Updating CENTERSTAGE-specific items

docs/source/game_specific_resources/playing_field_resources/playing_field_resources.rst

@@ -1,13 +1,9 @@
 Playing Field Resources
 =======================
 
-.. warning::
-   This page will not be updated until September 13, 2023. For the most current documents,
-   see https://www.firstinspires.org/resource-library/ftc/game-and-season-info
-
-.. figure:: images/PowerPlayField.png
+.. figure:: images/CenterStageField.png
 
-    Traditional Playing Field ~ POWERPLAY presented by Raytheon Technologies, 2022-2023
+    Traditional Playing Field ~ CENTERSTAGE presented by RTX, 2023-2024
 
 About the Playing Field
 ------------------------------------
@@ -19,26 +15,30 @@ in the official field drawings. The base field stays the same for all games but
 Traditional Field Setup Guide
 ------------------------------------
 
-.. only:: latex
+This document can be found here: `Traditional Field Setup Guide <https://firstinspiresst01.blob.core.windows.net/first-in-show-ftc/field-assembly-and-setup-guide.pdf>`__
 
-    `Traditional Field Setup Guide <https://firstinspiresst01.blob.core.windows.net/first-energize-ftc/field-setup-and-assembly-guide.pdf>`__
+.. only:: html
 
-.. raw:: html
+   .. raw:: html
 
-    <iframe id="iframepdf" src="https://firstinspiresst01.blob.core.windows.net/first-energize-ftc/field-setup-and-assembly-guide.pdf" width="100%" height="700"></iframe>
+       <iframe id="iframepdf" src="https://firstinspiresst01.blob.core.windows.net/first-in-show-ftc/field-assembly-and-setup-guide.pdf" width="100%" height="700"></iframe>
 
 |
 
 Remote Field Setup Guide
 ------------------------------------
 
-.. only:: latex
+- No Remote Field Setup Guide released yet.
 
-    `Remote Field Setup Guide <https://firstinspiresst01.blob.core.windows.net/first-energize-ftc/remote-field-requirements.pdf>`__
+.. comment
+   
+   .. only:: latex
 
-.. raw:: html
+       `Remote Field Setup Guide <https://firstinspiresst01.blob.core.windows.net/first-energize-ftc/remote-field-requirements.pdf>`__
 
-    <iframe id="iframepdf" src="https://firstinspiresst01.blob.core.windows.net/first-energize-ftc/remote-field-requirements.pdf" width="100%" height="700"></iframe>
+   .. raw:: html
 
-|
+       <iframe id="iframepdf" src="https://firstinspiresst01.blob.core.windows.net/first-energize-ftc/remote-field-requirements.pdf" width="100%" height="700"></iframe>
+
+   |
 

docs/source/index.rst

@@ -1,7 +1,7 @@
 .. meta::
    :title: FIRST Tech Challenge Documentation
    :description: The official home of FIRST Tech Challenge Documentation.
-   :keywords: FTC Control System, Control Hub, TensorFlow, PowerPlay, Blocks, OnBot Java, Android Studio, OpenCV, EasyOpenCV, AprilTags, FTC SDK, Robot Controller App, Driver Station App, Control Hub, Driver Hub, ftc-ml, IMU, Water Game
+   :keywords: FTC Control System, Control Hub, TensorFlow, CENTERSTAGE, Blocks, OnBot Java, Android Studio, OpenCV, EasyOpenCV, AprilTags, FTC SDK, Robot Controller App, Driver Station App, Control Hub, Driver Hub, ftc-ml, IMU, Water Game
 
 *FIRST* Tech Challenge documentation
 ====================================

docs/source/manuals/game_manuals/game_manuals.rst

@@ -1,10 +1,6 @@
 Game Manuals
 ============
 
-.. warning::
-   This page will not be updated until September 13, 2023. For the most current documents,
-   see https://www.firstinspires.org/resource-library/ftc/game-and-season-info
-
 Game Manuals can be found on the `Game and Season Materials page <https://www.firstinspires.org/resource-library/ftc/game-and-season-info>`__ on the *FIRST* Website. They are presented here for your convenience.
 
