Expose pose ambiguity (#483)

* Expose pose ambiguity

* Run spotless

* Add tooltips and expose number of iterations

photon-client/src/views/PipelineViews/AprilTagTab.vue

@@ -12,40 +12,55 @@
     <CVslider
       v-model="decimate"
       class="pt-2"
-      slider-cols="12"
+      slider-cols="8"
       name="Decimate"
       min="0"
       max="3"
       step=".5"
+      tooltip="Increases FPS at the expense of range by reducing image resolution initially"
       @input="handlePipelineData('decimate')"
     />
     <CVslider
       v-model="blur"
       class="pt-2"
-      slider-cols="12"
+      slider-cols="8"
       name="Blur"
       min="0"
       max="5"
       step=".01"
+      tooltip="Gaussian blur added to the image, high FPS cost for slightly decreased noise"
       @input="handlePipelineData('blur')"
     />
     <CVslider
       v-model="threads"
       class="pt-2"
-      slider-cols="12"
+      slider-cols="8"
       name="Threads"
       min="1"
       max="8"
       step="1"
+      tooltip="Number of threads spawned by the AprilTag detector"
       @input="handlePipelineData('threads')"
     />
     <CVswitch
       v-model="refineEdges"
       class="pt-2"
-      slider-cols="12"
+      slider-cols="8"
       name="Refine Edges"
+      tooltip="Further refines the apriltag corner position initial estimate, suggested left on"
       @input="handlePipelineData('refineEdges')"
     />
+    <CVslider
+      v-model="numIterations"
+      class="pt-2 pb-4"
+      slider-cols="8"
+      name="Pose Estimation Iterations"
+      min="0"
+      max="500"
+      step="1"
+      tooltip="Number of iterations the pose estimation algorithm will run, 50-100 is a good starting point"
+      @input="handlePipelineData('numIterations')"
+    />
   </div>
 </template>
 
@@ -82,6 +97,14 @@
                 this.$store.commit("mutatePipeline", {"decimate": val});
             }
           },
+          numIterations: {
+            get() {
+                return this.$store.getters.currentPipelineSettings.numIterations
+            },
+            set(val) {
+                this.$store.commit("mutatePipeline", {"numIterations": val});
+            }
+          },
           blur: {
             get() {
                 return this.$store.getters.currentPipelineSettings.blur

photon-client/src/views/PipelineViews/TargetsTab.vue

@@ -46,6 +46,11 @@
                   Z Angle, °
                 </th>
               </template>
+              <template v-if="$store.getters.pipelineType === 4 && $store.getters.currentPipelineSettings.solvePNPEnabled">
+                <th class="text-center" >
+                  Ambiguity
+                </th>
+              </template>
             </tr>
           </thead>
           <tbody>
@@ -73,6 +78,11 @@
                 <td>{{ parseFloat(value.pose.y).toFixed(2) }}&nbsp;m</td>
                 <td>{{ (parseFloat(value.pose.angle_z) * 180 / Math.PI).toFixed(2) }}&deg;</td>
               </template>
+              <template v-if="$store.getters.pipelineType === 4 && $store.getters.currentPipelineSettings.solvePNPEnabled">
+              <td>
+                {{ parseFloat(value.ambiguity).toFixed(2) }}
+              </td>
+              </template>
             </tr>
           </tbody>
         </template>