642 lines
30 KiB
Plaintext
642 lines
30 KiB
Plaintext
• [1]FIRST Official Team Resources
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• [2]Official Game Q&A
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[3] FIRST Tech Challenge Docs Logo
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0.3.0
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[4][ ]
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• [7]About the FIRST Tech Challenge
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• [8]Gracious Professionalism®
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Getting Started
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• [9]New Teams
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• [10]Returning Teams
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• [11]Coach (Administrative) Resources
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• [12]Technical Mentor Resources
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Game and Season-Specific Resources
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• [13]FIRST Tech Challenge Blog
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• [14]FIRST Tech Challenge Tech Tips
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• [15]AI Innovation Corner
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• [16]Competition Manual
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• [17]Game Q&A System
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• [18]Playing Field Resources
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• [19]Field Coordinate System
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Software Development Kit (SDK)
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• [20]Laptop Requirements
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• [21]SDK Overview
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• [22]Updating Components
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Control System Resources
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• [23]Control System Introduction
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• [24]Hardware Component Overview
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• [25]Hardware and Software Configuration
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• [26]FIRST Tech Challenge Self-Inspect
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• [27]Old Self-Inspect
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• [28]Programming Resources
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□ [29]Programming Tutorials
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□ [30]Supporting Documentation
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□ [31]AprilTag Programming
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☆ [32]AprilTag Introduction
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○ [33]Introduction
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○ [34]What is AprilTag?
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○ [35]AprilTag Pose
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○ [36]Navigation
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○ [37]Annotations
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○ [38]AprilTag Axes
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○ [39]Advanced Use
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○ [40]Summary
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☆ [41]VisionPortal Overview
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☆ [42]Webcams for VisionPortal
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☆ [43]Understanding AprilTag Values
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☆ [44]AprilTag Localization
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☆ [45]AprilTag Test Images
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☆ [46]AprilTag Challenges in DECODE presented by RTX
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□ [47]Vision Programming
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□ [48]Camera Color Processing
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□ [49]Advanced Topics
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□ [50]Additional FIRST Website Resources
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AprilTag Resources
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• [51]AprilTag Introduction
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□ [52]Introduction
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□ [53]What is AprilTag?
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□ [54]AprilTag Pose
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□ [55]Navigation
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□ [56]Annotations
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□ [57]AprilTag Axes
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□ [58]Advanced Use
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□ [59]Summary
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• [60]VisionPortal Overview
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• [61]Webcams for VisionPortal
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• [62]Understanding AprilTag Values
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• [63]AprilTag Localization
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• [64]AprilTag Test Images
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CAD Resources
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• [65]Computer Aided Design (CAD)
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Electrostatic Discharge
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• [66]Managing ESD Effects
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Manufacturing
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• [67]Manufacturing Methods
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Team Resources
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• [68]Common Team FAQs
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• [69]Team Complimentary Software
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• [70]Team Discounts
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• [71]Team Resources
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FTC Docs
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• [72]Booklets
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• [73]Archive
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• [74]Site Feedback Form
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• [75]Contributing to FTC Docs
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[76]FIRST Tech Challenge Docs
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• [77]
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• [78]Programming Resources
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• AprilTag Introduction
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•
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• [79] Edit on GitHub
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━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
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AprilTag Introduction[80]
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Introduction[81]
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A popular camera-based technology is AprilTag, a scanned image similar to a QR
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Code. Its effectiveness and quick set-up on custom Signal Sleeves led to wide
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adoption in POWERPLAY (2022-2023) by FIRST Tech Challenge teams, especially
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those programming in Java.
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[82]Dual Detection
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Photo Credit: Mike Silversides[83]
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Those POWERPLAY teams, including those using FTC Blocks, learned how to use
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several resources:
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• AprilTag: an open-source technology for evaluating formatted images
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• EasyOpenCV: a FIRST Tech Challenge-optimized interface with OpenCV, an
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image processing library
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• myBlocks: custom Blocks created in OnBot Java (OBJ)
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Now these three areas are provided, or bundled, in the FIRST Tech Challenge
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Software Development Kit (SDK), starting with version 8.2.
