webcamView.java

package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;

import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.openftc.easyopencv.OpenCvCamera;
import org.openftc.easyopencv.OpenCvCameraFactory;
import org.openftc.easyopencv.OpenCvCameraRotation;
import org.openftc.easyopencv.OpenCvInternalCamera;
@TeleOp(name="openCv", group="test")
public class webcamView extends LinearOpMode {
    OpenCvCamera cam;
    ringPipeline pipeline;
    @Override
    public void runOpMode() {
        int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier("cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName());
        //cam = OpenCvCameraFactory.getInstance().createInternalCamera(OpenCvInternalCamera.CameraDirection.BACK, cameraMonitorViewId);
        cam = OpenCvCameraFactory.getInstance().createWebcam(hardwareMap.get(WebcamName.class, "Webcam 1"), cameraMonitorViewId);
        pipeline = new ringPipeline();
        cam.setPipeline(pipeline);
        cam.openCameraDeviceAsync(new OpenCvCamera.AsyncCameraOpenListener()
        {
            @Override
            public void onOpened()
            {
                /*
                 * Tell the camera to start streaming images to us! Note that you must make sure
                 * the resolution you specify is supported by the camera. If it is not, an exception
                 * will be thrown.
                 *
                 * Also, we specify the rotation that the camera is used in. This is so that the image
                 * from the camera sensor can be rotated such that it is always displayed with the image upright.
                 * For a front facing camera, rotation is defined assuming the user is looking at the screen.
                 * For a rear facing camera or a webcam, rotation is defined assuming the camera is facing
                 * away from the user.
                 */
                cam.startStreaming(320, 240, OpenCvCameraRotation.UPRIGHT);
            }
        });

        waitForStart();

        while(opModeIsActive()){
            telemetry.addData("rings", pipeline.getRings());
            telemetry.addData("ratio", pipeline.getRatio());
            double[] colors= pipeline.getColor();
            telemetry.addData("colors", "Y: " + colors[0] + " Cr: " + colors[1] + " Cb: " + colors[2]);
            telemetry.update();
            sleep(100);
        }
    }
}