 .. only:: html
@@ -14,52 +10,52 @@ Game Manuals can be found on the `Game and Season Materials page <https://www.fi
 Game Manual Part 1 Traditional Events
 -------------------------------------
 
-.. only:: latex
+`Game Manual Part 1 Traditional Events <https://firstinspiresst01.blob.core.windows.net/first-in-show-ftc/game-manual-part-1-traditional.pdf>`__
 
-    `Game Manual Part 1 Traditional Events <https://www.firstinspires.org/sites/default/files/uploads/resource_library/ftc/game-manual-part-1-traditional-events.pdf>`__
+.. only:: html
 
-.. raw:: html
+   .. raw:: html
 
-    <iframe id="iframepdf" src="https://www.firstinspires.org/sites/default/files/uploads/resource_library/ftc/game-manual-part-1-traditional-events.pdf" width="100%" height="700"></iframe>
+       <iframe id="iframepdf" src="https://firstinspiresst01.blob.core.windows.net/first-in-show-ftc/game-manual-part-1-traditional.pdf" width="100%" height="700"></iframe>
 
 |
 
 Game Manual Part 2 Traditional Events
 -------------------------------------
 
-.. only:: latex
+`Game Manual Part 2 Traditional Events <https://firstinspiresst01.blob.core.windows.net/first-in-show-ftc/game-manual-part-2-traditional.pdf>`__
 
-    `Game Manual Part 2 Traditional Events <https://www.firstinspires.org/sites/default/files/uploads/resource_library/ftc/game-manual-part-2-traditional.pdf>`__
+.. only:: html
 
-.. raw:: html
+   .. raw:: html
 
-    <iframe id="iframepdf" src="https://www.firstinspires.org/sites/default/files/uploads/resource_library/ftc/game-manual-part-2-traditional.pdf"  width="100%" height="700"></iframe>
+       <iframe id="iframepdf" src="https://firstinspiresst01.blob.core.windows.net/first-in-show-ftc/game-manual-part-2-traditional.pdf"  width="100%" height="700"></iframe>
 
 |
 
 Game Manual Part 1 Remote Events
 --------------------------------
 
-.. only:: latex
+`Game Manual Part 1 Remote Events <https://firstinspiresst01.blob.core.windows.net/first-in-show-ftc/game-manual-part-1-remote.pdf>`__
 
-    `Game Manual Part 1 Remote Events <https://www.firstinspires.org/sites/default/files/uploads/resource_library/ftc/game-manual-part-1-remote-events.pdf>`__
+.. only:: html
 
-.. raw:: html
+   .. raw:: html
 
-    <iframe id="iframepdf" src="https://www.firstinspires.org/sites/default/files/uploads/resource_library/ftc/game-manual-part-1-remote-events.pdf"  width="100%" height="700"></iframe>
+       <iframe id="iframepdf" src="https://firstinspiresst01.blob.core.windows.net/first-in-show-ftc/game-manual-part-1-remote.pdf"  width="100%" height="700"></iframe>
 
 |
 
 Game Manual Part 2 Remote Events
 --------------------------------
 
-.. only:: latex
+`Game Manual Part 2 Remote Events <https://firstinspiresst01.blob.core.windows.net/first-in-show-ftc/game-manual-part-2-remote.pdf>`__
 
-    `Game Manual Part 2 Remote Events <https://www.firstinspires.org/sites/default/files/uploads/resource_library/ftc/game-manual-part-2-remote.pdf>`__
+.. only:: html
 
-.. raw:: html
+   .. raw:: html
 
-    <iframe id="iframepdf" src="https://www.firstinspires.org/sites/default/files/uploads/resource_library/ftc/game-manual-part-2-remote.pdf"  width="100%" height="700"></iframe>
+       <iframe id="iframepdf" src="https://firstinspiresst01.blob.core.windows.net/first-in-show-ftc/game-manual-part-2-remote.pdf"  width="100%" height="700"></iframe>
 
 |
 

docs/source/persona_pages/mentor_tech/mentor_tech.rst

@@ -89,13 +89,13 @@ Just click on the panel for the resource you want to explore!
 