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Namely, key capabilities of AprilTag and EasyOpenCV are available to the Robot
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Controller (RC) and Driver Station (DS) apps, without special downloads. And
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AprilTag features are included in FTC Blocks, without needing custom myBlocks.
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The AprilTag features work on webcams and on Android RC phone cameras. A single
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OpMode can use AprilTag and Color Processing.
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In FIRST Tech Challenge, AprilTag is ready for the spotlight!
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What is AprilTag?[84]
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Developed at the [85]University of Michigan, AprilTag is like a 2D barcode or a
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simplified QR Code. It contains a numeric ID code and can be used for location
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and orientation.
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[86]AprilTag Robots
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AprilTags on Robots. Photo Credit: University of Michigan[87]
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AprilTag is a type of visual fiducial, or fiducial marker, containing
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information and designed for easy recognition.
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[88]Tag Families
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A sample of different AprilTag families[89]
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The above samples represent different formats, or families. A project typically
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uses a single AprilTag family.
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FIRST Tech Challenge uses a common family called 36h11. A PDF showing the
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numbers 0 through 20 from the 36h11 family can be downloaded here:
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• [90]AprilTag PDF 0-20
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Each number is the ID code of that tag.
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Here’s an AprilTag representing ID code 2. The SDK software recognizes and
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overlays the ID code onto the image (small blue rectangle ID 02).
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[91]Tag02 Preview
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Stream output showing the detected tag ID 02[92]
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The above image shows a camera preview image, called LiveView, from a Robot
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Controller device (Control Hub or RC phone).
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The AprilTag family 36h11 has a capacity of 587 ID codes. To see them all,
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follow this link:
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• [93]https://github.com/rgov/apriltag-pdfs/tree/main/tag36h11/us_letter/
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100mm
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The square AprilTag pattern contains smaller black and white squares, each
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called a pixel. A 36h11 tag contains 10 x 10 pixels, including an outer border
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of all white pixels and an inner border of all black pixels.
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Tag size is measured across the outside edge of the inner border which
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comprises the black pixels for 36h11.
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[94]Tag Size
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Figure demonstrating the tag size measurement[95]
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The above image shows a complete AprilTag with outer white border. From the
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36h11 family, its ID code is 42.
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AprilTag Pose[96]
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Beyond ID code, the new SDK also provides pose data, namely position and
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orientation (rotation) from the camera’s point of view. This requires a flat
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AprilTag, which was not possible with curved POWERPLAY Signal Sleeves.
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Let’s look again at the camera preview image, called LiveView, from a Robot
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Controller device (Control Hub or RC phone).
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[97]LiveView Image
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LiveView Image with additional markings for explanation purposes[98]
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Imagine a laser beam pointing straight outward from the center of the camera
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lens. Its 3-dimensional path appears (to the camera) as a single point,
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indicated by the green star. You can see that the center of the AprilTag (
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yellow star) is offset from that “laser beam”.
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That translation offset can break down into three traditional components (X, Y
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and Z distances), along axes at 90 degrees to each other:
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• X distance (horizontal orange line) is from the center, to the right
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• Y distance (not shown) is from the lens center, outwards
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• Z distance (vertical orange line) is from the center, upwards
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The SDK provides these distances in the real world, not just reporting how many
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pixels on the screen. Very useful!
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You can also see that the AprilTag’s flat face is not parallel to the plane of
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the camera. That rotation offset can break down into three angles about the X,
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Y and Z axes. This is discussed further in the section below, called AprilTag
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Axes.
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In summary, the SDK evaluates the AprilTag image and performs “pose estimation”
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, providing an estimated X, Y and Z distance between the tag and the camera,
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along with an estimated angle of rotation around those axes. A closer or larger
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AprilTag can yield a more accurate estimate of pose.
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To provide good pose estimates, each RC phone camera or webcam requires
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calibration data, for a specific resolution. The SDK contains such data for a
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limited number of webcams and resolutions. Teams can generate their own data,
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called lens intrinsics, using a provided procedure.
