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Allow configuring maximum target count (#2338)

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Wave Robotics - 2826
2026-02-01 18:19:13 -06:00
committed by GitHub
parent 77457219c7
commit 09e6d45e77
30 changed files with 239 additions and 85 deletions
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19
photon-client/src/types/PipelineTypes.ts
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@@ -66,7 +66,7 @@ export interface PipelineSettings {
hsvHue: WebsocketNumberPair | [number, number];
ledMode: boolean;
hueInverted: boolean;
outputShowMultipleTargets: boolean;
outputMaximumTargets: number;
contourSortMode: number;
cameraExposureRaw: number;
cameraMinExposureRaw: number;
@@ -108,7 +108,7 @@ export type ConfigurablePipelineSettings = Partial<
// Omitted settings are changed for all pipeline types
export const DefaultPipelineSettings: Omit<
PipelineSettings,
"cameraGain" | "targetModel" | "ledMode" | "outputShowMultipleTargets" | "cameraExposureRaw" | "pipelineType"
"cameraGain" | "targetModel" | "ledMode" | "cameraExposureRaw" | "pipelineType"
> = {
offsetRobotOffsetMode: RobotOffsetPointMode.None,
streamingFrameDivisor: 0,
@@ -137,6 +137,7 @@ export const DefaultPipelineSettings: Omit<
offsetDualPointB: { x: 0, y: 0 },
hsvHue: { first: 50, second: 180 },
hueInverted: false,
outputMaximumTargets: 20,
contourSortMode: 0,
offsetSinglePoint: { x: 0, y: 0 },
cameraBrightness: 50,
@@ -166,7 +167,7 @@ export const DefaultReflectivePipelineSettings: ReflectivePipelineSettings = {
cameraGain: 20,
targetModel: TargetModel.InfiniteRechargeHighGoalOuter,
ledMode: true,
outputShowMultipleTargets: false,
outputMaximumTargets: 20,
cameraExposureRaw: 6,
pipelineType: PipelineType.Reflective,
@@ -197,7 +198,7 @@ export const DefaultColoredShapePipelineSettings: ColoredShapePipelineSettings =
cameraGain: 75,
targetModel: TargetModel.InfiniteRechargeHighGoalOuter,
ledMode: true,
outputShowMultipleTargets: false,
outputMaximumTargets: 20,
cameraExposureRaw: 20,
pipelineType: PipelineType.ColoredShape,
@@ -237,10 +238,9 @@ export const DefaultAprilTagPipelineSettings: AprilTagPipelineSettings = {
cameraGain: 75,
targetModel: TargetModel.AprilTag6p5in_36h11,
ledMode: false,
outputShowMultipleTargets: true,
outputMaximumTargets: 127,
cameraExposureRaw: 20,
pipelineType: PipelineType.AprilTag,
hammingDist: 0,
numIterations: 40,
decimate: 1,
@@ -278,13 +278,12 @@ export type ConfigurableArucoPipelineSettings = Partial<Omit<ArucoPipelineSettin
export const DefaultArucoPipelineSettings: ArucoPipelineSettings = {
...DefaultPipelineSettings,
cameraGain: 75,
outputShowMultipleTargets: true,
outputMaximumTargets: 127,
targetModel: TargetModel.AprilTag6p5in_36h11,
cameraExposureRaw: -1,
cameraAutoExposure: true,
ledMode: false,
pipelineType: PipelineType.Aruco,
tagFamily: AprilTagFamily.Family36h11,
threshWinSizes: { first: 11, second: 91 },
threshStepSize: 40,
@@ -316,7 +315,7 @@ export const DefaultObjectDetectionPipelineSettings: ObjectDetectionPipelineSett
cameraGain: 20,
targetModel: TargetModel.InfiniteRechargeHighGoalOuter,
ledMode: true,
outputShowMultipleTargets: false,
outputMaximumTargets: 20,
cameraExposureRaw: 6,
confidence: 0.9,
nms: 0.45,
@@ -335,7 +334,7 @@ export const DefaultCalibration3dPipelineSettings: Calibration3dPipelineSettings
cameraGain: 20,
targetModel: TargetModel.InfiniteRechargeHighGoalOuter,
ledMode: true,
outputShowMultipleTargets: false,
outputMaximumTargets: 1,
cameraExposureRaw: 6,
drawAllSnapshots: false
};