TFOD Model v2 Sticker Capstone Implementation

road-runner-quickstart-master/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTensorFlowObjectDetection.java

@@ -29,7 +29,6 @@
 
 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 java.util.List;
@@ -50,7 +49,7 @@
  * is explained below.
  */
 @TeleOp(name = "Concept: TensorFlow Object Detection", group = "Concept")
-@Disabled
+//@Disabled
 public class ConceptTensorFlowObjectDetection extends LinearOpMode {
   /* Note: This sample uses the all-objects Tensor Flow model (FreightFrenzy_BCDM.tflite), which contains
    * the following 4 detectable objects
@@ -63,12 +62,9 @@ public class ConceptTensorFlowObjectDetection extends LinearOpMode {
    *  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 TFOD_MODEL_ASSET = "Capstone_v1_100-10.tflite";
     private static final String[] LABELS = {
-      "Ball",
-      "Cube",
-      "Duck",
-      "Marker"
+      "Capstone"
     };
 
     /*
@@ -84,7 +80,8 @@ public class ConceptTensorFlowObjectDetection extends LinearOpMode {
      * and paste it in to your code on the next line, between the double quotes.
      */
     private static final String VUFORIA_KEY =
-            " -- YOUR NEW VUFORIA KEY GOES HERE  --- ";
+            "ARjSEzX/////AAABmTyfc/uSOUjluYpQyDMk15tX0Mf3zESzZKo6V7Y0O/qtPvPQOVben+DaABjfl4m5YNOhGW1HuHywuYGMHpJ5/uXY6L8Mu93OdlOYwwVzeYBhHZx9le+rUMr7NtQO/zWEHajiZ6Jmx7K+A+UmRZMpCmr//dMQdlcuyHmPagFERkl4fdP0UKsRxANaHpwfQcY3npBkmgE8XsmK4zuFEmzfN2/FV0Cns/tiTfXtx1WaFD0YWYfkTHRyNwhmuBxY6MXNmaG8VlLwJcoanBFmor2PVBaRYZ9pnJ4TJU5w25h1lAFAFPbLTz1RT/UB3sHT5CeG0bMyM4mTYLi9SHPOUQjmIomxp9D7R39j8g5G7hiKr2JP";
+
 
     /**
      * {@link #vuforia} is the variable we will use to store our instance of the Vuforia
@@ -118,7 +115,7 @@ public void runOpMode() {
             // 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(2.5, 16.0/9.0);
+            tfod.setZoom(1.0, 16.0/9.0);
         }
 
         /** Wait for the game to begin */
@@ -177,8 +174,9 @@ 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.minResultConfidence = 0.55f;
+        tfodParameters.isModelTensorFlow2 = false;
+        tfodParameters.isModelQuantized = false;
         tfodParameters.inputSize = 320;
         tfod = ClassFactory.getInstance().createTFObjectDetector(tfodParameters, vuforia);
         tfod.loadModelFromAsset(TFOD_MODEL_ASSET, LABELS);

road-runner-quickstart-master/TeamCode/build.gradle

@@ -18,6 +18,7 @@ apply from: '../build.dependencies.gradle'
 dependencies {
     implementation project(':FtcRobotController')
     annotationProcessor files('lib/OpModeAnnotationProcessor.jar')
+    //implementation 'com.google.mlkit:image-labeling-custom:17.0.0'
 
     implementation 'org.apache.commons:commons-math3:3.6.1'
 

road-runner-quickstart-master/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/vision/TFODModels/CAPSTONE_V1_MOBILETNET3.java

@@ -0,0 +1,29 @@
+package org.firstinspires.ftc.teamcode.vision.TFODModels;
+
+import org.firstinspires.ftc.robotcore.external.tfod.TFObjectDetector;
+
+public class CAPSTONE_V1_MOBILETNET3 extends DetectionModel {
+    private static final float MIN_CONFIDENCE = 0.55f;
+    private static final float MIN_TRACKER_CONFIDENCE = 0.60f;
+    private static final float MARGINAL_CORRELATION = 0.80f;
+    private static final int INPUT_SIZE = 320;
+    private static final boolean IS_QUANTIZED = false;
+
+    public CAPSTONE_V1_MOBILETNET3(){
+        super("MOBILENET_V3_LARGE_CAPSTONE_STICKER_100-10", "Capstone_v1_100-10.tflite",
+                new String[] { "capstone" }, MIN_CONFIDENCE, INPUT_SIZE, IS_QUANTIZED);
+    }
+
+    @Override
+    public TFObjectDetector.Parameters getParameters(int tfodMonitorViewId){
+        TFObjectDetector.Parameters params = new TFObjectDetector.Parameters(tfodMonitorViewId);
+        params.isModelQuantized = IS_QUANTIZED;
+        params.maxFrameRate = 40;
+        params.inputSize = INPUT_SIZE;
+        params.minResultConfidence = MIN_CONFIDENCE;
+        params.trackerMinCorrelation = MIN_TRACKER_CONFIDENCE;
+        params.trackerMarginalCorrelation = MARGINAL_CORRELATION;
+        params.numExecutorThreads = 1;
+        return params;
+    }
+}

