Required knowledge (#223)

* BKR Camera Client

* BKR Camera Settings

* BKR Camera Calibration

* BKR Camera Pointcloud

* BKR Camera ArUco detector

* Minor changes in text

* BKR GPS Client

* BKR Filter Client

* BKR Record a Track

* BRK Controller Track

* Link to our concepts pages for examples required knowledge

---------

Co-authored-by: Kyle Coble <53625197+Hackerman342@users.noreply.github.com>
Co-authored-by: Kyle Coble <kwc57@cornell.edu>

website/docs/concepts/controller_101/README.md

@@ -1,13 +1,13 @@
 ---
-id: create-and-propagate-poses
-title: Create and Propagate Poses
+id: tracks-and-waypoints
+title: Tracks & Waypoints
 ---
 
-## Understanding Transforms and Poses
+## Understanding Transforms & Poses
 
 Before we can send our robot out to drive a **track** (or **path**),
 we need to understand where our robot is and where we want to send it.
-For that purposes, please refer to **[Concepts - Transforms and Poses](/docs/concepts/transforms_and_poses)**
+For that purposes, please refer to **[Concepts - Transforms & Poses](/docs/concepts/transforms_and_poses)**
 before continuing on with this overview.
 
 ## Creating and Propagating Poses for the Controller

website/docs/concepts/transforms_and_poses/README.md

@@ -1,6 +1,6 @@
 ---
 id: transforms-and-poses
-title: Transforms and Poses
+title: Transforms & Poses
 ---
 
 ## Fundamental Concepts

website/docs/examples/camera_aruco_detector/README.md

@@ -3,6 +3,31 @@ id: camera-aruco-detector
 title: Camera Aruco Detector
 ---
 
+:::info Basic Knowledge Requirements
+
+Before diving into this code, here's a quick heads-up on what you'll need to be familiar with:
+
+1. **Python Programming**: It's important to have a good grasp of Python, especially with concepts
+like `functions`, `loops`, and `classes`, since the example utilizes these fundamentals.
+2. **Asynchronous Programming with asyncio**: Familiarity with Python's asyncio for writing concurrent
+code using the `async/await` syntax.
+3. **Understanding of ArUco Markers**: Understand what ArUco markers are and how they function.
+These markers are used for various applications in computer vision,
+most commonly for camera calibration and pose estimation,
+and this example specifically utilizes them for detecting their positions in image frames.
+4. **Familiarity with OpenCV's ArUco Library**: The example uses OpenCV's functionalities to handle ArUco
+markers, including detection and pose estimation.
+Knowledge of functions like `detectMarkers`, `drawDetectedMarkers`, and `estimatePoseSingleMarkers`
+is important.
+5. **Camera Calibration and 3D Geometry Concepts**: Knowledge of camera intrinsic parameters
+to compute the camera matrix and distortion coefficients.
+Knowing how these parameters influence the projection of 3D points onto a 2D image is important.
+6. **Experience with Image Processing and Decoding**: Users should be comfortable with image manipulation
+tasks, as the example involves converting images to grayscale for marker.
+7. **[farm-ng Oak Service Overview](/docs/concepts/oak_service/)**:
+This overview provides a base understanding of the gRPC service the client you create will connect to.
+:::
+
 ### [Link to `camera_aruco_detector/main.py`](https://github.com/farm-ng/farm-ng-amiga/blob/main-v2/py/examples/camera_aruco_detector/main.py)
 
