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Add 3D tracking of the 2025 Algae in Colored Shape pipelines (#1756)

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This commit is contained in:
Sam Liu
2025-02-01 17:11:01 -05:00
committed by GitHub
parent 99427d888a
commit be59e3a958
3 changed files with 23 additions and 2 deletions
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3
photon-client/src/components/dashboard/tabs/PnPTab.vue
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@@ -26,7 +26,8 @@ const interactiveCols = computed(() =>
{ name: '2020 Power Cell (7in)', value: TargetModel.CircularPowerCell7in },
{ name: '2022 Cargo Ball (9.5in)', value: TargetModel.RapidReactCircularCargoBall },
{ name: '2023 AprilTag 6in (16h5)', value: TargetModel.AprilTag6in_16h5 },
{ name: '2024 AprilTag 6.5in (36h11)', value: TargetModel.AprilTag6p5in_36h11 }
{ name: '2024 AprilTag 6.5in (36h11)', value: TargetModel.AprilTag6p5in_36h11 },
{ name: '2025 Algae (16.25in)', value: TargetModel.ReefscapeAlgae }
]"
:select-cols="interactiveCols"
@input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ targetModel: value }, false)"

3
photon-client/src/types/PipelineTypes.ts
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@@ -27,7 +27,8 @@ export enum TargetModel {
CircularPowerCell7in = 3,
RapidReactCircularCargoBall = 4,
AprilTag6in_16h5 = 5,
AprilTag6p5in_36h11 = 6
AprilTag6p5in_36h11 = 6,
ReefscapeAlgae = 7
}
export interface PipelineSettings {

19
photon-core/src/main/java/org/photonvision/vision/target/TargetModel.java
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@@ -108,6 +108,25 @@ public enum TargetModel implements Releasable {
-Units.inchesToMeters(9.5) / 2,
-Units.inchesToMeters(9.5) / 2)),
0),
k2025Algae(
List.of(
new Point3(
-Units.inchesToMeters(16.25) / 2,
-Units.inchesToMeters(16.25) / 2,
-Units.inchesToMeters(16.25) / 2),
new Point3(
-Units.inchesToMeters(16.25) / 2,
Units.inchesToMeters(16.25) / 2,
-Units.inchesToMeters(16.25) / 2),
new Point3(
Units.inchesToMeters(16.25) / 2,
Units.inchesToMeters(16.25) / 2,
-Units.inchesToMeters(16.25) / 2),
new Point3(
Units.inchesToMeters(16.25) / 2,
-Units.inchesToMeters(16.25) / 2,
-Units.inchesToMeters(16.25) / 2)),
0),
// 2023 AprilTag, with 6 inch marker width (inner black square).
@JsonAlias({"k6in_16h5"})
kAprilTag6in_16h5(