Webcam (HSV)

Set up your control hub webcam using the HSV vision processor

HSV track: no Limelight, no TensorFlow, no model but rather a pure color-threshold VisionProcessor runs on the Control Hub itself and reports ball candidates.

Detects in blobs based on color thresholding rather than a pre-trained Tensorflow model like the Limelight 3A

Prerequisites:

Webcam (Logitech recommended)
Control Hub
IDE code editor
MacOS, Linux, or Windows computer

Installation

Add BallDetectorPipeline.java in TeamCode/ of your FTC project
- DirectoryTeamCode
  - Directoryjava
    Directoryorg.firstinspires.ftc.teamcode
    BallDetectorPipeline.java //Add this
Paste in the code from here
Below that file in TeamCode/, add a file called BallBlobPipeline.java, this will act as your base program.
- DirectoryTeamCode
  - Directoryjava
    Directoryorg.firstinspires.ftc.teamcode
    BallDetectorPipeline.java
    BallBlobPipeline.java //Add this
Paste in the code from here

Register a new opmode with the following code, rename "Webcam 1" according to your webcam configuration name in the Driver Station.

DirectoryTeamCode
- Directoryjava
  - Directoryorg.firstinspires.ftc.teamcode
    BallDetectorPipeline.java
    BallBlobPipeline.java
    HiveVisionOpmode.java //Add this

import org.firstinspires.ftc.vision.VisionPortal;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.opencv.core.Size;

BallDetectorPipeline baller = new BallDetectorPipeline();

VisionPortal portal = new VisionPortal.Builder()
        .setCamera(hardwareMap.get(WebcamName.class, "Webcam 1"))
        .setCameraResolution(new Size(1280, 720))
        .addProcessor(baller)
        .enableLiveView(true)
        .build();

Add telemetry for your pipeline’s active detections within the same opmode.
```
BallDetectorPipeline.BallBlob red = baller.bestOf(BallDetectorPipeline.BallColor.RED);
if (red != null) {
        telemetry.addData("red", "cx=%.2f cy=%.2f", red.cxNorm, red.cyNorm);
}
```
bestOf(...) returns null when no blob of that color passes the gates, and a BallBlob with cxNorm / cyNorm (0–1 screen-relative, centered) otherwise. Colors are BallColor.YELLOW, BallColor.RED, BallColor.BLUE.
If your camera’s resolution is ** NOT 1920 x 1080**, follow these steps, otherwise continue to step 8.
Verify in 5 minutes
1. Deploy your code, and run your OpMode in the driver station, open camera stream with the right 3 dots
1. Put a pollen in the FOV of the webcam, to see an outline box around the entity
1. Slide in across the FOV to see the telemetry value cxNorm move from 0 to 1 (left to right)
1. Repeat the same with the blue and red nectar.

Success! Congratulations on setting up Hive Vision for your Webcam! Refer to the Usages panel, for how to apply this pipeline in FTC working code!