 In this example we are going show how to implement a simple Aruco marker detector

website/docs/examples/camera_calibration/README.md

@@ -3,6 +3,20 @@ id: camera-calibration
 title: Camera Calibration
 ---
 
+:::info Basic Knowledge Requirements
+
+Before diving into this code, here's a quick heads-up on what you'll need to be familiar with:
+
+1. **Python Programming**: It's important to have a good grasp of Python, especially with concepts
+like `functions`, `loops`, and `classes`, since the example utilizes these fundamentals.
+2. **Asynchronous Programming with asyncio**: Familiarity with Python's asyncio for writing concurrent
+code using the `async/await` syntax.
+3. **Camera Calibration Concepts**: Basic knowledge about camera calibration, including what it is
+and why it's important, will help you understand the context and the results returned by the example.
+4. **[farm-ng Oak Service Overview](/docs/concepts/oak_service/)**:
+This overview provides a base understanding of the gRPC service the client you create will connect to.
+:::
+
 ## Camera Calibration
 
 This [example](https://github.com/farm-ng/farm-ng-amiga/blob/main-v2/py/examples/camera_calibration/main.py)

website/docs/examples/camera_client/README.md

@@ -3,6 +3,20 @@ id: camera-client
 title: Camera Client
 ---
 
+:::info Basic Knowledge Requirements
+
+Before diving into this code, here's a quick heads-up on what you'll need to be familiar with:
+
+1. **Python Programming**: It's important to have a good grasp of Python, especially with concepts
+like `functions`, `loops`, and `classes`, since the example utilizes these fundamentals.
+2. **Asynchronous Programming with asyncio**: Familiarity with Python's asyncio for writing concurrent
+code using the `async/await` syntax.
+3. **Image Processing with OpenCV**: Basic knowledge of the OpenCV library for handling and manipulating
+image data, including functions like `imdecode`, `applyColorMap`, and `imshow`.
+4. **[farm-ng Oak Service Overview](/docs/concepts/oak_service/)**:
+This overview provides a base understanding of the gRPC service the client you create will connect to.
+:::
+
 ### [Link to `camera_client/main.py`](https://github.com/farm-ng/farm-ng-amiga/blob/main-v2/py/examples/camera_client/main.py)
 
 This example operates as a standalone Python script,

website/docs/examples/camera_pointcloud/README.md

@@ -3,6 +3,25 @@ id: camera-pointcloud
 title: Camera Pointcloud
 ---
 
+:::info Basic Knowledge Requirements
+
+Before diving into this code, here's a quick heads-up on what you'll need to be familiar with:
+
+1. **Python Programming**: It's important to have a good grasp of Python, especially with concepts
+like `functions`, `loops`, and `classes`, since the example utilizes these fundamentals.
+2. **Asynchronous Programming with asyncio**: Familiarity with Python's asyncio for writing concurrent
+code using the `async/await` syntax.
+3. **3D Point Cloud Data**: Understanding the basics of 3D point cloud data.
+You should be familiar with concepts like depth maps and disparity maps, and how they can be
+converted into 3D representations of a scene.
+Knowledge of methods such as `depth_from_disparity` and `depth_to_3d_v2`, and data structures
+for representing 3D data (like tensors), will be especially helpful.
+4. **Image Decoding and Tensor Manipulation**: Understanding of image data decoding and manipulation,
+particularly using tensors.
+5. **[farm-ng Oak Service Overview](/docs/concepts/oak_service/)**:
+This overview provides a base understanding of the gRPC service the client you create will connect to.
+:::
+
 ## Camera Pointcloud
 
 The requirements to run [this example](https://github.com/farm-ng/farm-ng-amiga/blob/main-v2/py/examples/camera_pointcloud/main.py)

website/docs/examples/camera_settings/README.md

@@ -3,6 +3,21 @@ id: camera-settings
 title: Camera Settings
 ---
 
+:::info Basic Knowledge Requirements
+
+Before diving into this code, here's a quick heads-up on what you'll need to be familiar with:
+
+1. **Python Programming**: It's important to have a good grasp of Python, especially with concepts
+like `functions`, `loops`, and `classes`, since the example utilizes these fundamentals.
+2. **Asynchronous Programming with asyncio**: Familiarity with Python's asyncio for writing concurrent
+code using the `async/await` syntax.
+3. **Camera Configuration and Control**: Knowledge of camera settings and configurations
+(possibly specific to the OAK-D camera) would be beneficial for understanding how the camera
+settings are manipulated in the code.
+4. **[farm-ng Oak Service Overview](/docs/concepts/oak_service/)**:
+This overview provides a base understanding of the gRPC service the client you create will connect to.
+:::
+
 ## Camera Settings
 