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Navigation[99]
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OpModes use AprilTag pose to achieve navigation: evaluating inputs and driving
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to a destination.
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An OpMode can use pose data to drive towards the tag, or drive to a target
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position and orientation relative to the tag. (The new SDK provides Java Sample
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OpModes RobotAutoDriveToAprilTagOmni.java and RobotAutoDriveToAprilTagTank.java
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.) Another navigation possibility is mentioned below under Advanced Use.
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Navigation is best done with continuous pose estimates, if the AprilTag remains
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within the camera’s field of view. Namely, an OpMode “while() loop” should
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regularly read the updated pose data, to guide the robot’s driving actions.
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The SDK supports multiple cameras, switchable or simultaneous. This can help if
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the robot changes direction, or you wish to navigate using another AprilTag (or
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Color Processing).
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Other sensors can also be used for navigation, such as drive motor encoders,
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REV Hub IMU, deadwheel encoders, color/distance sensors, ultrasonic sensors,
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and more.
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It’s also possible to evaluate non-AprilTag images from the same camera and/or
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a second camera. For example, the SDK can estimate the horizontal angle (or
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Bearing) of an object detected with Color Processing, another vision technology
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employed in FIRST Tech Challenge. Advanced teams might consider active camera
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pointing control, to keep an AprilTag or other object in view.
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Annotations[100]
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In the preview (RC phone screen or DS Camera Stream), an official recognized
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AprilTag will display a colored border and its numeric ID code. These
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annotations allow easy visual confirmation of recognition:
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[101]Simple Annotations
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Two AprilTags with different metadata being detected and annotations displayed
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[102]
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In the above [103]DS Camera Stream preview, the left-side AprilTag was
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recognized from a tag Library (default or customized). A Library tag has
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pre-loaded information (called Metadata) including its tag size, which allows
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pose estimation. These are annotated by default with a colored border.
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The right-side AprilTag was not in a tag Library. It has no Metadata, so the
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SDK can provide only its numeric ID code, shown here as ID 03. Such tags are
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not annotated by default with a colored border.
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Note: Camera Stream displays a snapshot of the camera’s view, on the Driver
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Station device. It’s available only during the INIT phase of an OpMode, and
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also shows any AprilTag (or Color Processing) annotations. Instructions are
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posted here:
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• [104]Camera Stream Image Preview Documentation
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Optional annotations include colored axes at the tag center, and a colored box
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projecting from the tag image:
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[105]Optional Annotations
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LiveView with additional annotations enabled[106]
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The above image shows a preview (called LiveView) on an Android Robot
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Controller (RC) phone. The REV Control Hub does generate an RC preview, which
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can be seen with an HDMI external monitor, or with scrcpy which can be found
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here:
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• [107]https://github.com/Genymobile/scrcpy
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AprilTag Axes[108]
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The SDK now provides the underlying pose data as follows:
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• Position is based on X, Y and Z distance from the camera lens to the
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AprilTag.
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• Orientation is based on rotation about those axes, using the right-hand
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rule.
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Note: the optional red-green-blue annotated axes represent the tag’s frame of
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reference, unrelated to SDK pose data. That annotation indicates only a
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successful AprilTag recognition.
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Here are the axis designations in the new SDK:
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• Y axis points straight outward from the camera lens center
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• X axis points to the right, perpendicular to the Y axis
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• Z axis points upward, perpendicular to Y and X
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If the camera is upright and pointing forward on the robot, these axes are
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consistent with the Robot Coordinate System used for [109]IMU navigation.
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Note: these axes are different than the official AprilTag [110]definitions,
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even from the camera’s frame of reference.
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The SDK provides AprilTag rotation data as follows:
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• Pitch is the measure of rotation about the X axis
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• Roll is the measure of rotation about the Y axis
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• Heading, or Yaw, is the measure of rotation about the Z axis
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Rotation follows the traditional right-hand rule: with the thumb pointing along
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the positive axis, the fingers curl in the direction of positive rotation.