          .. div:: col-sm pl-1 pr-1
 
-            .. button-ref:: ../../programming_resources/vision/tensorflow_pp_2022/tensorflow_pp_2022
+            .. button-ref:: ../../programming_resources/vision/tensorflow_cs_2023/tensorflow-cs-2023
                :ref-type: doc
                :color: black
                :outline:
                :expand:
 
-               TensorFlow in POWERPLAY
+               TensorFlow in CENTERSTAGE
 
    .. grid-item-card::
       :link: ../../cad_resources/index

docs/source/persona_pages/rookie_teams/rookie_teams.rst

@@ -51,13 +51,13 @@ resource you want to explore!
 
          .. div:: col-sm pl-1 pr-1
 
-            .. button-ref:: ../../programming_resources/vision/tensorflow_pp_2022/tensorflow_pp_2022
+            .. button-ref:: ../../programming_resources/vision/tensorflow_cs_2023/tensorflow-cs-2023
                :ref-type: doc
                :color: black
                :outline:
                :expand:
 
-               TensorFlow in POWERPLAY
+               TensorFlow in CENTERSTAGE
 
    .. grid-item-card::
       :class-header: sd-bg-secondary font-weight-bold sd-text-white

docs/source/persona_pages/veteran_teams/veteran_teams.rst

@@ -66,13 +66,13 @@ resource you want to explore!
 
          .. div:: col-sm pl-1 pr-1
 
-            .. button-ref:: ../../programming_resources/vision/tensorflow_pp_2022/tensorflow_pp_2022
+            .. button-ref:: ../../programming_resources/vision/tensorflow_cs_2023/tensorflow-cs-2023
                :ref-type: doc
                :color: black
                :outline:
                :expand:
 
-               TensorFlow in POWERPLAY
+               TensorFlow in CENTERSTAGE
 
    .. grid-item-card::
       :link: https://www.firstinspires.org/resource-library/ftc/team-outreach-and-marketing-resources

docs/source/programming_resources/index.rst

@@ -77,6 +77,7 @@ Topics for programming with AprilTags
 
    AprilTag Introduction <../apriltag/vision_portal/apriltag_intro/apriltag-intro>
    VisionPortal Overview <../apriltag/vision_portal/visionportal_overview/visionportal-overview>
+   Webcams for VisionPortal </apriltag/vision_portal/visionportal_webcams/visionportal-webcams>
    Understanding AprilTag Values <../apriltag/understanding_apriltag_detection_values/understanding-apriltag-detection-values>
    AprilTag Test Images <../apriltag/opmode_test_images/opmode-test-images>
 

docs/source/programming_resources/vision/vision_overview/vision-overview.rst

@@ -7,20 +7,21 @@ Introduction
 The *FIRST* Tech Challenge control system software has built-in support for two
 computer vision technologies:
 
-1. Vuforia -
-   `Vuforia <https://www.ptc.com/en/products/vuforia>`__
-   is PTC’s *augmented reality* technology. Teams can use Vuforia to
-   identify two-dimensional (2D) *image targets* and use these targets
-   as reference points for autonomous navigation.
+1. AprilTags -
+   :doc:`AprilTags <../../../apriltag/vision_portal/apriltag_intro/apriltag-intro>`
+   are fiducial markers similar in design to a QR code that can be used
+   for identification and localization. AprilTags are used as reference 
+   points for autonomous navigation and for assisted navigation and
+   identification of points of interest on a game field.
 
    -  Each season, FIRST provides 2D image tagets that can be used as
       navigational reference points.
-   -  If Vuforia recognizes an image target, it provides very accurate
-      information about the robot’s location relative to the target.
+   -  If the AprilTag system recognizes an AprilTag image, it provides 
+      very accurate pose information (assuming the camera used has 
+      calibration parameters for the working resolution) about the 
+      robot’s position relative to the target.
    -  A robot can use this information to navigate autonomously on the
       field.
-   -  Special Vuforia image targets, known as *VuMarks*, can also be
-      used to encode hidden game information on the field.
 
 2. TensorFlow Lite - `TensorFlow
    Lite <https://www.tensorflow.org/lite/>`__ is a lightweight version
@@ -34,39 +35,43 @@ computer vision technologies:
       the identified object.
    -  A robot can use this location information to navigate to the
       recognized object.
-   -  Note that in the control system, the TensorFlow software uses
-      the Vuforia software to “grab” images from the camera while it is
-      looking for or tracking game elements.
 