road-runner-quickstart-master/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/vision/TFODModels/CAPSTONE_V2_MOBILETNET3.java

@@ -0,0 +1,29 @@
+package org.firstinspires.ftc.teamcode.vision.TFODModels;
+
+import org.firstinspires.ftc.robotcore.external.tfod.TFObjectDetector;
+
+public class CAPSTONE_V2_MOBILETNET3 extends DetectionModel {
+    private static final float MIN_CONFIDENCE = 0.55f;
+    private static final float MIN_TRACKER_CONFIDENCE = 0.60f;
+    private static final float MARGINAL_CORRELATION = 0.80f;
+    private static final int INPUT_SIZE = 320;
+    private static final boolean IS_QUANTIZED = false;
+
+    public CAPSTONE_V2_MOBILETNET3(){
+        super("MOBILENET_V3_LARGE_CAPSTONE_STICKER_130-13", "Capstone_v2_130-13.tflite",
+                new String[] { "capstone" }, MIN_CONFIDENCE, INPUT_SIZE, IS_QUANTIZED);
+    }
+
+    @Override
+    public TFObjectDetector.Parameters getParameters(int tfodMonitorViewId){
+        TFObjectDetector.Parameters params = new TFObjectDetector.Parameters(tfodMonitorViewId);
+        params.isModelQuantized = IS_QUANTIZED;
+        params.maxFrameRate = 40;
+        params.inputSize = INPUT_SIZE;
+        params.minResultConfidence = MIN_CONFIDENCE;
+        params.trackerMinCorrelation = MIN_TRACKER_CONFIDENCE;
+        params.trackerMarginalCorrelation = MARGINAL_CORRELATION;
+        params.numExecutorThreads = 1;
+        return params;
+    }
+}

road-runner-quickstart-master/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/vision/TFODModels/DetectionModel.java

@@ -0,0 +1,37 @@
+package org.firstinspires.ftc.teamcode.vision.TFODModels;
+
+import androidx.annotation.NonNull;
+
+import org.firstinspires.ftc.robotcore.external.tfod.TFObjectDetector;
+
+import java.util.Arrays;
+
+public abstract class DetectionModel {
+    public final String MODEL_NAME;
+    public final String MODEL_ASSET_FILE_PATH;
+    public final String[] ELEMENT_NAMES;
+
+    public float MIN_CONFIDENCE;
+    public int INPUT_SIZE;
+    public boolean IS_QUANTIZED;
+
+    protected DetectionModel(String modelName, String modelAssetFile, String[] elements,
+                              float minConfidence, int inputSize, boolean isQuantized){
+        MODEL_NAME = modelName;
+        MODEL_ASSET_FILE_PATH = modelAssetFile;
+        ELEMENT_NAMES = elements;
+        MIN_CONFIDENCE = minConfidence;
+        INPUT_SIZE = inputSize;
+        IS_QUANTIZED = isQuantized;
+    }
+
+    public TFObjectDetector.Parameters getParameters(int tfodMonitorViewId){
+        return null;
+    }
+
+    @Override
+    @NonNull
+    public String toString(){
+        return "{" + MODEL_NAME + ": " + MODEL_ASSET_FILE_PATH + " - " + Arrays.toString(ELEMENT_NAMES) + "}";
+    }
+}

road-runner-quickstart-master/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/vision/Tensorflow/Detection.java

