenseKey = VUFORIA_KEY;
// We also indicate which camera we wish to use.
parameters.cameraName = webcamName;
// Assign the Vuforia engine object.
vuforia = ClassFactory.getInstance().createVuforia(parameters);
// Assign the exposure and gain control objects, to use their methods.
myExposureControl = vuforia.getCamera().getControl(ExposureControl.class);
myGainControl = vuforia.getCamera().getControl(GainControl.class);
// Display exposure features and settings of this webcam.
checkExposureFeatures();
// Retrieve from webcam its current exposure and gain values.
curExp = myExposureControl.getExposure(TimeUnit.MILLISECONDS);
curGain = myGainControl.getGain();
// Display mode and starting values to user.
telemetry.addLine("\nTouch Start arrow to control webcam Exposure and Gain");
telemetry.addData("\nCurrent exposure mode", myExposureControl.getMode());
telemetry.addData("Current exposure value", curExp);
telemetry.addData("Current gain value", curGain);
telemetry.update();
waitForStart();
// Get webcam exposure limits.
minExp = myExposureControl.getMinExposure(TimeUnit.MILLISECONDS);
maxExp = myExposureControl.getMaxExposure(TimeUnit.MILLISECONDS);
// Get webcam gain limits.
minGain = myGainControl.getMinGain();
maxGain = myGainControl.getMaxGain();
// Change mode to Manual, in order to control directly.
// A non-default setting may persist in the camera, until changed again.
myExposureControl.setMode(ExposureControl.Mode.Manual);
// Set initial exposure and gain, same as current.
myExposureControl.setExposure(curExp, TimeUnit.MILLISECONDS);
myGainControl.setGain(curGain);
// This loop allows manual adjustment of exposure and gain,
// while observing the effect on the preview image.
while (opModeIsActive()) {
// Manually adjust the webcam exposure and gain variables.
float changeExp = -gamepad1.left_stick_y;
float changeGain = -gamepad1.right_stick_y;
int changeExpInt = (int) (changeExp*5);
int changeGainInt = (int) (changeGain*5);
curExp += changeExpInt;
curGain += changeGainInt;
// Ensure inputs are within webcam limits, if provided.
curExp = Math.max(curExp, minExp);
curExp = Math.min(curExp, maxExp);
curGain = Math.max(curGain, minGain);
curGain = Math.min(curGain, maxGain);
// Update the webcam's settings.
myExposureControl.setExposure(curExp, TimeUnit.MILLISECONDS);
wasSetGainSuccessful = myGainControl.setGain(curGain);
// Manually set Auto-Exposure Priority.
if (gamepad1.a) { // turn on with green A
myExposureControl.setAePriority(true);
} else if (gamepad1.b) { // turn off with red B
myExposureControl.setAePriority(false);
}
telemetry.addLine("\nExposure: left stick Y; Gain: right stick Y");
telemetry.addData("Exposure", "Min:%d, Max:%d, Current:%d", minExp, maxExp, curExp);
telemetry.addData("Gain", "Min:%d, Max:%d, Current:%d", minGain, maxGain, curGain);
telemetry.addData("Gain change successful?", wasSetGainSuccessful);
telemetry.addData("Current exposure mode", myExposureControl.getMode());
telemetry.addLine("\nAutoExposure Priority: green A ON; red B OFF");
telemetry.addData("AutoExposure Priority?", myExposureControl.getAePriority());
telemetry.update();
sleep(100);
} // end main while() loop
} // end OpMode
// Display the exposure features and modes supported by this webcam.