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Further discussion is provided here:
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[111]Understanding AprilTag Detection Values
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Note: This article does not discuss the FIRST Tech Challenge [112]Field
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Coordinate System.
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Your OpModes might relate robot orientation to the overall field or [113]
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‘global coordinates’ for navigation, but that’s beyond this AprilTag
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introduction.
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Advanced Use[114]
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Option 1
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If a tag’s position and orientation on the game field are specified in advance,
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the tag’s pose data could be used by an advanced OpMode to calculate the
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robot’s position on the field. This conversion math, an exercise for the
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reader, can allow a robot to use the tag’s pose data in real-time to navigate
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to the desired location on the field.
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Option 2
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Vision processing can consume significant CPU resources and USB communications
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bandwidth. FIRST Tech Challenge teams may balance the benefits of higher
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resolution and speed (frames-per-second) against the risk of overloading CPU
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and bandwidth resources. The SDK 8.2 or later provides numerous tools to manage
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this balance:
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• select the camera resolution
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• disable and enable the RC preview (called LiveView)
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• disable and enable the AprilTag (or Color Processing) processor
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• close the camera stream
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• select a compressed video streaming format
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• measure frames-per-second
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• set decimation (down-sampling)
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• select a pose solver algorithm
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Option 3
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Clearer camera images can improve AprilTag (and Color Processing) vision
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processing. The SDK offers powerful webcam controls (Exposure, Gain, Focus, and
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more), also available in FTC Blocks! These controls can be applied under
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various lighting conditions.
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Exposure and Gain are adjusted together. The SDK offers Java Sample OpMode
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ConceptAprilTagOptimizeExposure.java.
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Option 4
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The frame of reference described above in AprilTag Axes is calculated and
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provided by default in the 8.2 SDK or later. Advanced teams may prefer to
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perform their own pose calculations, based on raw values from the AprilTag/
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EasyOpenCV pipeline.
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Those raw values are available to Java and Blocks programmers. The Java version
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is shown here:
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for (AprilTagDetection detection : aprilTag.getDetections()) {
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Orientation rot = Orientation.getOrientation(detection.rawPose.R, AxesReference.INTRINSIC, AxesOrder.XYZ, AngleUnit.DEGREES);
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// Original source data
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double poseX = detection.rawPose.x;
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double poseY = detection.rawPose.y;
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double poseZ = detection.rawPose.z;
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double poseAX = rot.firstAngle;
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double poseAY = rot.secondAngle;
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double poseAZ = rot.thirdAngle;
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}
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These raw values are converted by the SDK to the default interface, as follows:
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if (detection.rawPose != null) {
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detection.ftcPose = new AprilTagPoseFtc();
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detection.ftcPose.x = detection.rawPose.x;
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detection.ftcPose.y = detection.rawPose.z;
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detection.ftcPose.z = -detection.rawPose.y;
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Orientation rot = Orientation.getOrientation(detection.rawPose.R, AxesReference.INTRINSIC, AxesOrder.YXZ, outputUnitsAngle);
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detection.ftcPose.yaw = -rot.firstAngle;
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detection.ftcPose.roll = rot.thirdAngle;
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detection.ftcPose.pitch = rot.secondAngle;
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detection.ftcPose.range = Math.hypot(detection.ftcPose.x, detection.ftcPose.y);
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detection.ftcPose.bearing = outputUnitsAngle.fromUnit(AngleUnit.RADIANS, Math.atan2(-detection.ftcPose.x, detection.ftcPose.y));
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detection.ftcPose.elevation = outputUnitsAngle.fromUnit(AngleUnit.RADIANS, Math.atan2(detection.ftcPose.z, detection.ftcPose.y));
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}
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Again, further discussion is provided here:
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[115]Understanding AprilTag Detection Values
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Summary[116]
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AprilTag is a popular camera-based technology, using a scanned image similar to
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a QR Code.
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The SDK version 8.2 or later includes key capabilities of AprilTag and
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EasyOpenCV, a FIRST Tech Challenge-optimized interface with OpenCV for image
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processing. These methods are packaged for convenient use by Java and Blocks
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programmers.
