org.firstinspires.ftc.robotcore.external.navigation

Class VuforiaTrackableDefaultListener

java.lang.Object

org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackableDefaultListener

All Implemented Interfaces:

VuforiaTrackable.Listener

public class VuforiaTrackableDefaultListener
extends java.lang.Object
implements VuforiaTrackable.Listener

VuforiaTrackableDefaultListener is the default listener used for VuforiaTrackable implementations. This listener facilitates polling for results of the tracking. (Advanced:) Alternate listeners could make use of event-driven results by taking actions in the VuforiaTrackable.Listener methods.

See Also:

VuforiaTrackable, VuforiaTrackable.getListener()

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
protected static class	VuforiaTrackableDefaultListener.PoseAndCamera

Field Summary

Fields

Modifier and Type	Field and Description
protected CameraName	cameraNameBack
protected CameraName	cameraNameFront
protected VuforiaTrackableDefaultListener.PoseAndCamera	currentPoseAndCamera
protected OpenGLMatrix	ftcCameraBackFromPhone
protected java.util.Map<CameraName,OpenGLMatrix>	ftcCameraFromRobotCoords
protected OpenGLMatrix	ftcCameraFromVuforiaCamera
protected OpenGLMatrix	ftcCameraFrontFromPhone
protected VuforiaTrackableDefaultListener.PoseAndCamera	lastTrackedPoseAndCamera
protected java.lang.Object	lock
protected boolean	newLocationAvailable
protected boolean	newPoseAvailable
protected OpenGLMatrix	phoneFromFtcCameraBack
protected OpenGLMatrix	phoneFromFtcCameraFront
protected OpenGLMatrix	phoneFromVuforiaCameraBack
protected OpenGLMatrix	phoneFromVuforiaCameraFront
protected java.util.Map<CameraName,OpenGLMatrix>	robotFromFtcCameraCoords
static java.lang.String	TAG
protected VuforiaTrackable	trackable
protected OpenGLMatrix	vuforiaCameraFromFtcCamera
protected OpenGLMatrix	vuforiaCameraFrontFromVuforiaCameraBack
protected VuMarkInstanceId	vuMarkInstanceId

Constructor Summary

Constructors

Constructor and Description
VuforiaTrackableDefaultListener()
VuforiaTrackableDefaultListener(VuforiaTrackable trackable) If a null VuforiaTrackable is provided, then addTrackable(VuforiaTrackable) must be called later, before tracking actually begins.

Method Summary

Modifier and Type	Method and Description
void	addTrackable(VuforiaTrackable trackable) Adds a trackable on which this VuforiaTrackable.Listener is listening.
VuforiaLocalizer.CameraDirection	getCameraDirection() Deprecated. This is of little use if a non-builtin camera is in use.
OpenGLMatrix	getCameraLocationOnRobot(CameraName cameraName) Returns information previously set in setCameraLocationOnRobot(CameraName, OpenGLMatrix)
CameraName	getCameraName() Returns the name of the camera most recently tracked, or null if tracking has never occurred.
protected OpenGLMatrix	getFtcCameraFromRobot(CameraName cameraName)
OpenGLMatrix	getFtcCameraFromTarget() Returns the pose of the trackable if it is currently visible.
OpenGLMatrix	getFtcFieldFromRobot() Returns the OpenGLMatrix transform that represents the location of the robot on in the FTC Field Coordinate System, or null if that cannot be computed.
OpenGLMatrix	getLastTrackedPoseVuforiaCamera() Returns the pose associated with the last known tracked location of this trackable, if any.
OpenGLMatrix	getLastTrackedRawPose() Deprecated. use getLastTrackedPoseVuforiaCamera() instead
protected OpenGLMatrix	getPhoneFromVuforiaCamera(VuforiaLocalizer.CameraDirection direction) A synonym for getPoseCorrectionMatrix(org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer.CameraDirection).
OpenGLMatrix	getPhoneLocationOnRobot() Deprecated. Using getCameraLocationOnRobot(CameraName) is a better choice.
OpenGLMatrix	getPose() A synonym for getPosePhone(), the latter being more descriptive of the coordinate system of the value returned.
OpenGLMatrix	getPoseCorrectionMatrix(VuforiaLocalizer.CameraDirection direction) Deprecated. These phone-based matrices are no longer of much relevance, as the correct values, when of interest, are fixed and known.
OpenGLMatrix	getPosePhone() Returns the pose of the trackable if it is currently visible.
OpenGLMatrix	getRawPose() Deprecated. use getVuforiaCameraFromTarget() instead
OpenGLMatrix	getRawUpdatedPose() Deprecated. use getUpdatedVuforiaCameraFromTarget() instead
OpenGLMatrix	getRobotLocation() Synonym for getFtcFieldFromRobot()
OpenGLMatrix	getUpdatedRobotLocation() Returns the location of the robot, but only if a new location has been detected since the last call to getUpdatedRobotLocation().
OpenGLMatrix	getUpdatedVuforiaCameraFromTarget() Returns the raw pose of the trackable, but only if a new pose is available since the last call to getUpdatedVuforiaCameraFromTarget().
OpenGLMatrix	getVuforiaCameraFromTarget() Returns the raw pose of the trackable as reported by Vuforia.
VuMarkInstanceId	getVuMarkInstanceId() Returns the instance id of the currently visible VuMark associated with this VuMark template, if any presently exists.
boolean	isVisible() Answers whether the associated trackable is currently visible or not
void	onNotTracked() Called by the system to inform the trackable that it is no longer visible.
void	onTracked(TrackableResult trackableResult, CameraName cameraName, Camera camera, VuforiaTrackable child) onTracked(TrackableResult, CameraName, Camera, org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackable) is called by the system to notify the listener that its associated trackable is currently visible.
void	setCameraLocationOnRobot(CameraName cameraName, OpenGLMatrix robotFromFtcCamera) Informs the VuforiaTrackableDefaultListener of the location of a particular camera on the robot.
void	setPhoneInformation(OpenGLMatrix robotFromPhone, VuforiaLocalizer.CameraDirection cameraDirection) Informs the listener of the location of the phone on the robot and the identity of the camera being used.
void	setPoseCorrectionMatrix(VuforiaLocalizer.CameraDirection direction, OpenGLMatrix matrix) Deprecated.