private void checkExposureFeatures() {
while (!gamepad1.y && !isStopRequested()) {
telemetry.addLine("**Exposure settings of this webcam:");
telemetry.addData("Exposure control supported?", myExposureControl.isExposureSupported());
telemetry.addData("Autoexposure priority?", myExposureControl.getAePriority());
telemetry.addLine("\n**Exposure Modes supported by this webcam:");
telemetry.addData("AperturePriority", myExposureControl.isModeSupported(ExposureControl.Mode.AperturePriority));
telemetry.addData("Auto", myExposureControl.isModeSupported(ExposureControl.Mode.Auto));
telemetry.addData("ContinuousAuto", myExposureControl.isModeSupported(ExposureControl.Mode.ContinuousAuto));
telemetry.addData("Manual", myExposureControl.isModeSupported(ExposureControl.Mode.Manual));
telemetry.addData("ShutterPriority", myExposureControl.isModeSupported(ExposureControl.Mode.ShutterPriority));
telemetry.addData("Unknown", myExposureControl.isModeSupported(ExposureControl.Mode.Unknown));
telemetry.addLine("*** PRESS Y TO CONTINUE ***");
telemetry.update();
}
} // end method checkExposureFeatures()
} // end OpMode class
Adjust exposure and gain with TFOD (test OpMode for Examples 1, 2, 3)
/*
* This example OpMode shows how existing webcam controls can affect
* TensorFlow Object Detection (TFOD) of FTC Freight Frenzy game elements.
* It's a companion to the FTC wiki tutorial on Webcam Controls.
*
* Put the Driver Station in Landscape Mode for this telemetry.
*
* The FTC SDK 7.0 includes up to 7 ways of controlling the preview image,
* depending on webcam capability. This OpMode uses 2 of those controls,
* Exposure and Gain, available on most webcams and offering good
* potential for affecting TFOD recognition.
*
* This OpMode simply adds ExposureControl and GainControl methods to the FTC
* sample called "ConceptTensorFlowObjectDetectionWebcam.java". Here, you can
* use a gamepad to directly change the preview image and observe TFOD results.
*
* Teams can use this to seek better recognition results from their existing
* TFOD model -- whether the basic version in the 7.0 release, or their own
* custom model created with the FTC Machine Learning toolchain.
*
* Exposure, gain and other CameraControl values could be pre-programmed in
* team autonomous OpModes. It's also possible to manually enter such values
* before a match begins, based on anticipated lighting, starting position and
* other game-time factors.
*
* Add your own Vuforia key, where shown below.
*
* Questions, comments and corrections to [email protected]
*
* from v04 11/11/21
*/
package org.firstinspires.ftc.teamcode;
import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.ExposureControl;
import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.GainControl;
import java.util.concurrent.TimeUnit;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer;
import org.firstinspires.ftc.robotcore.external.tfod.TFObjectDetector;
import org.firstinspires.ftc.robotcore.external.tfod.Recognition;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.robotcore.external.ClassFactory;
import java.util.List;
@TeleOp(name = "W TFOD Webcam Exposure & Gain v04", group = "Webcam Controls")
public class W_TFOD_WebcamExpGain_v04 extends LinearOpMode {
/* Note: This sample uses the all-objects Tensor Flow model (FreightFrenzy_BCDM.tflite), which contains
* the following 4 detectable objects
* 0: Ball,
* 1: Cube,
* 2: Duck,
* 3: Marker (duck location tape marker)
*
* Two additional model assets are available which only contain a subset of the objects:
* FreightFrenzy_BC.tflite 0: Ball, 1: Cube
* FreightFrenzy_DM.tflite 0: Duck, 1: Marker
*/
private static final String TFOD_MODEL_ASSET = "FreightFrenzy_BCDM.tflite";
private static final String[] LABELS = {
"Ball",
"Cube",
"Duck",
"Marker"
};
/*
* IMPORTANT: You need to obtain your own license key to use Vuforia. The string below with which
* 'parameters.vuforiaLicenseKey' is initialized is for illustration only, and will not function.
* A Vuforia 'Development' license key, can be obtained free of charge from the Vuforia developer
* web site at https://developer.vuforia.com/license-manager.
*
* Vuforia license keys are always 380 characters long, and look as if they contain mostly
* random data. As an example, here is a example of a fragment of a valid key:
* ... yIgIzTqZ4mWjk9wd3cZO9T1axEqzuhxoGlfOOI2dRzKS4T0hQ8kT ...