-      -  TensorFlow only uses Vuforia to get the camera images.
-      -  TensorFlow does all its own object detection and tracking
-         independently, without any other help from Vuforia.
+TensorFlow vs AprilTags
+-----------------------
 
-TensorFlow vs Vuforia
----------------------
-
-Vuforia Advantages
-~~~~~~~~~~~~~~~~~~
+AprilTag Advantages
+~~~~~~~~~~~~~~~~~~~
 
 -  Very efficient with a fast detection rate (estimated 15 to 20
-   detections per second).
--  Provides accurate, relative location of robot to target in field
-   coordinates.
+   detections per second, depending on decimation and target size).
+-  Provides accurate, relative pose information of camera to target 
+   in field coordinates.
+-  Is less prone to fluctuating or varied lighting conditions on 
+   the field.
 
-Vuforia Disadvantages
-~~~~~~~~~~~~~~~~~~~~~
+.. figure:: images/AprilTagTelemetry.jpg
+   :align: center
+   :width: 75%
+
+   AprilTag can provide accurate pose information to target
 
--  Only looks for 2D image targets.
--  Image targets must have a large amount of detail and uniqueness in
-   order to be accurate and useful.
--  Vuforia must see the image target clearly in order to calculate
-   location to the target.
 
-.. figure:: images/vuforiaDirectIndirect.jpg
+AprilTag Disadvantages
+~~~~~~~~~~~~~~~~~~~~~~
+
+-  The entire AprilTag must be in the camera view in order to be 
+   recognized, any occlusions render the object unprocessable.
+-  AprilTags must be included in the tag library in order to 
+   process pose information for the tag (tag size and value must
+   be known to the AprilTag system in advance).
+-  Cameras require calibration data for every resolution used 
+   in order to process correct pose information.
+
+.. figure:: images/AprilTagDual.jpg
    :align: center
+   :width: 75%
 
-   Vuforia provides accurate location info, but requires a clear view of
-   the image target.
+   AprilTags not in Tag Library detected, but no pose data available
 
 TensorFlow Advantages
 ~~~~~~~~~~~~~~~~~~~~~
@@ -86,6 +91,8 @@ TensorFlow Advantages
 TensorFlow Disadvantages
 ~~~~~~~~~~~~~~~~~~~~~~~~
 
+-  Training a TensorFlow model can be daunting at first. It requires a
+   lot of understanding of the TensorFlow training metrics and behaviors.
 -  TensorFlow is computationally intensive and has a low detection rate
    (an estimated 1 to 2 detections per second).
 -  If TensorFlow recognizes an object in its field of view, it only
@@ -94,24 +101,25 @@ TensorFlow Disadvantages
 
 .. figure:: images/tfodIndirect.jpg
    :align: center
+   :width: 75%
 
    TensorFlow can recognize actual objects (and not just 2D image targets).
 
 .. figure:: images/tfodDual.jpg
    :align: center
+   :width: 75%
 
    TensorFlow can be taught to distinguish between similar looking objects.
 
 Which Should I Use?
 ~~~~~~~~~~~~~~~~~~~
 
-The choice of whether to use TensorFlow Lite or Vuforia will be
+The choice of whether to use TensorFlow Lite or AprilTags will be
 influenced by factors such as distance-to-target, lighting, accuracy
-required, camera placement and etc..
-
-In the 2019-2020 challenge, the Skystone game element can be identified
-and tracked using either technology. Vuforia requires that the 2D image
-target on the face of the Skystone be visible for detection and
-tracking. TensorFlow can also recognize Stones in the 2019-2020
-challenge in addition to the Skystone elements. Either can be used to
-identify and track Skystones during a match.
+required, camera placement and etc.. 
+
+If the object and tag can always be guaranteed to be in a specific orientation
+and the tag fully visible, AprilTags are likely the best solution. However,
+if the object does not belong to you or a tag is not able to be physically 
+placed on the object, TensorFlow can be a good solution.
+