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!
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.
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!
Many other new and improved features await your discovery in VisionPortal and beyond.
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.
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
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 firstname.lastname@example.org