* Once you've obtained a license key, copy the string from the Vuforia web site
* and paste it in to your code on the next line, between the double quotes.
*/
private static final String VUFORIA_KEY =
//" INSERT YOUR VUFORIA KEY HERE ";
/**
* {@link #vuforia} is the variable we will use to store our instance of the Vuforia
* localization engine.
*/
private VuforiaLocalizer vuforia;
/**
* {@link #tfod} is the variable we will use to store our instance of the TensorFlow Object
* Detection engine.
*/
private TFObjectDetector tfod;
// *** ADD WEBCAM CONTROLS -- SECTION START ***
ExposureControl myExposureControl; // declare exposure control object
long minExp;
long maxExp;
long curExp; // exposure is duration, in time units specified
GainControl myGainControl; // declare gain control object
int minGain;
int maxGain;
int curGain;
boolean wasSetGainSuccessful; // returned from setGain()
boolean isAEPriorityOn = false;
// *** ADD WEBCAM CONTROLS -- SECTION END ***
@Override
public void runOpMode() {
// The TFObjectDetector uses the camera frames from the VuforiaLocalizer, so we create that
// first.
initVuforia();
initTfod();
/**
* Activate TensorFlow Object Detection before we wait for the start command.
* Do it here so that the Camera Stream window will have the TensorFlow annotations visible.
**/
if (tfod != null) {
tfod.activate();
// The TensorFlow software will scale the input images from the camera to a lower resolution.
// This can result in lower detection accuracy at longer distances (> 55cm or 22").
// If your target is at distance greater than 50 cm (20") you can adjust the magnification value
// to artificially zoom in to the center of image. For best results, the "aspectRatio" argument
// should be set to the value of the images used to create the TensorFlow Object Detection model
// (typically 16/9).
tfod.setZoom(1.0, 16.0/9.0); // modified for testing Exposure & Gain
// tfod.setZoom(2.5, 16.0/9.0); // original settings in Concept OpMode
}
// *** ADD WEBCAM CONTROLS -- SECTION START ***
// Assign the exposure and gain control objects, to use their methods.
myExposureControl = vuforia.getCamera().getControl(ExposureControl.class);
myGainControl = vuforia.getCamera().getControl(GainControl.class);
// get webcam exposure limits
minExp = myExposureControl.getMinExposure(TimeUnit.MILLISECONDS);
maxExp = myExposureControl.getMaxExposure(TimeUnit.MILLISECONDS);
// get webcam gain limits
minGain = myGainControl.getMinGain();
maxGain = myGainControl.getMaxGain();
// Change mode to Manual, in order to control directly.
// A non-default setting may persist in the camera, until changed again.
myExposureControl.setMode(ExposureControl.Mode.Manual);
// Retrieve from webcam its current exposure and gain values
curExp = myExposureControl.getExposure(TimeUnit.MILLISECONDS);
curGain = myGainControl.getGain();
// display exposure mode and starting values to user
telemetry.addLine("\nTouch Start arrow to control webcam Exposure and Gain");
telemetry.addData("\nCurrent exposure mode", myExposureControl.getMode());
telemetry.addData("Current exposure value", curExp);
telemetry.addData("Current gain value", curGain);
telemetry.update();
// *** ADD WEBCAM CONTROLS -- SECTION END ***
waitForStart();
if (opModeIsActive()) {
while (opModeIsActive()) {
// *** ADD WEBCAM CONTROLS -- SECTION START ***
// Driver Station in Landscape Mode for this telemetry.
telemetry.addLine("Exposure: left stick Y; Gain: right stick Y");
telemetry.addData("Exposure", "Min:%d, Max:%d, Current:%d", minExp, maxExp, curExp);
telemetry.addData("Gain", "Min:%d, Max:%d, Current:%d", minGain, maxGain, curGain);
telemetry.addLine("\nAutoExposure Priority: green A ON; red B OFF");
telemetry.addData("AE Priority on?", isAEPriorityOn);
// *** ADD WEBCAM CONTROLS -- SECTION END ***
if (tfod != null) {
// getUpdatedRecognitions() will return null if no new information is available since
// the last time that call was made.
