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Initial AprilTag support (#458)

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(Very) beta AprilTag support in PhotonVision. Disables Picam GPU acceleration until we can debug auto exposure in the MMAL driver.

Co-authored-by: Banks Troutman <btrout.dhrs@gmail.com>
Co-authored-by: Matt <matthew.morley.ca@gmail.com>
Co-authored-by: Chris Gerth <gerth2@users.noreply.github.com>
Co-authored-by: Chris <chrisgerth010592@gmail.com>
Co-authored-by: mdurrani808 <mdurrani808@gmail.com>
This commit is contained in:
shueja-personal
2022-09-28 18:21:41 -07:00
committed by GitHub
parent a3bcd3ac4f
commit a764ace7f2
114 changed files with 21488 additions and 10851 deletions
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37
photon-client/src/views/PipelineView.vue
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@@ -34,7 +34,7 @@
:text-color="fpsTooLow ? 'white' : 'grey'"
>
<span class="pr-1">{{ Math.round($store.state.pipelineResults.fps) }}&nbsp;FPS &ndash;</span>
<span v-if="!fpsTooLow">{{ Math.min(Math.round($store.state.pipelineResults.latency), 100) }} ms latency</span>
<span v-if="!fpsTooLow">{{ Math.min(Math.round($store.state.pipelineResults.latency), 9999) }} ms latency</span>
<span v-else-if="!$store.getters.currentPipelineSettings.inputShouldShow">HSV thresholds are too broad; narrow them for better performance</span>
<span v-else>stop viewing the color stream for better performance</span>
</v-chip>
@@ -175,7 +175,7 @@
slider-color="accent"
>
<v-tab
v-for="(tab, i) in tabs.filter(it => it.name !== '3D' || $store.getters.currentPipelineSettings.solvePNPEnabled)"
v-for="(tab, i) in tabs"
:key="i"
>
{{ tab.name }}
@@ -262,6 +262,7 @@ import ContoursTab from './PipelineViews/ContoursTab';
import OutputTab from './PipelineViews/OutputTab';
import TargetsTab from "./PipelineViews/TargetsTab";
import PnPTab from './PipelineViews/PnPTab';
import AprilTagTab from './PipelineViews/AprilTagTab';
export default {
name: 'Pipeline',
@@ -274,6 +275,7 @@ export default {
OutputTab,
TargetsTab,
PnPTab,
AprilTagTab,
},
data() {
return {
@@ -308,6 +310,10 @@ export default {
name: "Contours",
component: "ContoursTab",
},
apriltag: {
name: "AprilTag",
component: "AprilTagTab",
},
output: {
name: "Output",
component: "OutputTab",
@@ -322,6 +328,11 @@ export default {
}
};
// If not in 3d, name "3D" is illegal
const allow3d = this.$store.getters.currentPipelineSettings.solvePNPEnabled;
// If in apriltag, "Threshold" and "Contours" are illegal -- otherwise "AprilTag" is
const isAprilTag = (this.$store.getters.currentPipelineSettings.pipelineType - 2) === 2;
// 2D array of tab names and component names; each sub-array is a separate tab group
let ret = [];
if (this.$vuetify.breakpoint.smAndDown || this.$store.getters.isDriverMode || (this.$vuetify.breakpoint.mdAndDown && !this.$store.state.compactMode)) {
@@ -329,22 +340,36 @@ export default {
ret[0] = Object.values(tabs);
} else if (this.$vuetify.breakpoint.mdAndDown || !this.$store.state.compactMode) {
// Two tab groups, one with "input, threshold, contours, output" and the other with "target info, 3D"
ret[0] = [tabs.input, tabs.threshold, tabs.contours, tabs.output];
ret[0] = [tabs.input, tabs.threshold, tabs.contours, tabs.apriltag, tabs.output];
ret[1] = [tabs.targets, tabs.pnp];
} else if (this.$vuetify.breakpoint.lgAndDown) {
// Three tab groups, one with "input", one with "threshold, contours, output", and the other with "target info, 3D"
ret[0] = [tabs.input];
ret[1] = [tabs.threshold, tabs.contours, tabs.output];
ret[1] = [tabs.threshold, tabs.contours, tabs.apriltag, tabs.output];
ret[2] = [tabs.targets, tabs.pnp];
} else if (this.$vuetify.breakpoint.xl) {
// Three tab groups, one with "input", one with "threshold, contours", and the other with "output, target info, 3D"
ret[0] = [tabs.input];
ret[1] = [tabs.threshold];
ret[2] = [tabs.contours, tabs.output];
ret[2] = [tabs.contours, tabs.apriltag, tabs.output];
ret[3] = [tabs.targets, tabs.pnp];
}
return ret;
for(let i = 0; i < ret.length; i++) {
const group = ret[i];
// All the tabs we allow
const filteredGroup = group.filter(it =>
!(!allow3d && it.name === "3D")
&& !(isAprilTag && (it.name === "Threshold"))
&& !(isAprilTag && (it.name === "Contours"))
&& !(!isAprilTag && it.name === "AprilTag")
);
ret[i] = filteredGroup;
}
// One last filter to remove empty lists
return ret.filter(it => it !== undefined && it.length > 0);
}
},
processingMode: {