Methods inherited from class java.lang.Object

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

Field Detail

TAG

public static final java.lang.String TAG

See Also:

Constant Field Values

lock

protected final java.lang.Object lock

trackable

protected VuforiaTrackable trackable

newPoseAvailable

protected boolean newPoseAvailable

newLocationAvailable

protected boolean newLocationAvailable

currentPoseAndCamera

protected VuforiaTrackableDefaultListener.PoseAndCamera currentPoseAndCamera

lastTrackedPoseAndCamera

protected VuforiaTrackableDefaultListener.PoseAndCamera lastTrackedPoseAndCamera

vuMarkInstanceId

protected VuMarkInstanceId vuMarkInstanceId

phoneFromVuforiaCameraFront

protected final OpenGLMatrix phoneFromVuforiaCameraFront

phoneFromVuforiaCameraBack

protected final OpenGLMatrix phoneFromVuforiaCameraBack

vuforiaCameraFrontFromVuforiaCameraBack

protected final OpenGLMatrix vuforiaCameraFrontFromVuforiaCameraBack

ftcCameraFromVuforiaCamera

protected final OpenGLMatrix ftcCameraFromVuforiaCamera

vuforiaCameraFromFtcCamera

protected final OpenGLMatrix vuforiaCameraFromFtcCamera

phoneFromFtcCameraFront

protected final OpenGLMatrix phoneFromFtcCameraFront

phoneFromFtcCameraBack

protected final OpenGLMatrix phoneFromFtcCameraBack

ftcCameraFrontFromPhone

protected final OpenGLMatrix ftcCameraFrontFromPhone

ftcCameraBackFromPhone

protected final OpenGLMatrix ftcCameraBackFromPhone

ftcCameraFromRobotCoords

protected final java.util.Map<CameraName,OpenGLMatrix> ftcCameraFromRobotCoords

robotFromFtcCameraCoords

protected final java.util.Map<CameraName,OpenGLMatrix> robotFromFtcCameraCoords

cameraNameFront

protected final CameraName cameraNameFront

cameraNameBack

protected final CameraName cameraNameBack

Constructor Detail

VuforiaTrackableDefaultListener

public VuforiaTrackableDefaultListener()

VuforiaTrackableDefaultListener

public VuforiaTrackableDefaultListener(VuforiaTrackable trackable)

If a null VuforiaTrackable is provided, then addTrackable(VuforiaTrackable) must be called later, before tracking actually begins.