List<Recognition> updatedRecognitions = tfod.getUpdatedRecognitions();
if (updatedRecognitions != null) {
telemetry.addData("\n# Object Detected", updatedRecognitions.size());
// step through the list of recognitions and display boundary info.
int i = 0;
for (Recognition recognition : updatedRecognitions) {
telemetry.addData(String.format("label (%d)", i), recognition.getLabel());
telemetry.addData(String.format(" left,top (%d)", i), "%.03f , %.03f",
recognition.getLeft(), recognition.getTop());
telemetry.addData(String.format(" right,bottom (%d)", i), "%.03f , %.03f",
recognition.getRight(), recognition.getBottom());
i++;
} // end for() loop
} // end if (updatedRecognitions)
} // end if (tfod)
telemetry.update();
// *** ADD WEBCAM CONTROLS -- SECTION START ***
// manually adjust the webcam exposure & gain variables
float changeExp = -gamepad1.left_stick_y;
float changeGain = -gamepad1.right_stick_y;
int changeExpInt = (int) (changeExp*2); // was *5
int changeGainInt = (int) (changeGain*2); // was *5
curExp += changeExpInt;
curGain += changeGainInt;
if (gamepad1.a) { // AE Priority ON with green A
myExposureControl.setAePriority(true);
isAEPriorityOn = true;
} else if (gamepad1.b) { // AE Priority OFF with red B
myExposureControl.setAePriority(false);
isAEPriorityOn = false;
}
// ensure inputs are within webcam limits, if provided
curExp = Math.max(curExp, minExp);
curExp = Math.min(curExp, maxExp);
curGain = Math.max(curGain, minGain);
curGain = Math.min(curGain, maxGain);
// update the webcam's settings
myExposureControl.setExposure(curExp, TimeUnit.MILLISECONDS);
wasSetGainSuccessful = myGainControl.setGain(curGain);
sleep(50); // slow down the main while() loop
// *** ADD WEBCAM CONTROLS -- SECTION END ***
} // end main while() loop
} // end if opModeIsActive()
} // end runOpMode()
/**
* Initialize the Vuforia localization engine.
*/
private void initVuforia() {
/*
* Configure Vuforia by creating a Parameter object, and passing it to the Vuforia engine.
*/
VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters();
parameters.vuforiaLicenseKey = VUFORIA_KEY;
parameters.cameraName = hardwareMap.get(WebcamName.class, "Webcam 1");
// Instantiate the Vuforia engine
vuforia = ClassFactory.getInstance().createVuforia(parameters);
// Loading trackables is not necessary for the TensorFlow Object Detection engine.
} // end method initVuforia()
/**
* Initialize the TensorFlow Object Detection engine.
*/
private void initTfod() {
int tfodMonitorViewId = hardwareMap.appContext.getResources().getIdentifier(
"tfodMonitorViewId", "id", hardwareMap.appContext.getPackageName());
TFObjectDetector.Parameters tfodParameters = new TFObjectDetector.Parameters(tfodMonitorViewId);
tfodParameters.minResultConfidence = 0.8f;
tfodParameters.isModelTensorFlow2 = true;
tfodParameters.inputSize = 320;
tfod = ClassFactory.getInstance().createTFObjectDetector(tfodParameters, vuforia);
tfod.loadModelFromAsset(TFOD_MODEL_ASSET, LABELS);
} // end method initTfod()
} //end class
Adjust white balance temperature, if supported
W_WebcamControls_WhiteBalance.java
/*
This example OpMode allows direct gamepad control of white balance temperature,
if supported. It's a companion to the FTC wiki tutorial on Webcam Controls.
Put the Driver Station Layout in Landscape mode for this telemetry.