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By default, the SDK can detect the ID code for any AprilTag in the 36h11
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family.
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For AprilTags in a default or custom tag Library, the interface provides
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calculated pose estimates (position and rotation) from the camera’s frame of
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reference. The source data is also available for advanced teams.
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The AprilTag features work on Android RC phone cameras, and on webcams. Each
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camera requires calibration data, for a specific resolution, to provide good
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pose estimates.
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Multiple cameras are supported, and a single OpMode can use AprilTag and Color
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Processing. AprilTag detection is improved with webcam Camera Controls,
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available also in FTC Blocks.
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In FIRST Tech Challenge, AprilTag is ready to take CENTERSTAGE!
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━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
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Much credit to:
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• EasyOpenCV developer [117]@Windwoes
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• FTC Blocks developer [118]@lizlooney
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• FTC navigation expert [119]@gearsincorg
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• and the smart people at [120]UMich/AprilTag.
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Questions, comments and corrections to [121]westsiderobotics@verizon.net
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[122] Previous [123]Next
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━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
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© 2025 FIRST
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[124]Terms of Service
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[125]Privacy Policy
|
||
|
||
[126]Report an Incident
|
||
|
||
Season Presenting Sponsor RTX
|
||
|
||
References:
|
||
|
||
[1] https://ftc-resources.firstinspires.org/ftc/game
|
||
[2] https://ftc-qa.firstinspires.org/
|
||
[3] https://ftc-docs.firstinspires.org/en/latest/index.html
|
||
[7] https://ftc-docs.firstinspires.org/en/latest/overview/ftcoverview.html
|
||
[8] https://ftc-docs.firstinspires.org/en/latest/gracious_professionalism/gp.html
|
||
[9] https://ftc-docs.firstinspires.org/en/latest/persona_pages/rookie_teams/rookie_teams.html
|
||
[10] https://ftc-docs.firstinspires.org/en/latest/persona_pages/veteran_teams/veteran_teams.html
|
||
[11] https://ftc-docs.firstinspires.org/en/latest/persona_pages/coach_admin/coach_admin.html
|
||
[12] https://ftc-docs.firstinspires.org/en/latest/persona_pages/mentor_tech/mentor_tech.html
|
||
[13] https://ftc-docs.firstinspires.org/en/latest/game_specific_resources/blog/blog.html
|
||
[14] https://ftc-docs.firstinspires.org/en/latest/tech_tips/tech-tips.html
|
||
[15] https://ftc-docs.firstinspires.org/en/latest/ai/innovation_corner/innovation-corner.html
|
||
[16] https://ftc-docs.firstinspires.org/en/latest/manuals/game_manuals/game_manuals.html
|
||
[17] https://ftc-docs.firstinspires.org/en/latest/game_specific_resources/ftcqa/ftcqa.html
|
||
[18] https://ftc-docs.firstinspires.org/en/latest/game_specific_resources/playing_field_resources/playing_field_resources.html
|
||
[19] https://ftc-docs.firstinspires.org/en/latest/game_specific_resources/field_coordinate_system/field-coordinate-system.html
|
||
[20] https://ftc-docs.firstinspires.org/en/latest/programming_resources/laptops/laptops.html
|
||
[21] https://ftc-docs.firstinspires.org/en/latest/ftc_sdk/overview/index.html
|
||
[22] https://ftc-docs.firstinspires.org/en/latest/ftc_sdk/updating/index.html
|
||
[23] https://ftc-docs.firstinspires.org/en/latest/programming_resources/shared/control_system_intro/The-FTC-Control-System.html
|
||
[24] https://ftc-docs.firstinspires.org/en/latest/control_hard_compon/index.html
|
||
[25] https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/index.html
|
||
[26] https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/self_inspect/new-self-inspect.html
|
||
