org.firstinspires.ftc.robotcore.external.navigation

Class VuforiaLocalizer.Parameters

java.lang.Object

org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer.Parameters

Enclosing interface:

VuforiaLocalizer

public static class VuforiaLocalizer.Parameters
extends java.lang.Object

VuforiaLocalizer.Parameters provides configuration information for instantiating the Vuforia localizer

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	VuforiaLocalizer.Parameters.CameraMonitorFeedback VuforiaLocalizer.Parameters.CameraMonitorFeedback enumerates the kinds of positioning feedback that may be drawn in the camera monitor window.

Field Summary

Fields

Modifier and Type	Field and Description
Activity	activity The activity in which the localizer is to run.
Camera	camera If non-null, then this indicates the Camera to use with Vuforia.
VuforiaLocalizer.CameraDirection	cameraDirection If camera is null and cameraName is the 'unknown' camera name, then this value is used to indicate the camera to use with Vuforia.
VuforiaLocalizer.Parameters.CameraMonitorFeedback	cameraMonitorFeedback Indicates the style of camera monitoring feedback to use.
int	cameraMonitorViewIdParent The resource id of the view within activity that will be used as the parent for a live monitor which provides feedback as to what the camera is seeing.
ViewGroup	cameraMonitorViewParent The view that will be used as the parent for a live monitor which provides feedback as to what the the camera is seeing.
CameraName	cameraName If camera is non-null, this value is ignored.
boolean	fillCameraMonitorViewParent Controls whether the camera monitor should entirely fill the camera monitor view parent or not.
double	maxWebcamAspectRatio Controls the aspect ratios used with webcams.
double	minWebcamAspectRatio Controls the aspect ratios used with webcams.
int	secondsUsbPermissionTimeout How long to wait for USB permissions when connecting to a webcam.
boolean	useExtendedTracking Indicates whether to use Vuforia's extended tracking mode.
java.lang.String	vuforiaLicenseKey The license key with which to use Vuforia.
java.io.File[]	webcamCalibrationFiles Camera calibrations resident in files instead of resources.
int[]	webcamCalibrationResources The resources (if any, may be empty or null) used to provide additional camera calibration data for webcams used with Vuforia.

Constructor Summary

Constructors

Constructor and Description
Parameters()
Parameters(int cameraMonitorViewIdParent)

Method Summary

Modifier and Type	Method and Description
void	addWebcamCalibrationFile(java.io.File file)
void	addWebcamCalibrationFile(java.lang.String name)

Methods inherited from class java.lang.Object

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

Field Detail

vuforiaLicenseKey

public java.lang.String vuforiaLicenseKey

The license key with which to use Vuforia. Vuforia will not load without a valid license being provided. Vuforia 'Development' license keys, which is what is needed here, can be obtained free of charge from the Vuforia developer web site at https://developer.vuforia.com/license-manager Valid 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 form of the key from the Vuforia web site and paste it in to your code as the value of the 'vuforiaLicenseKey' field of the VuforiaLocalizer.Parameters instance with which you initialize Vuforia.

camera

public Camera camera

If non-null, then this indicates the Camera to use with Vuforia. Otherwise, the camera is determined using cameraName and cameraDirection.

See Also:

cameraName, cameraDirection

cameraName

public CameraName cameraName

If camera is non-null, this value is ignored. Otherwise, if this value is neither null nor the 'unknown' camera name, the it indicates the name of the camera to use with Vuforia. It will be opened as needed. Otherwise, if this value is the 'unknown' camera name, then this value is ignored and cameraDirection is used to indicate the camera. Otherwise, this value is null, and an error has occurred.

See Also:

camera, cameraDirection

cameraDirection

public VuforiaLocalizer.CameraDirection cameraDirection

If camera is null and cameraName is the 'unknown' camera name, then this value is used to indicate the camera to use with Vuforia. Note that this value can only indicate the use of built-in cameras found on a phone.