Add your own Vuforia key, where shown below.
Questions, comments and corrections to [email protected]
from v01 11/12/21
*/
package org.firstinspires.ftc.teamcode;
import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.WhiteBalanceControl;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.firstinspires.ftc.robotcore.external.ClassFactory;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer;
@TeleOp(name="Webcam Controls - White Balance v01", group ="Webcam Controls")
public class W_WebcamControls_WhiteBalance_v01 extends LinearOpMode {
private static final String VUFORIA_KEY =
//" INSERT YOUR VUFORIA KEY HERE ";
// Class Members
private VuforiaLocalizer vuforia = null;
private WebcamName webcamName = null;
WhiteBalanceControl myWBControl; // declare White Balance Control object
int minWhiteBalanceTemp; // temperature in degrees Kelvin (K)
int maxWhiteBalanceTemp;
int curWhiteBalanceTemp;
int tempIncrement = 100; // for manual gamepad adjustment
boolean wasTemperatureSet; // did the set() operation succeed?
boolean wasWhiteBalanceModeSet; // did the setMode() operation succeed?
boolean useTempLimits = true;
@Override public void runOpMode() {
telemetry.setMsTransmissionInterval(50);
// Connect to the webcam, using exact name per robot Configuration.
webcamName = hardwareMap.get(WebcamName.class, "Webcam 1");
/*
* Configure Vuforia by creating a Parameter object, and passing it to the Vuforia engine.
* We pass Vuforia the handle to a camera preview resource (on the RC screen).
*/
int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier("cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName());
VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters(cameraMonitorViewId);
parameters.vuforiaLicenseKey = VUFORIA_KEY;
// We also indicate which camera we wish to use.
parameters.cameraName = webcamName;
// Set up the Vuforia engine
vuforia = ClassFactory.getInstance().createVuforia(parameters);
// Assign the white balance control object, to use its methods.
myWBControl = vuforia.getCamera().getControl(WhiteBalanceControl.class);
// display current white balance mode
telemetry.addLine("\nTouch Start arrow to control white balance temperature.");
telemetry.addLine("\nRecommended: put Driver Station Layout in Landscape.");
telemetry.addData("\nCurrent white balance mode", myWBControl.getMode());
telemetry.update();
waitForStart();
// set variable to current actual temperature, if supported
curWhiteBalanceTemp = myWBControl.getWhiteBalanceTemperature();
// get webcam temperature limits, if provided
minWhiteBalanceTemp = myWBControl.getMinWhiteBalanceTemperature();
maxWhiteBalanceTemp = myWBControl.getMaxWhiteBalanceTemperature();
// Set white balance mode to Manual, for direct control.
// A non-default setting may persist in the camera, until changed again.
wasWhiteBalanceModeSet = myWBControl.setMode(WhiteBalanceControl.Mode.MANUAL);
while (opModeIsActive()) {
// manually adjust the color temperature variable
if (gamepad1.x) { // increase with blue X (cooler)
curWhiteBalanceTemp += tempIncrement;
} else if (gamepad1.b) { // decrease with red B (warmer)
curWhiteBalanceTemp -= tempIncrement;
}
// ensure inputs are within webcam limits, if provided
if (useTempLimits) {
curWhiteBalanceTemp = Math.max(curWhiteBalanceTemp, minWhiteBalanceTemp);
curWhiteBalanceTemp = Math.min(curWhiteBalanceTemp, maxWhiteBalanceTemp);
}
// update the color temperature setting
wasTemperatureSet = myWBControl.setWhiteBalanceTemperature(curWhiteBalanceTemp);
// display live feedback while user observes preview image
telemetry.addLine("Adjust temperature with blue X (cooler) & red B (warmer)");
telemetry.addData("\nWhite Balance Temperature",
"Min: %d, Max: %d, Actual: %d",
minWhiteBalanceTemp, maxWhiteBalanceTemp,
myWBControl.getWhiteBalanceTemperature());
telemetry.addData("\nProgrammed temperature", "%d", curWhiteBalanceTemp);
telemetry.addData("Temperature set OK?", wasTemperatureSet);
telemetry.addData("\nCurrent white balance mode", myWBControl.getMode());
telemetry.addData("White balance mode set OK?", wasWhiteBalanceModeSet);
telemetry.update();
sleep(100);
} // end main while() loop
} // end OpMode
} // end class
Adjust focus, if supported
/*
This example OpMode allows direct gamepad control of webcam focus,
if supported. It's a companion to the FTC wiki tutorial on Webcam Controls.
