Merge pull request FIRST-Tech-Challenge#77 from IsaccBarker/milobanks…

…/integrate-base-tensorflow

Basic tensorflow implementation

TeamCode/src/main/java/org/rowlandhall/arc/autonomous/detection/ObjectDetection.java

@@ -0,0 +1,34 @@
+package org.rowlandhall.arc.detection;
+
+import org.tensorflow.lite.Interpreter;
+
+import java.util.Map;
+import java.util.HashMap;
+import java.io.File;
+
+public class ObjectDetection {
+ Interpreter interpreter;
+ Map<String, Object> inputs = new HashMap<>();
+ Map<String, Object> outputs = new HashMap<>();
+
+ public ObjectDetection() {
+ File model = new File("future_model_location.tflite");
+ interpreter = new Interpreter(model);
+ }
+
+ public void run(long[] frame) {
+ inputs.put("frame", frame);
+
+ // TODO: Figure out what these outputs should be
+ // TODO: after we train the model.
+
+ interpreter.runSignature(inputs, outputs);
+ }
+
+ // NOTE: This will be finished after we, again, figure out
+ // NOTE: what the outputs should be.
+ /* public UNKNOWN get_detected_boundaries() {
+ // Query the output map
+ } */
+} 
+

TeamCode/src/main/java/org/rowlandhall/arc/autonomous/sensor/webcam/WebcamPipeline.java

@@ -6,6 +6,8 @@
 import org.opencv.imgproc.Imgproc;
 import org.openftc.easyopencv.OpenCvPipeline;
 
+import org.rowlandhall.arc.detection.ObjectDetection;
+
 /** The OpenCV pipeline for the webcam; what all the frames go through
  * to get processed. */
 public class WebcamPipeline extends OpenCvPipeline {

build.dependencies.gradle

@@ -24,5 +24,8 @@ dependencies {
 
  // Roadrunner dependency
  implementation 'com.acmerobotics.dashboard:dashboard:0.4.3'
+
+ // Tensorflow lite
+ implementation 'org.tensorflow:tensorflow-lite:2.7.0'
 }