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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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50
photon-client/src/views/PipelineViews/TargetsTab.vue
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@@ -18,29 +18,43 @@
<th class="text-center">
Target
</th>
<th class="text-center" v-if="$store.getters.pipelineType === 4">
Fiducial ID
</th>
<template v-if="!$store.getters.currentPipelineSettings.solvePNPEnabled">
<th class="text-center">
Pitch
Pitch,&nbsp;&deg;
</th>
<th class="text-center">
Yaw
Yaw,&nbsp;&deg;
</th>
<th class="text-center">
Skew
Skew,&nbsp;&deg;
</th>
<th class="text-center">
Area, %
</th>
</template>
<th class="text-center">
Area
</th>
<template v-if="$store.getters.currentPipelineSettings.solvePNPEnabled">
<template v-else-if="$store.getters.pipelineType === 4 && $store.getters.currentPipelineSettings.solvePNPEnabled">
<th class="text-center">
X
X,&nbsp;m
</th>
<th class="text-center">
Y
Y,&nbsp;m
</th>
<th class="text-center">
Angle
Z Angle,&nbsp;&deg;
</th>
</template>
<template v-else-if="$store.getters.currentPipelineSettings.solvePNPEnabled">
<th class="text-center">
X,&nbsp;m
</th>
<th class="text-center">
Y,&nbsp;m
</th>
<th class="text-center">
Z Angle,&nbsp;&deg;
</th>
</template>
</tr>
@@ -51,17 +65,25 @@
:key="index"
>
<td>{{ index }}</td>
<td v-if="$store.getters.pipelineType === 4">
{{ parseInt(value.fiducialId) }}
</td>
<template v-if="!$store.getters.currentPipelineSettings.solvePNPEnabled">
<td>{{ parseFloat(value.pitch).toFixed(2) }}</td>
<td>{{ parseFloat(value.yaw).toFixed(2) }}</td>
<td>{{ parseFloat(value.skew).toFixed(2) }}</td>
<td>{{ parseFloat(value.area).toFixed(2) }}</td>
</template>
<td>{{ parseFloat(value.area).toFixed(2) }}</td>
<template v-if="$store.getters.currentPipelineSettings.solvePNPEnabled">
<!-- TODO: Make sure that units are correct -->
<template v-else-if="$store.getters.currentPipelineSettings.solvePNPEnabled && $store.getters.pipelineType === 4">
<td>{{ parseInt(value.fiducialId) }} </td>
<td>{{ parseFloat(value.pose.x).toFixed(2) }}&nbsp;m</td>
<td>{{ parseFloat(value.pose.y).toFixed(2) }}&nbsp;m</td>
<td>{{ parseFloat(value.pose.rot).toFixed(2) }}&deg;</td>
<td>{{ (parseFloat(value.pose.angle_z) * 180 / Math.PI).toFixed(2) }}&deg;</td>
</template>
<template v-else-if="$store.getters.currentPipelineSettings.solvePNPEnabled">
<td>{{ parseFloat(value.pose.x).toFixed(2) }}&nbsp;m</td>
<td>{{ parseFloat(value.pose.y).toFixed(2) }}&nbsp;m</td>
<td>{{ (parseFloat(value.pose.angle_z) * 180 / Math.PI).toFixed(2) }}&deg;</td>
</template>
</tr>
</tbody>