Add your own Vuforia key, where shown below.
Questions, comments and corrections to [email protected]
from v03 11/10/21
*/
package org.firstinspires.ftc.teamcode;
import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.FocusControl;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.firstinspires.ftc.robotcore.external.Telemetry;
import org.firstinspires.ftc.robotcore.external.ClassFactory;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer;
@TeleOp(name="Webcam Controls - Focus v03", group ="Webcam Controls")
public class W_WebcamControls_Focus_v03 extends LinearOpMode {
private static final String VUFORIA_KEY =
" INSERT YOUR VUFORIA KEY HERE ";
// Class Members
private VuforiaLocalizer vuforia = null;
private WebcamName webcamName = null;
FocusControl myFocusControl; // declare Focus Control object
double minFocus; // focus length
double maxFocus;
double curFocus;
double focusIncrement = 10; // for manual gamepad adjustment
boolean isFocusSupported; // does this webcam support getFocusLength()?
boolean isMinFocusSupported; // does this webcam support getMinFocusLength()?
boolean isMaxFocusSupported; // does this webcam support getMaxFocusLength()?
@Override public void runOpMode() {
telemetry.setMsTransmissionInterval(50);
// Connect to the webcam, using exact name per robot Configuration.
webcamName = hardwareMap.get(WebcamName.class, "Webcam 1");
/*
* Configure Vuforia by creating a Parameter object, and passing it to the Vuforia engine.
* We pass Vuforia the handle to a camera preview resource (on the RC screen).
*/
int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier("cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName());
VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters(cameraMonitorViewId);
parameters.vuforiaLicenseKey = VUFORIA_KEY;
// We also indicate which camera we wish to use.
parameters.cameraName = webcamName;
// Set up the Vuforia engine
vuforia = ClassFactory.getInstance().createVuforia(parameters);
// Assign the focus control object, to use its methods.
myFocusControl = vuforia.getCamera().getControl(FocusControl.class);
// display current Focus Control Mode
telemetry.addLine("\nTouch Start arrow to control webcam Focus");
telemetry.addData("\nDefault focus mode", myFocusControl.getMode());
telemetry.update();
waitForStart();
// set variable to current actual focal length of webcam, if supported
curFocus = myFocusControl.getFocusLength();
isFocusSupported = (curFocus >= 0.0); // false if negative
//isFocusSupported = true; // can activate this line for testing
// get webcam focal length limits, if provided
minFocus = myFocusControl.getMinFocusLength();
isMinFocusSupported = (minFocus >= 0.0); // false if negative
maxFocus = myFocusControl.getMaxFocusLength();
isMaxFocusSupported = (maxFocus >= 0.0); // false if negative
// A non-default setting may persist in the camera, until changed again.