Method Detail

setPhoneInformation

public void setPhoneInformation(OpenGLMatrix robotFromPhone,
                                VuforiaLocalizer.CameraDirection cameraDirection)

Informs the listener of the location of the phone on the robot and the identity of the camera being used. This information is needed in order to compute the robot location. Note that this is only applicable and useful when using cameras builtin to a phone.

Parameters:

robotFromPhone - the location of the phone on the robot. Maps phone coordinates to robot coordinates.

cameraDirection - which camera on the phone is in use

setCameraLocationOnRobot

public void setCameraLocationOnRobot(CameraName cameraName,
                                     OpenGLMatrix robotFromFtcCamera)

Informs the VuforiaTrackableDefaultListener of the location of a particular camera on the robot.

Parameters:

cameraName - the name of the camera in question

robotFromFtcCamera - the location of that camera; it transforms FTC camera coordiantes to robot coordinates

getPhoneLocationOnRobot

@Deprecated
public OpenGLMatrix getPhoneLocationOnRobot()

Deprecated. Using getCameraLocationOnRobot(CameraName) is a better choice.

Returns the location of the phone on the robot, as previously set, or null if that has never been set.

Returns:

the location of the phone on the robot, or null if that has never been set

getCameraLocationOnRobot

public OpenGLMatrix getCameraLocationOnRobot(CameraName cameraName)

Returns information previously set in setCameraLocationOnRobot(CameraName, OpenGLMatrix)

Parameters:

cameraName - the camera whose location is sought

Returns:

the location previously set, or the identity matrix if there is no such location

getFtcCameraFromRobot

protected OpenGLMatrix getFtcCameraFromRobot(CameraName cameraName)

getCameraDirection

@Deprecated
public VuforiaLocalizer.CameraDirection getCameraDirection()

Deprecated. This is of little use if a non-builtin camera is in use.

Returns the identity of the camera in use

Returns:

the identity of the camera in use

getCameraName

public CameraName getCameraName()

Returns the name of the camera most recently tracked, or null if tracking has never occurred.

Returns:

the name of the camera most recently tracked, or null if tracking has never occurred.

getFtcFieldFromRobot

public OpenGLMatrix getFtcFieldFromRobot()

Returns the OpenGLMatrix transform that represents the location of the robot on in the FTC Field Coordinate System, or null if that cannot be computed. The returned transformation will map coordinates in the Robot Coordinate System to coordinates in the FTC Field Coordinate System.

The pose will be null if the trackable is not currently visible. The location of the trackable will be null if a location wasn't previously provided with VuforiaTrackable.setLocation(OpenGLMatrix). The camera location on the robot will be null if setCameraLocationOnRobot(CameraName, org.firstinspires.ftc.robotcore.external.matrices.OpenGLMatrix) has not been called. All three must be non-null for the location to be computable.

Returns:

the location of the robot on the field

See Also:

getUpdatedRobotLocation(), getPosePhone(), setPhoneInformation(OpenGLMatrix, VuforiaLocalizer.CameraDirection), VuforiaTrackable.setLocation(OpenGLMatrix), getRobotLocation()

getRobotLocation

public OpenGLMatrix getRobotLocation()

Synonym for getFtcFieldFromRobot()

getPoseCorrectionMatrix

@Deprecated
public OpenGLMatrix getPoseCorrectionMatrix(VuforiaLocalizer.CameraDirection direction)

Deprecated. These phone-based matrices are no longer of much relevance, as the correct values, when of interest, are fixed and known.

The pose correction matrices correct for the different coordinate systems used in Vuforia and our phone coordinate system here.

getPhoneFromVuforiaCamera

protected OpenGLMatrix getPhoneFromVuforiaCamera(VuforiaLocalizer.CameraDirection direction)

A synonym for getPoseCorrectionMatrix(org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer.CameraDirection).

setPoseCorrectionMatrix

@Deprecated
public void setPoseCorrectionMatrix(VuforiaLocalizer.CameraDirection direction,
                                                 OpenGLMatrix matrix)

Deprecated.

See Also:

getPoseCorrectionMatrix(VuforiaLocalizer.CameraDirection)

getUpdatedRobotLocation

public OpenGLMatrix getUpdatedRobotLocation()

Returns the location of the robot, but only if a new location has been detected since the last call to getUpdatedRobotLocation().