[27] https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/self_inspect/self-inspect.html
|
||
[28] https://ftc-docs.firstinspires.org/en/latest/programming_resources/index.html
|
||
[29] https://ftc-docs.firstinspires.org/en/latest/programming_resources/index.html#programming-tutorials
|
||
[30] https://ftc-docs.firstinspires.org/en/latest/programming_resources/index.html#supporting-documentation
|
||
[31] https://ftc-docs.firstinspires.org/en/latest/programming_resources/index.html#apriltag-programming
|
||
[32] https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html#
|
||
[33] https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html#introduction
|
||
[34] https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html#what-is-apriltag
|
||
[35] https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html#apriltag-pose
|
||
[36] https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html#navigation
|
||
[37] https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html#annotations
|
||
[38] https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html#apriltag-axes
|
||
[39] https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html#advanced-use
|
||
[40] https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html#summary
|
||
[41] https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/visionportal_overview/visionportal-overview.html
|
||
[42] https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/visionportal_webcams/visionportal-webcams.html
|
||
[43] https://ftc-docs.firstinspires.org/en/latest/apriltag/understanding_apriltag_detection_values/understanding-apriltag-detection-values.html
|
||
[44] https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_localization/apriltag-localization.html
|
||
[45] https://ftc-docs.firstinspires.org/en/latest/apriltag/opmode_test_images/opmode-test-images.html
|
||
[46] https://ftc-docs.firstinspires.org/en/latest/apriltag/apriltag_tips/decode_apriltag/decode-apriltag.html
|
||
[47] https://ftc-docs.firstinspires.org/en/latest/programming_resources/index.html#vision-programming
|
||
[48] https://ftc-docs.firstinspires.org/en/latest/programming_resources/index.html#camera-color-processing
|
||
[49] https://ftc-docs.firstinspires.org/en/latest/programming_resources/index.html#advanced-topics
|
||
[50] https://ftc-docs.firstinspires.org/en/latest/programming_resources/index.html#additional-first-website-resources
|
||
[51] https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html#
|
||
[52] https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html#introduction
|
||
[53] https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html#what-is-apriltag
|
||
[54] https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html#apriltag-pose
|
||
[55] https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html#navigation
|
||
[56] https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html#annotations
|
||
[57] https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html#apriltag-axes
|
||
[58] https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html#advanced-use
|
||
[59] https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html#summary
|
||
[60] https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/visionportal_overview/visionportal-overview.html
|
||
[61] https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/visionportal_webcams/visionportal-webcams.html
|
||
[62] https://ftc-docs.firstinspires.org/en/latest/apriltag/understanding_apriltag_detection_values/understanding-apriltag-detection-values.html
|
||
[63] https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_localization/apriltag-localization.html
|
||
[64] https://ftc-docs.firstinspires.org/en/latest/apriltag/opmode_test_images/opmode-test-images.html
|
||
[65] https://ftc-docs.firstinspires.org/en/latest/cad_resources/index.html
|
||
[66] https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/managing_esd/managing-esd.html
|
||
[67] https://ftc-docs.firstinspires.org/en/latest/manufacturing/index.html
|
||
[68] https://ftc-docs.firstinspires.org/en/latest/faq/faqs.html
|
||
[69] https://ftc-docs.firstinspires.org/en/latest/sponsors/software/software.html
|
||
[70] https://ftc-docs.firstinspires.org/en/latest/sponsors/discounts/discounts.html
|
||
[71] https://ftc-docs.firstinspires.org/en/latest/team_resources/team_resources.html
|
||
[72] https://ftc-docs.firstinspires.org/en/latest/booklets/index.html
|
||
[73] https://ftc-docs.firstinspires.org/projects/ftcdocs-archive/en/latest/index.html
|
||
[74] https://ftc-docs.firstinspires.org/en/latest/ftc_docs/form/form.html
|
||