myFocusControl.setMode(FocusControl.Mode.Fixed);
// set initial focus length, if supported
myFocusControl.setFocusLength(curFocus);
checkFocusModes(); // display Focus Modes supported by this webcam
while (opModeIsActive()) {
// manually adjust the webcam focus variable
if (gamepad1.right_bumper) {
curFocus += focusIncrement;
} else if (gamepad1.left_bumper) {
curFocus -= focusIncrement;
}
// ensure inputs are within webcam limits, if provided
if (isMinFocusSupported) {
curFocus = Math.max(curFocus, minFocus);
} else {
telemetry.addLine("minFocus not available on this webcam");
}
if (isMaxFocusSupported) {
curFocus = Math.min(curFocus, maxFocus);
} else {
telemetry.addLine("maxFocus not available on this webcam");
}
// update the webcam's focus length setting
myFocusControl.setFocusLength(curFocus);
// display live feedback while user observes preview image
if (isFocusSupported) {
telemetry.addLine("Adjust focus length with Left & Right Bumpers");
telemetry.addLine("\nWebcam properties (negative means not supported)");
telemetry.addData("Focus Length", "Min: %.1f, Max: %.1f, Actual: %.1f",
minFocus, maxFocus, myFocusControl.getFocusLength());
telemetry.addData("\nProgrammed Focus Length", "%.1f", curFocus);
} else {
telemetry.addLine("\nThis webcam does not support adustable focus length.");
}
telemetry.update();
sleep(100);
} // end main while() loop
} // end OpMode
// display Focus Modes supported by this webcam
private void checkFocusModes() {
while (!gamepad1.y && opModeIsActive()) {
telemetry.addLine("Focus Modes supported by this webcam:");
telemetry.addData("Auto", myFocusControl.isModeSupported(FocusControl.Mode.Auto));
telemetry.addData("ContinuousAuto", myFocusControl.isModeSupported(FocusControl.Mode.ContinuousAuto));
telemetry.addData("Fixed", myFocusControl.isModeSupported(FocusControl.Mode.Fixed));
telemetry.addData("Infinity", myFocusControl.isModeSupported(FocusControl.Mode.Infinity));
telemetry.addData("Macro", myFocusControl.isModeSupported(FocusControl.Mode.Macro));
telemetry.addData("Unknown", myFocusControl.isModeSupported(FocusControl.Mode.Unknown));
telemetry.addLine("*** PRESS Y TO CONTINUE ***");
telemetry.update();
}
} // end method checkFocusModes()
} // end class
Adjust virtual pan, tilt and zoom, if supported
/*
This example OpMode allows direct gamepad control of webcam virtual pan/tilt/zoom,
if supported. It's a companion to the FTC wiki tutorial on Webcam Controls.
Add your own Vuforia key, where shown below.
Some tested webcams:
Logitech C920 responds to all pan/tilt/zoom (PTZ) methods
Microsoft LifeCam VX-5000 does support PTZ, with 10 positions each.
Logitech C270 (old firmware) does not support PTZ.
Questions, comments and corrections to [email protected]
from v03 11/11/21
*/
package org.firstinspires.ftc.teamcode;
import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.PtzControl;
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.ClassFactory;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer;
import org.firstinspires.ftc.robotcore.external.Telemetry;
import org.firstinspires.ftc.robotcore.external.Telemetry.DisplayFormat;
@TeleOp(name="Webcam Controls - PTZ v03", group ="Webcam Controls")
public class W_WebcamControls_PTZ_v03 extends LinearOpMode {
private static final String VUFORIA_KEY =
// " INSERT YOUR VUFORIA KEY HERE ";
// Class Members
private VuforiaLocalizer vuforia = null;
private WebcamName webcamName = null;
PtzControl myPtzControl; // declare PTZ Control object
PtzControl.PanTiltHolder minPanTilt; // declare Holder for min
int minPan;
int minTilt;
PtzControl.PanTiltHolder maxPanTilt; // declare Holder for max
int maxPan;
int maxTilt;
// declare Holder for current; must instantiate to set values
PtzControl.PanTiltHolder curPanTilt = new PtzControl.PanTiltHolder();
int curPan;
int curTilt;
int minZoom;
int maxZoom;
int curZoom;
int panIncrement = 7200; // for manual gamepad control
int tiltIncrement = 7200;
int zoomIncrement = 1;
// pan/tilt increment 7200 is for Microsoft LifeCam VX-5000
// can use smaller increment for Logitech C920
boolean useLimits = true; // use webcam-provided limits
@Override public void runOpMode() {
telemetry.setMsTransmissionInterval(50);
// Connect to the webcam, using exact name per robot Configuration.
webcamName = hardwareMap.get(WebcamName.class, "Webcam 1");
/*
* Configure Vuforia by creating a Parameter object, and passing it to the Vuforia engine.