Returns:

the location of the robot

See Also:

getRobotLocation()

getPosePhone

public OpenGLMatrix getPosePhone()

Returns the pose of the trackable if it is currently visible. If it is not currently visible, null is returned. The pose of the trackable is the location of the trackable in the phone's coordinate system. Note that this function is of little use if a webcam is used instead of a builtin phone camera. See getFtcCameraFromTarget() for a better choice.

Note that whether a trackable is visible or not is constantly dynamically changing in the background as the phone is moved about. Thus, just because one call to getPose() returns a non-null matrix doesn't a second call a short time later will return the same result.

Returns:

the pose of the trackable, if visible; if not visible, then null is returned.

See Also:

getPhoneFromVuforiaCamera(VuforiaLocalizer.CameraDirection), getVuforiaCameraFromTarget(), isVisible(), getPose()

getPose

public OpenGLMatrix getPose()

A synonym for getPosePhone(), the latter being more descriptive of the coordinate system of the value returned. Note that this function is of little use if a webcam is used instead of a builtin phone camera.

getFtcCameraFromTarget

public OpenGLMatrix getFtcCameraFromTarget()

Returns the pose of the trackable if it is currently visible. If it is not currently visible, null is returned. The pose of the trackable is the location of the trackable in the FTC Camera Coordinate System.

See Also:

getPosePhone()

getVuforiaCameraFromTarget

public OpenGLMatrix getVuforiaCameraFromTarget()

Returns the raw pose of the trackable as reported by Vuforia. This differs from the value reported by getPosePhone() because of the differing coordinate systems used by Vuforia and FTC

Returns:

the raw pose of the trackable as reported by Vuforia

See Also:

getPhoneFromVuforiaCamera(VuforiaLocalizer.CameraDirection), getRawPose()

getRawPose

@Deprecated
public OpenGLMatrix getRawPose()

Deprecated. use getVuforiaCameraFromTarget() instead

getUpdatedVuforiaCameraFromTarget

public OpenGLMatrix getUpdatedVuforiaCameraFromTarget()

Returns the raw pose of the trackable, but only if a new pose is available since the last call to getUpdatedVuforiaCameraFromTarget().

Returns:

the raw pose of the trackable

See Also:

getVuforiaCameraFromTarget(), getRawUpdatedPose()

getRawUpdatedPose

@Deprecated
public OpenGLMatrix getRawUpdatedPose()

Deprecated. use getUpdatedVuforiaCameraFromTarget() instead

isVisible

public boolean isVisible()

Answers whether the associated trackable is currently visible or not

Returns:

whether the associated trackable is currently visible or not

See Also:

getVuforiaCameraFromTarget()

getLastTrackedPoseVuforiaCamera

public OpenGLMatrix getLastTrackedPoseVuforiaCamera()

Returns the pose associated with the last known tracked location of this trackable, if any. This can be used to recall the last pose seen, even if the trackable is no longer visible.

Returns:

the pose associated with the last known tracked location of this trackable, if any.

See Also:

getVuforiaCameraFromTarget()

getLastTrackedRawPose

@Deprecated
public OpenGLMatrix getLastTrackedRawPose()

Deprecated. use getLastTrackedPoseVuforiaCamera() instead

getVuMarkInstanceId

public VuMarkInstanceId getVuMarkInstanceId()

Returns the instance id of the currently visible VuMark associated with this VuMark template, if any presently exists.

Returns:

the instance id of the currently visible VuMark

See Also:

VuMark template

onTracked

public void onTracked(TrackableResult trackableResult,
                      CameraName cameraName,
                      Camera camera,
                      VuforiaTrackable child)

onTracked(TrackableResult, CameraName, Camera, org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackable) is called by the system to notify the listener that its associated trackable is currently visible.

Specified by:

onTracked in interface VuforiaTrackable.Listener

Parameters:

trackableResult - the Vuforia trackable result object in which we were located

cameraName - the name of the camera used by Vuforia to track this object

camera - the Camera instance used in the tracking. Will be null if a built-in camera is used

onNotTracked

public void onNotTracked()

Called by the system to inform the trackable that it is no longer visible.

Specified by:

onNotTracked in interface VuforiaTrackable.Listener

addTrackable

public void addTrackable(VuforiaTrackable trackable)

Description copied from interface: VuforiaTrackable.Listener

Adds a trackable on which this VuforiaTrackable.Listener is listening. May not be called once tracking has begun. If the VuforiaTrackable.Listener is already listening to this trackable, then the call has no effect.

Specified by:

addTrackable in interface VuforiaTrackable.Listener