org.firstinspires.ftc.teamcode.util.vision

Class TensorFlowManager

java.lang.Object

org.firstinspires.ftc.teamcode.util.vision.TensorFlowManager

public class TensorFlowManager
extends java.lang.Object

This class handles the robot CV functions and makes TensorFlow easy in a single OpMode.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	TensorFlowManager.TFDetector Enum containing all possible detections of the minerals .
static class	TensorFlowManager.TFLocation Enum containing all possible locations of the minerals .

Field Summary

Fields

Modifier and Type	Field and Description
private TensorFlowManager.TFDetector	detector Instance variable containing TensorFlow's detector
private static java.lang.String	LABEL_GOLD_MINERAL
private static java.lang.String	LABEL_SILVER_MINERAL
private TensorFlowManager.TFLocation	location Instance variable containing TensorFlow's locator
private org.firstinspires.ftc.robotcore.external.tfod.TFObjectDetector	tfod
private static java.lang.String	TFOD_MODEL_ASSET Constants for TensorFlow detectors + Vuforia Key
private org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer	vuforia
private static java.lang.String	VUFORIA_KEY

Constructor Summary

Constructors

Constructor and Description
TensorFlowManager() Default constructor for TensorFlowManager.

Method Summary

Modifier and Type	Method and Description
TensorFlowManager.TFDetector	getDetector() Returns updated classification of mineral.
TensorFlowManager.TFLocation	getLocation() Returns updated location of mineral.
void	init(com.qualcomm.robotcore.hardware.HardwareMap hwMap) Initializes Vuforia and starts TensorFlow detector if possible.
private void	initTfod(com.qualcomm.robotcore.hardware.HardwareMap hardwareMap) Initialize the Tensor Flow Object Detection engine.
private void	initVuforia() Initialize the Vuforia localization engine.
void	start() Activates TensorFlow interface.
void	stop() Deactivate TensorFlow interface.
private void	updateDetector() Identifies mineral based on TensorFlow's classification.
private void	updateLocation() Identifies mineral's location based on TensorFlow's classification.

Methods inherited from class java.lang.Object

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

Field Detail

TFOD_MODEL_ASSET

private static final java.lang.String TFOD_MODEL_ASSET

Constants for TensorFlow detectors + Vuforia Key

See Also:

Constant Field Values

LABEL_GOLD_MINERAL

private static final java.lang.String LABEL_GOLD_MINERAL

See Also:

Constant Field Values

LABEL_SILVER_MINERAL

private static final java.lang.String LABEL_SILVER_MINERAL

See Also:

Constant Field Values

VUFORIA_KEY

private static final java.lang.String VUFORIA_KEY

See Also:

Constant Field Values

vuforia

private org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer vuforia

tfod

private org.firstinspires.ftc.robotcore.external.tfod.TFObjectDetector tfod

location

private TensorFlowManager.TFLocation location

Instance variable containing TensorFlow's locator

detector

private TensorFlowManager.TFDetector detector

Instance variable containing TensorFlow's detector

Constructor Detail

TensorFlowManager

public TensorFlowManager()

Default constructor for TensorFlowManager.

Method Detail

init

public void init(com.qualcomm.robotcore.hardware.HardwareMap hwMap)

Initializes Vuforia and starts TensorFlow detector if possible.

Parameters:

hwMap - robot's hardware map

start

public void start()

Activates TensorFlow interface.

stop

public void stop()

Deactivate TensorFlow interface.

getLocation

public TensorFlowManager.TFLocation getLocation()

Returns updated location of mineral.

getDetector

public TensorFlowManager.TFDetector getDetector()

Returns updated classification of mineral.

updateDetector

private void updateDetector()

Identifies mineral based on TensorFlow's classification. Updates detector in TFLocation.

updateLocation

private void updateLocation()

Identifies mineral's location based on TensorFlow's classification. Updates location in TFLocation.

initVuforia

private void initVuforia()

Initialize the Vuforia localization engine.

initTfod

private void initTfod(com.qualcomm.robotcore.hardware.HardwareMap hardwareMap)

Initialize the Tensor Flow Object Detection engine.