* We pass Vuforia the handle to a camera preview resource (on the RC screen).
*/
int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier("cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName());
VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters(cameraMonitorViewId);
parameters.vuforiaLicenseKey = VUFORIA_KEY;
// We also indicate which camera we wish to use.
parameters.cameraName = webcamName;
// Assign the Vuforia engine object
vuforia = ClassFactory.getInstance().createVuforia(parameters);
// Assign the PTZ control object, to use its methods.
myPtzControl = vuforia.getCamera().getControl(PtzControl.class);
// display current PTZ values to user
telemetry.addLine("\nTouch Start arrow to control webcam Pan, Tilt & Zoom (PTZ)");
// Get the current properties from the webcam. May be dummy zeroes.
curPanTilt = myPtzControl.getPanTilt();
curPan = curPanTilt.pan;
curTilt = curPanTilt.tilt;
curZoom = myPtzControl.getZoom();
telemetry.addData("\nInitial pan value", curPan);
telemetry.addData("Initial tilt value", curTilt);
telemetry.addData("Initial zoom value", curZoom);
telemetry.update();
waitForStart();
// Get webcam PTZ limits; may be dummy zeroes.
minPanTilt = myPtzControl.getMinPanTilt();
minPan = minPanTilt.pan;
minTilt = minPanTilt.tilt;
maxPanTilt = myPtzControl.getMaxPanTilt();
maxPan = maxPanTilt.pan;
maxTilt = maxPanTilt.tilt;
minZoom = myPtzControl.getMinZoom();
maxZoom = myPtzControl.getMaxZoom();
while (opModeIsActive()) {
// manually adjust the webcam PTZ variables
if (gamepad1.dpad_right) {
curPan += panIncrement;
} else if (gamepad1.dpad_left) {
curPan -= panIncrement;
}
if (gamepad1.dpad_up) {
curTilt += tiltIncrement;
} else if (gamepad1.dpad_down) {
curTilt -= tiltIncrement;
} //reverse tilt direction for Microsoft LifeCam VX-5000
if (gamepad1.y) {
curZoom += zoomIncrement;
} else if (gamepad1.a) {
curZoom -= zoomIncrement;
}
// ensure inputs are within webcam limits, if provided
if (useLimits) {
curPan = Math.max(curPan, minPan);
curPan = Math.min(curPan, maxPan);
curTilt = Math.max(curTilt, minTilt);
curTilt = Math.min(curTilt, maxTilt);
curZoom = Math.max(curZoom, minZoom);
curZoom = Math.min(curZoom, maxZoom);
}
// update the webcam's settings
curPanTilt.pan = curPan;
curPanTilt.tilt = curTilt;
myPtzControl.setPanTilt(curPanTilt);
myPtzControl.setZoom(curZoom);
// display live feedback while user observes preview image
telemetry.addLine("\nPAN: Dpad up/dn; TILT: Dpad L/R; ZOOM: Y/A");
telemetry.addLine("\nWebcam properties (zero may mean not supported)");
telemetry.addData("Pan", "Min: %d, Max: %d, Actual: %d",
minPan, maxPan, myPtzControl.getPanTilt().pan);
telemetry.addData("Programmed Pan", curPan);
telemetry.addData("\nTilt", "Min: %d, Max: %d, Actual: %d",
minTilt, maxTilt, myPtzControl.getPanTilt().tilt);
telemetry.addData("Programmed Tilt", curTilt);
telemetry.addData("\nZoom", "Min: %d, Max: %d, Actual: %d",
minZoom, maxZoom, myPtzControl.getZoom());
telemetry.addData("Programmed Zoom", curZoom);
telemetry.update();
sleep(100);
} // end main while() loop
} // end OpMode
} // end class