 [This example](https://github.com/farm-ng/farm-ng-amiga/blob/main-v2/py/examples/camera_settings/main.py)

website/docs/examples/controller_square/README.md

@@ -3,6 +3,24 @@ id: controller-square
 title: Drive a Square
 ---
 
+:::info Basic Knowledge Requirements
+
+Before diving into this code, here's a quick heads-up on what you'll need to be familiar with:
+
+1. **Python Programming**: It's important to have a good grasp of Python, especially with concepts
+like `functions`, `loops`, and `classes`, since the example utilizes these fundamentals.
+2. **Asynchronous Programming with asyncio**: Familiarity with Python's asyncio for writing concurrent
+code using the `async/await` syntax.
+3. **[farm-ng Controller Service Overview](/docs/concepts/controller_service/)**:
+This overview provides a base understanding of the gRPC service the client you create will connect to.
+4. [**farm-ng Transforms & Poses Overview**](/docs/concepts/transforms_and_poses/):
+This overview provides insight into coordinate frames, transforms,
+and poses as they pertain to autonomous systems and autonomous navigation.
+5. [**farm-ng Tracks & Waypoints Overview**](/docs/concepts/controller_101/):
+This overview provides insight into compiling poses as waypoints into a Track
+that can be followed by the Amiga.
+:::
+
 # Controller Drive a Square Example
 
 :::caution Warning

website/docs/examples/controller_track/README.md

@@ -3,6 +3,24 @@ id: controller-track
 title: Follow a track
 ---
 
+:::info Basic Knowledge Requirements
+
+Before diving into this code, here's a quick heads-up on what you'll need to be familiar with:
+
+1. **Python Programming**: It's important to have a good grasp of Python, especially with concepts
+like `functions`, `loops`, and `classes`, since the example utilizes these fundamentals.
+2. **Asynchronous Programming with asyncio**: Familiarity with Python's asyncio for writing concurrent
+code using the `async/await` syntax.
+3. **[farm-ng Controller Service Overview](/docs/concepts/controller_service/)**:
+This overview provides a base understanding of the gRPC service the client you create will connect to.
+4. [**farm-ng Transforms & Poses Overview**](/docs/concepts/transforms_and_poses/):
+This overview provides insight into coordinate frames, transforms,
+and poses as they pertain to autonomous systems and autonomous navigation.
+5. [**farm-ng Tracks & Waypoints Overview**](/docs/concepts/controller_101/):
+This overview provides insight into compiling poses as waypoints into a Track
+that can be followed by the Amiga.
+:::
+
 # Controller Follow Track Example
 
 :::caution Warning

website/docs/examples/filter_client/README.md

@@ -3,6 +3,29 @@ id: filter-client
 title: Filter Client
 ---
 
+
+:::info Basic Knowledge Requirements
+
+Before diving into this code, here's a quick heads-up on what you'll need to be familiar with:
+
+1. **Python Programming**: It's important to have a good grasp of Python, especially with concepts
+like `functions`, `loops`, and `classes`, since the example utilizes these fundamentals.
+2. **Asynchronous Programming with asyncio**: Familiarity with Python's asyncio for writing concurrent
+code using the `async/await` syntax.
+3. **[farm-ng Filter Service Overview](/docs/concepts/filter_service/)**:
+This overview provides a base understanding of the gRPC service the client you create will connect to.
+4. [**farm-ng Transforms & Poses Overview**](/docs/concepts/transforms_and_poses/):
+This overview provides insight into coordinate frames, transforms,
+and poses as they pertain to autonomous systems and autonomous navigation.
+5. **Knowledge of State Estimation and Uncertainty**: The example deals with concepts of state estimation
+(pose, orientation) and the associated uncertainties.
+Understanding these concepts is important for interpreting the received data and how these
+might be used in downstream applications or enhancements.
+6. **Understanding of Kalman Filters, specifically the Unscented Kalman Filter (UKF)**:
+The client in this example is receiving state estimates that are the result of UKF computations.
+It may be helpful to understand how UKFs work, their limitations and functionalities.
+:::
+
 ### [Link to `filter_client/main.py`](https://github.com/farm-ng/farm-ng-amiga/blob/main-v2/py/examples/filter_client/main.py)
 
