RotatingCamera/teamcode/AprilTags.java at master · nullObjectReference/RotatingCamera · GitHub

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package org.firstinspires.ftc.teamcode;

import static org.firstinspires.ftc.robotcore.external.BlocksOpModeCompanion.hardwareMap;

import com.qualcomm.robotcore.eventloop.opmode.OpMode;

import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;

import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;

import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;

import org.firstinspires.ftc.vision.VisionPortal;

import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;

import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;

import java.util.List;

public class AprilTags {

private final OpMode opMode;

public AprilTags (OpMode opMode){

this.opMode = opMode;

}

AprilTagProcessor aprilTagProcessor;

public VisionPortal visionPortal;

public double getBearing(int tagId){

AprilTagDetection idInfo = getIdInfo(tagId);

if(idInfo != null) {

return idInfo.ftcPose.bearing;

} else {

return 999;

}

public AprilTagDetection getIdInfo(int id){

List<AprilTagDetection> currentDetections = aprilTagProcessor.getDetections();

for(AprilTagDetection detection : currentDetections){

if(detection.id == id){

return detection;

}

return null;

}

public void init(){

aprilTagProcessor = new AprilTagProcessor.Builder()

.setDrawAxes(true)

.setDrawCubeProjection(true)

.setOutputUnits(DistanceUnit.INCH, AngleUnit.DEGREES)

.build();

VisionPortal.Builder builder = new VisionPortal.Builder();

visionPortal = builder.setCamera(opMode.hardwareMap.get(WebcamName.class, "Webcam 1"))

.addProcessor(aprilTagProcessor)

.build();

}

RotatingCamera/teamcode/AprilTags.java at master · nullObjectReference/RotatingCamera · GitHub

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