[75] https://ftc-docs.firstinspires.org/en/latest/contrib/index.html
|
||
[76] https://ftc-docs.firstinspires.org/en/latest/index.html
|
||
[77] https://ftc-docs.firstinspires.org/en/latest/index.html
|
||
[78] https://ftc-docs.firstinspires.org/en/latest/programming_resources/index.html
|
||
[79] https://github.com/FIRST-Tech-Challenge/ftcdocs/blob/main/docs/source/apriltag/vision_portal/apriltag_intro/apriltag-intro.rst
|
||
[80] https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html#apriltag-introduction
|
||
[81] https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html#introduction
|
||
[82] https://ftc-docs.firstinspires.org/en/latest/_images/005-AprilTag-Worlds.png
|
||
[83] https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html#id1
|
||
[84] https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html#what-is-apriltag
|
||
[85] https://april.eecs.umich.edu/software/apriltag
|
||
[86] https://ftc-docs.firstinspires.org/en/latest/_images/010-apriltagrobots.png
|
||
[87] https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html#id2
|
||
[88] https://ftc-docs.firstinspires.org/en/latest/_images/020-Sample-Tags.png
|
||
[89] https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html#id3
|
||
[90] https://ftc-docs.firstinspires.org/en/latest/_downloads/ba0d87cc0d392ad0bad054d4b81e9077/AprilTag_0-20_family36h11.pdf
|
||
[91] https://ftc-docs.firstinspires.org/en/latest/_images/080-CH-LiveView-ID-code.png
|
||
[92] https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html#id4
|
||
[93] https://github.com/rgov/apriltag-pdfs/tree/main/tag36h11/us_letter/100mm
|
||
[94] https://ftc-docs.firstinspires.org/en/latest/_images/100-Tag-size-42.png
|
||
[95] https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html#id5
|
||
[96] https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html#apriltag-pose
|
||
[97] https://ftc-docs.firstinspires.org/en/latest/_images/200-CH-LiveView-offsets-crop.png
|
||
[98] https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html#id6
|
||
[99] https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html#navigation
|
||
[100] https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html#annotations
|
||
[101] https://ftc-docs.firstinspires.org/en/latest/_images/280-DS-preview.png
|
||
[102] https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html#id7
|
||
[103] https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/configuring_external_webcam/configuring-external-webcam.html#image-preview
|
||
[104] https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/configuring_external_webcam/configuring-external-webcam.html#image-preview
|
||
[105] https://ftc-docs.firstinspires.org/en/latest/_images/300-RC-preview.png
|
||
[106] https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html#id8
|
||
[107] https://github.com/Genymobile/scrcpy
|
||
[108] https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html#apriltag-axes
|
||
[109] https://ftc-docs.firstinspires.org/en/latest/programming_resources/imu/imu.html#axes-definition
|
||
[110] https://github.com/AprilRobotics/apriltag/wiki/AprilTag-User-Guide#coordinate-system
|
||
[111] https://ftc-docs.firstinspires.org/en/latest/apriltag/understanding_apriltag_detection_values/understanding-apriltag-detection-values.html#understanding-apriltag-detection-values
|
||
[112] https://ftc-docs.firstinspires.org/en/latest/game_specific_resources/field_coordinate_system/field-coordinate-system.html#scope
|
||
[113] https://ftc-docs.firstinspires.org/en/latest/_downloads/7b8fbccb111a19eb3efa9eb3685a25fe/FTC-Global-Coordinates.png
|
||
[114] https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html#advanced-use
|
||
[115] https://ftc-docs.firstinspires.org/en/latest/apriltag/understanding_apriltag_detection_values/understanding-apriltag-detection-values.html#understanding-apriltag-detection-values
|
||
[116] https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html#summary
|
||
[117] https://github.com/Windwoes
|
||
[118] https://github.com/lizlooney
|
||
[119] https://github.com/gearsincorg
|
||
[120] https://april.eecs.umich.edu/software/apriltag
|
||
[121] mailto:westsiderobotics%40verizon.net
|
||
[122] https://ftc-docs.firstinspires.org/en/latest/programming_resources/shared/managing_smartphone_rc/Managing-a-Smartphone-Robot-Controller.html
|
||
[123] https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/visionportal_overview/visionportal-overview.html
|
||
[124] https://ftc-docs.firstinspires.org/en/latest/tos/tos.html
|
||
[125] https://www.firstinspires.org/privacy-policy
|
||
[126] https://www.firstinspires.org/programs/youth-protection-program
|