@@ -0,0 +1,62 @@
+package org.firstinspires.ftc.teamcode.vision.Tensorflow;
+
+import android.graphics.RectF;
+
+import org.firstinspires.ftc.robotcore.external.tfod.Recognition;
+
+public class Detection {
+    private Recognition RECOGNIZED_OBJECT;
+    private float FOCAL_LENGTH;    //in mm
+    private double SENSOR_HEIGHT;    //in mm
+
+    public Detection(Recognition recognition, float focalLength, float verticalFOVAngle){
+        RECOGNIZED_OBJECT = recognition;
+        FOCAL_LENGTH = focalLength;
+        SENSOR_HEIGHT = Math.tan(Math.toRadians(verticalFOVAngle / 2d)) * 2 * FOCAL_LENGTH;
+    }
+
+    public RectF getBoundingBox(){
+        return new RectF(RECOGNIZED_OBJECT.getLeft(), RECOGNIZED_OBJECT.getTop(),
+                RECOGNIZED_OBJECT.getRight(), RECOGNIZED_OBJECT.getBottom());
+    }
+
+    public String getLabel(){
+        return RECOGNIZED_OBJECT.getLabel();
+    }
+
+    public float getBottom(){
+        return RECOGNIZED_OBJECT.getBottom();
+    }
+
+    public float getLeft(){
+        return RECOGNIZED_OBJECT.getLeft();
+    }
+
+    public float getRight(){
+        return RECOGNIZED_OBJECT.getRight();
+    }
+
+    public float getTop(){
+        return RECOGNIZED_OBJECT.getTop();
+    }
+
+    public float getWidth(){
+        return RECOGNIZED_OBJECT.getWidth();
+    }
+
+    public float getHeight(){
+        return RECOGNIZED_OBJECT.getHeight();
+    }
+
+    public float getImageWidth(){
+        return RECOGNIZED_OBJECT.getImageWidth();
+    }
+
+    public float getImageHeight(){
+        return RECOGNIZED_OBJECT.getImageHeight();
+    }
+
+    public float getConfidence(){
+        return RECOGNIZED_OBJECT.getConfidence();
+    }
+}

road-runner-quickstart-master/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/vision/Tensorflow/ObjectDetectionTest.java

@@ -0,0 +1,68 @@
+package org.firstinspires.ftc.teamcode.vision.Tensorflow;
+
+import android.app.Activity;
+import android.graphics.Bitmap;
+import android.graphics.Matrix;
+import android.hardware.Camera;
+import android.view.Surface;
+import android.widget.FrameLayout;
+
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.vuforia.Image;
+import com.vuforia.PIXEL_FORMAT;
+import com.vuforia.Vuforia;
+
+import org.firstinspires.ftc.robotcore.external.ClassFactory;
+import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraName;
+import org.firstinspires.ftc.robotcore.external.hardware.camera.CameraName;
+import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer;
+import org.firstinspires.ftc.robotcore.external.tfod.Recognition;
+import org.firstinspires.ftc.robotcore.internal.system.AppUtil;
+import org.firstinspires.ftc.teamcode.vision.TFODModels.CAPSTONE_V1_MOBILETNET3;
+import org.firstinspires.ftc.teamcode.vision.TFODModels.CAPSTONE_V2_MOBILETNET3;
+import org.firstinspires.ftc.teamcode.vision.TFODModels.DetectionModel;
+
+import java.io.File;
+import java.io.FileOutputStream;
+import java.io.IOException;
+import java.nio.ByteBuffer;
+import java.util.List;
+
+@TeleOp(name = "Object Detection Test", group = "Vision")
+public class ObjectDetectionTest extends LinearOpMode {
+    private static final DetectionModel TFOD_MODEL = new CAPSTONE_V2_MOBILETNET3();
+    public void runOpMode() {
+        ObjectDetector detector = new ObjectDetector(TFOD_MODEL, hardwareMap);
+        detector.initialize();
+        telemetry.addData("Loaded Model", TFOD_MODEL);
+        telemetry.update();
+
+        waitForStart();
+
+        while (opModeIsActive()) {
+            telemetry.addData("Loaded Model", TFOD_MODEL);
+
+            List<Recognition> updatedRecognitions = detector.getDetections();
+            if (updatedRecognitions != null) {
+                telemetry.addData("# 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++;
+                }
+                telemetry.addData("DetectionX", detector.getPositionX(ObjectDetector.MatchMode.DEFAULT));
+                telemetry.update();
+            }
+
+            detector.autoAdjustZoom();
+        }
+    }
+
+}