mcwashi / dogecv

FTC Vision Library. Also why i didn't finish my compsci homework.

Developed by Alex Carter of Disnode Robotics and Levi Gershon of Newton's Law
Version 2018.2 | Updated 10/08/2018

DogeCV

A easy to use computer vision library used for FTC Games to detect game objects. Based on Ender CV and OpenCV.

Project Status:

IN DEVELOPMENT. CURRENTLY IN ALPHA. NOT COMPETITION READY

DISCLAIMER

THIS REPO IS STILL UNDER HEAVY DEVELOPMENT. WE WILL BE ADDING FURTHER DOCUMENTATION, BUG FIXES AND NEW DETECTORS SOON.

Also please keep in mind due to the major rewrite, many components have not been fully tested and polished, and many Relic Recovery detectors may be broken.

Videos

Wizards.exe have been amazing with their DogeCV coverage, so please check them out and give your support, the videos are easy to understand and well made, great for peopling who want to learn DogeCV.

Official Tutorials coming with the 2018.3 Update. (Est Sep 20th)

• Wizards.exe Tutorial

Development Team

• Alex Carter FTC 7195 Mechanical Memes
• Levi Gershon FTC 12897 Newton's Law of Mass'
• Brandon FTC 8565 Technicbots

Other Contributors

• Karter FTC 5975 Cybots (Brainstorming for Jewel Detector)
• Derek FTC 5484 Enderbots (EnderCV Classes)
• Owen Gonzalez (Testing)
• Kwon Paradigm Break (Testing)

Known Issues

(These issues are referring to the 2018-2019 FTC Year Detectors, and not the Relic Recovery ones as those are no longer supported)

• General Instablity
• GenericDetector not ported
• Vuforia is rotated in portrait mode
• RoverRukas Package typo.

Planned Features / TODO

• Fix Vuforia
• Add in distance scoring between samples to increase accuracy
• General Code Clean up
• Update Wiki
• Basic angle/positioning of elements
• Example Autons using DogeCV
• Port Old detectors to new systems
• Better Safety checks
• Move to our own OpenCV System
• Add to JCenter
• New Frame Input System
• ML detectors

Install (Credit to EnderCV)

1. Download this repo, either by cloning from Git or using the zip download.
2. Pull up Android Studio, with the FTC application SDK open
3. Navigate to File -> New -> Import Module from the title bar.
4. When the a dialog comes up, asking for the module source directory, navigate to this repo and select the openCVLibrary3 folder, and then hit Finish
5. Repeat steps 3 and 4 except instead of selecting the openCVLibrary3 folder, select the DogeCV folder instead. If Android Studio fails to import modules because it sucks sometimes, open settings.gradle and add these two lines:

include ':openCVLibrary3'
include ':DogeCV'

and resync the project.
6. In the left hand side project explorer in Android Studio, right-click TeamCode, and click on Open Module Settings.
7. A Project Structure dialog should come up. Click the Dependencies tab.
8. Click the green plus sign on the right hand side, then Module dependency, and then :openCVLibrary3, then press OK.
9. Repeat step 8, except substitute :openCVLibrary3 with :DogeCV.
10. Click OK to exit the Project Structure dialog.

Detectors Status

• Gold Align Detector - Implemented. Unstable (Memory Leak)
• Sampling Detector - Implemented. Stable. Not Competition Ready.
• Gold Detector - Implemented Base (Needs more).Stable. Not Competition Ready.
• Silver Detector - Implemented Base (Needs more).Stable. Not Competition Ready.
• MultiMineral Detector - Not Yet Implemented **See Wiki For More Info

FAQ

• If I use dogeCV can I still use Vuforia? With the 2018 edition of DogeCV we have enabled the option to use Vuforia and DogeCV at the same time, while using the same camera and viewing both data on the RC at the same time! This is done by using DogeCV's Vuforia class DogeForia. See more in the wiki. (Current Unstable)
• Can I still use classic OpenCV? Yes! We want teams to use DogeCV to learn about vision and start to create their own vision systems. That's why OpenCV is open in all layers of DogeCV, and we keep the classic OpenCVPipepline introduced in the EnderCV lib.
• Dogeforia is getting import errors: This is a current bug that I am investigating, for right now simply move the Dogeforia class to your TeamCode package.

Changelogs

2018.2.1 HOTFIX:

• Removed AsyncFilterRunner import from Sampling Detector #12
• Fixed Dogeforia crash on stop #10

2018.2:

• Added HoughSilverDetector: intended for slighter slower but more precise silver mineral classification. Works nicely.
• Added JavaDocs and in-depths comments on most detectors, scorers, and filters
• Changed DogeCVScorer input from MatOfPoint to Mat in order to facilitate more diverse scoring methods
• Detectors now have a seperate displayMat as opposed to a workingMat; one is for detection work, the other is for displaying the results
• Added SilverExample OpMode for demonstrating silver detector use
• Added HoughSilverExample OpMode for demonstrating Hough transform-based silver detector use
• Gold Align Detector now has setAlignSettings(int offset, int width) function to set parameters
• Updated SamplingOrderDetector to choose top two silver minerals instead of all
• Ported GenericDetector to using DogeCVDetector
• Ported BlankDetector to using DogeCVDetector
• Added updateSettings to LeviColorFilter
• Corrected typos within this README
• Added an experimental WHITE option to LeviColorFilter
• Cleaned up detectors and filters

2018.1:

• Added HSVRangeFilter that uses classic lower and upper HSV ranges
• HSVColorFilter now devides the range by 2 on each side of the perfect color value. (Now range acts as expected) (Issue #9)
• Added SilverDetector (Same as Gold but for silver)
• Moved SamplingOrderDetector to use HSVRangeFilter for silver
• Tuned Sampling (Still not competition ready)
• Cleaned up Dogeforia handling per suggestions of "@BillTheCat123 | Mentor | 3763" on FTC Discord
• Fixed Gradle import issues of :FTCRobotController with Dogeforia class. (Issue #8)
• Cleaned up Gradle Build files to lessen import errors
• Added common Gradle Build errors to wiki
• DogeCVDetector now handles printing the detector setting to the screen

2018.0:

• New Versioning System
• New Scoring API
• New DogeCVDetector Class
• Vuforia Support
• Gold Align, Mineral Order, and Gold Detectors
• General Code Cleanup
• Cleaner Params
• Moved Downscaling to DogeCVDetector Class
• Updated to EnderCV 2.0 (Modfied)

1.1.1 HOTFIX:

• Fixed Jewel Detector Blue Filter

1.1:

• New Color Filter API
• New Generic Detector
• Fixed Jewel Debug Scores
• Fixed Imports for DogeLogger inside Cryptobox Detector
• Ported all detectors to Color Filter API
• Added Yellow to LeviColorFilter
• Added HSV color filter
• New Relic/Generic Example

1.0:

• New Cryptobox Detector
• YouTube Tutorials
• Per-Detector Documentation
• Wiki Start
• Added perfectRatio tuning for Jewels
• Optimization
• Removed Multiple Mat returning

0.5:

• Fixed rotated preview on protrait mode.
• Detectors return an array of images. You can cycle through them by tapping on the preview screen

Contact

If you have any suggestions or questions feel free to contact us at:
[email protected] or VictoryForPhil#4759 or Levi -12897 on Discord

You can also usually spot us on the FTC Discord.