See Also:

camera, cameraName

useExtendedTracking

public boolean useExtendedTracking

Indicates whether to use Vuforia's extended tracking mode. Extended tracking allows tracking to continue even once an image tracker has gone out of view.

See Also:

Vuforia Extended Tracking

cameraMonitorFeedback

public VuforiaLocalizer.Parameters.CameraMonitorFeedback cameraMonitorFeedback

Indicates the style of camera monitoring feedback to use. Null indicates that a default feedback style is to be used. None indicates that the camera monitoring is to be provided, but no feedback is to be drawn thereon.

See Also:

VuforiaLocalizer.Parameters.CameraMonitorFeedback, cameraMonitorViewIdParent

cameraMonitorViewIdParent

public int cameraMonitorViewIdParent

The resource id of the view within activity that will be used as the parent for a live monitor which provides feedback as to what the camera is seeing. If both cameraMonitorViewIdParent and cameraMonitorViewParent are specified, cameraMonitorViewParent is used and cameraMonitorViewIdParent is ignored. Optional: if no view monitor parent is indicated, then no camera monitoring is provided. The default is zero, which does not indicate a view parent.

See Also:

cameraMonitorViewParent, fillCameraMonitorViewParent

cameraMonitorViewParent

public ViewGroup cameraMonitorViewParent

The view that will be used as the parent for a live monitor which provides feedback as to what the the camera is seeing. If both cameraMonitorViewIdParent and cameraMonitorViewParent are specified, cameraMonitorViewParent is used and cameraMonitorViewIdParent is ignored. Optional: if no view monitor parent is indicated, then no camera monitoring is provided. The default is null.

See Also:

cameraMonitorViewIdParent, fillCameraMonitorViewParent

fillCameraMonitorViewParent

public boolean fillCameraMonitorViewParent

Controls whether the camera monitor should entirely fill the camera monitor view parent or not. If true, then, depending on the aspect ratios of the camera and the view, some of the camera's data might not be seen. The default is false, which renders the entire camera image in the camera monitor view (if the latter is specified).

See Also:

cameraMonitorViewIdParent, cameraMonitorViewParent

activity

public Activity activity

The activity in which the localizer is to run. May be null, in which case the contextually current activity will be used.

webcamCalibrationResources

public int[] webcamCalibrationResources

The resources (if any, may be empty or null) used to provide additional camera calibration data for webcams used with Vuforia. Using calibrated camera helps increase the accuracy of Vuforia image target tracking. Calibration for several cameras is built into the FTC SDK; the optional resources here provides a means for teams to provide calibrations beyond this built-in set. The format required of the XML resource is indicated in the teamwebcamcalibrations resource provided.

See Also:

webcamCalibrationFiles

webcamCalibrationFiles

public java.io.File[] webcamCalibrationFiles

Camera calibrations resident in files instead of resources.

See Also:

webcamCalibrationResources

maxWebcamAspectRatio

public double maxWebcamAspectRatio

Controls the aspect ratios used with webcams. Webcams whose aspect ratio (defined as width / height) is larger than this value will not be used unless no other viable options exist. Example values of some utility include 1920.0 / 1080.0, 640.0 / 480.0, and the like.

See Also:

minWebcamAspectRatio

minWebcamAspectRatio

public double minWebcamAspectRatio

Controls the aspect ratios used with webcams. Webcams whose aspect ratio (defined as width / height) is smaller than this value will not be used unless no other viable options exist.

See Also:

maxWebcamAspectRatio

secondsUsbPermissionTimeout

public int secondsUsbPermissionTimeout

How long to wait for USB permissions when connecting to a webcam.

Constructor Detail

Parameters

public Parameters()

Parameters

public Parameters(int cameraMonitorViewIdParent)

Method Detail

addWebcamCalibrationFile

public void addWebcamCalibrationFile(java.lang.String name)

addWebcamCalibrationFile

public void addWebcamCalibrationFile(java.io.File file)