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Run multitag on coprocessor (#816)

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This commit is contained in:
Matt
2023-10-17 10:20:00 -04:00
committed by GitHub
parent ededc4f130
commit 47bd077bbb
72 changed files with 1708 additions and 1801 deletions
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2
photon-client/src/components/dashboard/tabs/Map3DTab.vue
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@@ -4,7 +4,7 @@ import type { PhotonTarget } from "@/types/PhotonTrackingTypes";
import { useStateStore } from "@/stores/StateStore";
import Photon3dVisualizer from "@/components/app/photon-3d-visualizer.vue";
const trackedTargets = computed<PhotonTarget[]>(() => useStateStore().pipelineResults?.targets || []);
const trackedTargets = computed<PhotonTarget[]>(() => useStateStore().currentPipelineResults?.targets || []);
</script>
<template>

28
photon-client/src/components/dashboard/tabs/OutputTab.vue
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@@ -40,6 +40,8 @@ const offsetPoints = computed<MetricItem[]>(() => {
}
});
const currentPipelineSettings = useCameraSettingsStore().currentPipelineSettings;
const interactiveCols = computed(
() =>
(getCurrentInstance()?.proxy.$vuetify.breakpoint.mdAndDown || false) &&
@@ -75,13 +77,37 @@ const interactiveCols = computed(
<cv-switch
v-model="useCameraSettingsStore().currentPipelineSettings.outputShowMultipleTargets"
label="Show Multiple Targets"
tooltip="If enabled, up to five targets will be displayed and sent to user code, instead of just one"
tooltip="If enabled, up to five targets will be displayed and sent via PhotonLib, instead of just one"
:disabled="isTagPipeline"
:switch-cols="interactiveCols"
@input="
(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ outputShowMultipleTargets: value }, false)
"
/>
<cv-switch
v-if="
currentPipelineSettings.pipelineType === PipelineType.AprilTag &&
useCameraSettingsStore().isCurrentVideoFormatCalibrated
"
v-model="currentPipelineSettings.doMultiTarget"
label="Do Multi-Target Estimation"
tooltip="If enabled, all visible fiducial targets will be used to provide a single pose estimate from their combined model."
:switch-cols="interactiveCols"
:disabled="!isTagPipeline"
@input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ doMultiTarget: value }, false)"
/>
<cv-switch
v-if="
currentPipelineSettings.pipelineType === PipelineType.AprilTag &&
useCameraSettingsStore().isCurrentVideoFormatCalibrated
"
v-model="currentPipelineSettings.doSingleTargetAlways"
label="Always Do Single-Target Estimation"
tooltip="If disabled, visible fiducial targets used for multi-target estimation will not also be used for single-target estimation."
:switch-cols="interactiveCols"
:disabled="!isTagPipeline || !currentPipelineSettings.doMultiTarget"
@input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ doSingleTargetAlways: value }, false)"
/>
<v-divider />
<table
v-if="useCameraSettingsStore().currentPipelineSettings.offsetRobotOffsetMode !== RobotOffsetPointMode.None"

34
photon-client/src/components/dashboard/tabs/TargetsTab.vue
View File

@@ -8,11 +8,10 @@ import { useStateStore } from "@/stores/StateStore";
<div>
<v-row align="start" class="pb-4" style="height: 300px">
<!-- Simple table height must be set here and in the CSS for the fixed-header to work -->
<v-simple-table fixed-header height="100%" dense dark>
<v-simple-table fixed-header dense dark>
<template #default>
<thead style="font-size: 1.25rem">
<tr>
<th class="text-center">Target Count</th>
<th
v-if="
useCameraSettingsStore().currentPipelineType === PipelineType.AprilTag ||
@@ -44,8 +43,7 @@ import { useStateStore } from "@/stores/StateStore";
</tr>
</thead>
<tbody>
<tr v-for="(target, index) in useStateStore().pipelineResults?.targets" :key="index">
<td>{{ index }}</td>
<tr v-for="(target, index) in useStateStore().currentPipelineResults?.targets" :key="index">
<td
v-if="
useCameraSettingsStore().currentPipelineType === PipelineType.AprilTag ||
@@ -63,7 +61,7 @@ import { useStateStore } from "@/stores/StateStore";
<template v-else-if="useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled">
<td>{{ target.pose?.x.toFixed(2) }}&nbsp;m</td>
<td>{{ target.pose?.y.toFixed(2) }}&nbsp;m</td>
<td>{{ ((target.pose?.angle_z * 180.0) / Math.PI).toFixed(2) }}&deg;</td>
<td>{{ (((target.pose?.angle_z || 0) * 180.0) / Math.PI).toFixed(2) }}&deg;</td>
</template>
<template
v-if="
@@ -71,13 +69,37 @@ import { useStateStore } from "@/stores/StateStore";
useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled
"
>
<td>{{ target.ambiguity?.toFixed(2) }}%</td>
<td>{{ target.ambiguity >= 0 ? target.ambiguity?.toFixed(2) + "%" : "(In Multi-Target)" }}</td>
</template>
</tr>
</tbody>
</template>
</v-simple-table>
</v-row>
<v-row
v-if="
useCameraSettingsStore().currentPipelineSettings.pipelineType === PipelineType.AprilTag &&
useCameraSettingsStore().currentPipelineSettings.doMultiTarget
"
align="start"
class="pb-4 white--text"
>
<v-card-subtitle>Multi-tag pose, field-to-camera</v-card-subtitle>
<v-simple-table fixed-header height="100%" dense dark>
<thead style="font-size: 1.25rem">
<th class="text-center">X meters</th>
<th class="text-center">Y meters</th>
<th class="text-center">Z Angle &theta;&deg;</th>
<th class="text-center">Tags</th>
</thead>
<tbody>
<td>{{ useStateStore().currentPipelineResults?.multitagResult?.bestTransform.x.toFixed(2) }}</td>
<td>{{ useStateStore().currentPipelineResults?.multitagResult?.bestTransform.y.toFixed(2) }}</td>
<td>{{ useStateStore().currentPipelineResults?.multitagResult?.bestTransform.angle_z.toFixed(2) }}</td>
<td>{{ useStateStore().currentPipelineResults?.multitagResult?.fiducialIDsUsed }}</td>
</tbody>
</v-simple-table>
</v-row>
</div>
</template>