 This example streams the results from the state estimation filter running on the Amiga.

website/docs/examples/gps_client/README.md

@@ -3,6 +3,19 @@ id: gps-client
 title: GPS Client
 ---
 
+:::info Basic Knowledge Requirements
+
+Before diving into this code, here's a quick heads-up on what you'll need to be familiar with:
+
+1. **Python Programming**: It's important to have a good grasp of Python, especially with concepts
+like `functions`, `loops`, and `classes`, since the example utilizes these fundamentals.
+2. **Asynchronous Programming with asyncio**: Familiarity with Python's asyncio for writing concurrent
+code using the `async/await` syntax.
+3. **[farm-ng GPS Service Overview](/docs/concepts/gps_service/)**:
+This overview provides a base understanding of the gRPC service the client you create will connect to.
+This includes **GPS** (as PVT) & **RTK** (as RELPOSNED) messages.
+:::
+
 # GPS Client Example
 
 The [**GPS Client example**](https://github.com/farm-ng/farm-ng-amiga/blob/main-v2/py/examples/gps_client/main.py)

website/docs/examples/record_track/README.md

@@ -3,6 +3,24 @@ id: record-track
 title: Record a Track
 ---
 
+:::info Basic Knowledge Requirements
+
+Before diving into this code, here's a quick heads-up on what you'll need to be familiar with:
+
+1. **Python Programming**: It's important to have a good grasp of Python, especially with concepts
+like `functions`, `loops`, and `classes`, since the example utilizes these fundamentals.
+2. **Asynchronous Programming with asyncio**: Familiarity with Python's asyncio for writing concurrent
+code using the `async/await` syntax.
+3. **[farm-ng Filter Service Overview](/docs/concepts/filter_service/)**:
+This overview provides a base understanding of the gRPC service the client you create will connect to.
+4. [**farm-ng Transforms & Poses Overview**](/docs/concepts/transforms_and_poses/):
+This overview provides insight into coordinate frames, transforms,
+and poses as they pertain to autonomous systems and autonomous navigation.
+5. [**farm-ng Tracks & Waypoints Overview**](/docs/concepts/controller_101/):
+This overview provides insight into compiling poses as waypoints into a Track
+that can be followed by the Amiga.
+:::
+
 # Filter Track Recording Example
 
 :::caution Warning

website/sidebars.js

@@ -117,7 +117,7 @@ const sidebars = {
     {
       "Fundamental Concepts": [
         "concepts/transforms_and_poses/transforms-and-poses",
-        "concepts/controller_101/create-and-propagate-poses",
+        "concepts/controller_101/tracks-and-waypoints",
       ],
         "Service Overviews": [
         "concepts/canbus_service/canbus-overview",
@@ -174,8 +174,8 @@ const sidebars = {
           "examples/camera_client/camera-client",
           "examples/camera_settings/camera-settings",
           "examples/camera_calibration/camera-calibration",
-          "examples/camera_pointcloud/camera-pointcloud",
           "examples/camera_aruco_detector/camera-aruco-detector",
+          "examples/camera_pointcloud/camera-pointcloud",
         ],
         "label": "Camera Examples",
         "type": "category"