April Tags and OpenCV

good description of april tag pose 

github.com/openFTC/OpenCV-repackaged   Use this one now for openCV since we don't need to manually adb over the libopencv file!!!

Vision Portal Presentation 

• What's an AprilTag?

  • Looks kinda like a QR code, functions kinda like a Vuforia image (in that you can derive localization information from it).

  • https://april.eecs.umich.edu/software/apriltag

• Support for reading AprilTags in the SDK is provided by an external library developed by an FTC alumnus.

  • Instructions of how to update the build.gradle file for the TeamCode to add in the April Tag  module:https://github.com/OpenFTC/EOCV-AprilTag-Plugin

• Requires EasyOpenCV. See instructions here: https://github.com/OpenFTC/EasyOpenCV 

• So the first time that you add these new dependencies, you must be connected to the internet (not the robot), so it can download those dependencies.

1. adb connect 192.168.43.1:5555

2. adb push ~/Downloads/libOpenCvAndroid453.so   sdcard/FIRST/

3. response:  /Users/wppa/Downloads/libOpenCvAndroid453.so: 1 file pushed, 0 skipped. 3.9 MB/s (10737396 bytes in 2.639s)