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Aruco/Multitag 36h11 support (#981)

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- Aruco pipeline now infers tag width from tag family like the AprilTag pipeline
- Removes unused Aruco and 200mm AprilTag models
- `VisionEstimation.estimateCamPosePNP()` now requires a target model instead of assuming 16h5
  - Multitarget pipeline similarly infers target model of tag family now
  - `PhotonPoseEstimator` can have target model set for on-rio multitarget

---------

Co-authored-by: amquake <noleetarrr@gmail.com>
This commit is contained in:
Sriman Achanta
2023-10-29 23:02:16 -04:00
committed by GitHub
parent d61225eba3
commit 0898dfe2f7
19 changed files with 98 additions and 74 deletions
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7
photon-client/src/components/dashboard/tabs/PnPTab.vue
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@@ -26,11 +26,8 @@ const interactiveCols = computed(
{ name: '2020 High Goal Outer', value: TargetModel.InfiniteRechargeHighGoalOuter },
{ name: '2020 Power Cell (7in)', value: TargetModel.CircularPowerCell7in },
{ name: '2022 Cargo Ball (9.5in)', value: TargetModel.RapidReactCircularCargoBall },
{ name: '200mm AprilTag', value: TargetModel.Apriltag_200mm },
{ name: '6in (16h5) Aruco', value: TargetModel.Aruco6in_16h5 },
{ name: '6in (16h5) AprilTag', value: TargetModel.Apriltag6in_16h5 },
{ name: '6.5in (36h11) Aruco', value: TargetModel.Aruco6p5in_36h11 },
{ name: '6.5in (36h11) AprilTag', value: TargetModel.Apriltag6p5in_36h11 }
{ name: '2023 AprilTag 6in (16h5)', value: TargetModel.AprilTag6in_16h5 },
{ name: '2024 AprilTag 6.5in (36h11)', value: TargetModel.AprilTag6p5in_36h11 }
]"
:select-cols="interactiveCols"
@input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ targetModel: value }, false)"

11
photon-client/src/types/PipelineTypes.ts
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@@ -26,11 +26,8 @@ export enum TargetModel {
InfiniteRechargeHighGoalOuter = 2,
CircularPowerCell7in = 3,
RapidReactCircularCargoBall = 4,
Apriltag_200mm = 5,
Aruco6in_16h5 = 6,
Apriltag6in_16h5 = 7,
Aruco6p5in_36h11 = 8,
Apriltag6p5in_36h11 = 9
AprilTag6in_16h5 = 5,
AprilTag6p5in_36h11 = 6
}
export interface PipelineSettings {
@@ -225,7 +222,7 @@ export type ConfigurableAprilTagPipelineSettings = Partial<
export const DefaultAprilTagPipelineSettings: AprilTagPipelineSettings = {
...DefaultPipelineSettings,
cameraGain: 75,
targetModel: TargetModel.Apriltag6in_16h5,
targetModel: TargetModel.AprilTag6in_16h5,
ledMode: false,
outputShowMultipleTargets: true,
cameraExposure: 20,
@@ -268,7 +265,7 @@ export type ConfigurableArucoPipelineSettings = Partial<Omit<ArucoPipelineSettin
export const DefaultArucoPipelineSettings: ArucoPipelineSettings = {
...DefaultPipelineSettings,
outputShowMultipleTargets: true,
targetModel: TargetModel.Aruco6in_16h5,
targetModel: TargetModel.AprilTag6in_16h5,
cameraExposure: -1,
cameraAutoExposure: true,
ledMode: false,