VisionPortal Overview

FIRST Tech Challenge introduces VisionPortal, a comprehensive new interface for vision processing.

• For FTC Blocks and Java teams, VisionPortal offers key capabilities of AprilTag and EasyOpenCV, along with TensorFlow Object Detection (TFOD) – at the same time!

  

  Dual Preview with both AprilTags and TensorFlow

  
  

• AprilTag detections include ID code and pose: tag location and orientation, relative to the camera.

• Camera Controls, which can improve AprilTag and TFOD performance for webcam, are now fully available to FTC Blocks users.

• Multiple cameras can operate at the same time – phone camera and/or webcam.

  

  Multiple Camera View

  
  

• Sample OpModes and new tools are available to operate and customize these features, including the Builder pattern.

• For heavy video processing, many options are available to manage CPU resources and USB bandwidth.

• DS and RC previews can be BIG!

  

  Full Screen Preview

Many other new and improved features await your discovery in VisionPortal and beyond.

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In preparation for the 2023-2024 CENTERSTAGE season, the new Software Development Kit (SDK) VisionPortal includes built-in support for AprilTag technology. Previously, Teams needed to download and incorporate external libraries, complicating the programming effort.

AprilTag is a popular vision technology for detecting a simple black-and-white tag, used to estimate position and orientation. In the 2022-2023 POWERPLAY game, many Teams enjoyed AprilTag’s reliable Autonomous performance for Signal Sleeve recognition.

Photo Credit: Mike Silversides

All sections of this Guide assume prior reading of the AprilTag Introduction .

The SDK describes AprilTag pose relative to the camera, by default. This computing process is called pose estimation, a term that emphasizes this is an estimate only, based on many factors including camera calibration. You must determine AprilTag’s best use for reaching your goals.

• AprilTag Introduction
• Vision Processor Initialization
• VisionPortal Initialization
• VisionPortal Previews
• AprilTag ID Codes
• AprilTag Metadata
• AprilTag Reference Frame
• AprilTag Camera Calibration
• AprilTag Pose
• AprilTag Library
• VisionPortal CPU and Bandwidth
• VisionPortal Camera Controls
• Vision Multiportal
• AprilTag Advanced Use

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Much credit to

• EasyOpenCV developer @Windwoes

• FTC Blocks developer @lizlooney

• FIRST Tech Challenge navigation expert @gearsincorg

• and the smart people at UMich/AprilTag.

Questions, comments and corrections to westsiderobotics@verizon.net