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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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34
photon-client/src/components/dashboard/tabs/TargetsTab.vue
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@@ -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>