Add tag16h5 support (#584)

* Fix target dropdown

* Add hamming and decision margin to UI, pipeline

* Run spotless

* Update index.html

* Update index.html

* Implement second apriltag size

photon-client/src/store/index.js

@@ -97,6 +97,8 @@ export default new Vuex.Store({
                     debug: false,
                     refineEdges: true,
                     numIterations: 1,
+                    decisionMargin: 0,
+                    hammingDist: 0,
                 }
             }
         ],

photon-client/src/views/PipelineViews/AprilTagTab.vue

@@ -7,7 +7,18 @@
       item-color="secondary"
       label="Select target family"
       :items="familyList"
-      @input="handlePipelineUpdate('tagFamily', targetList.indexOf(selectedModel))"
+      @input="handlePipelineUpdate('tagFamily', familyList.indexOf(selectedFamily))"
+    />
+    <v-select
+      v-model="selectedModel"
+      dark
+      color="accent"
+      item-color="secondary"
+      label="Select a target model"
+      :items="targetList"
+      item-text="name"
+      item-value="data"
+      @input="handlePipelineUpdate('targetModel', targetList.indexOf(selectedModel) + 6)"
     />
     <CVslider
       v-model="decimate"
@@ -50,6 +61,28 @@
       tooltip="Further refines the apriltag corner position initial estimate, suggested left on"
       @input="handlePipelineData('refineEdges')"
     />
+    <CVslider
+      v-model="hammingDist"
+      class="pt-2 pb-4"
+      slider-cols="8"
+      name="Max error bits"
+      min="0"
+      max="10"
+      step="1"
+      tooltip="Maximum number of error bits to correct; potential tags with more will be thrown out. For smaller tags (like 16h5), set this as low as possible."
+      @input="handlePipelineData('hammingDist')"
+    />
+    <CVslider
+      v-model="decisionMargin"
+      class="pt-2 pb-4"
+      slider-cols="8"
+      name="Decision Margin Cutoff"
+      min="0"
+      max="250"
+      step="1"
+      tooltip="Tags with a 'margin' (decoding quality score) less than this wil be rejected. Increase this to reduce the number of false positive detections"
+      @input="handlePipelineData('decisionMargin')"
+    />
     <CVslider
       v-model="numIterations"
       class="pt-2 pb-4"
@@ -76,10 +109,21 @@
         },
         data() {
             return {
-              familyList: ["tag36h11"],
+              familyList: ["tag36h11", "tag25h9", "tag16h5"],
+              // Selected model is offset (ew) by 6 from the photon ordinal, as we only wanna show the 36h11 and 16h5 options
+              targetList: ['6.5in (36h11) AprilTag', '6in (16h5) AprilTag'], //Keep in sync with TargetModel.java
             }
         },
         computed: {
+          selectedModel: {
+              get() {
+                  let ret = this.$store.getters.currentPipelineSettings.targetModel - 6
+                  return this.targetList[ret];
+              },
+              set(val) {
+                  this.$store.commit("mutatePipeline", {"targetModel": this.targetList.indexOf(val) + 6})
+              }
+          },
           selectedFamily: {
             get() {
                 let ret = this.$store.getters.currentPipelineSettings.tagFamily
@@ -97,6 +141,22 @@
                 this.$store.commit("mutatePipeline", {"decimate": val});
             }
           },
+          hammingDist: {
+            get() {
+                return this.$store.getters.currentPipelineSettings.hammingDist
+            },
+            set(val) {
+                this.$store.commit("mutatePipeline", {"hammingDist": val});
+            }
+          },
+          decisionMargin: {
+            get() {
+                return this.$store.getters.currentPipelineSettings.decisionMargin
+            },
+            set(val) {
+                this.$store.commit("mutatePipeline", {"decisionMargin": val});
+            }
+          },
           numIterations: {
             get() {
                 return this.$store.getters.currentPipelineSettings.numIterations

photon-client/src/views/PipelineViews/PnPTab.vue

@@ -53,7 +53,7 @@
         },
         data() {
             return {
-                targetList: ['2020 High Goal Outer', '2020 High Goal Inner', '2019 Dual Target', '2020 Power Cell (7in)','2022 Cargo Ball (9.5in)', '2016 High Goal'], //Keep in sync with TargetModel.java
+                targetList: ['2020 High Goal Outer', '2020 High Goal Inner', '2019 Dual Target', '2020 Power Cell (7in)','2022 Cargo Ball (9.5in)', '2016 High Goal', '6.5in (36h11) AprilTag', '6in (16h5) AprilTag'], //Keep in sync with TargetModel.java
                 snackbar: {
                     color: "Success",
                     text: ""
@@ -65,7 +65,6 @@
             selectedModel: {
                 get() {
                     let ret = this.$store.getters.currentPipelineSettings.targetModel
-                    console.log(ret)
                     return this.targetList[ret];
                 },
                 set(val) {

photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java

@@ -79,15 +79,25 @@ public class AprilTagPipeline extends CVPipeline<CVPipelineResult, AprilTagPipel
         // target model for the draw 3d targets pipeline to work...
 
         // for now, hard code tag width based on enum value
-        double tagWidth = 0.16; // guess at 200mm??
+        double tagWidth;
+
+        // This needs
         switch (settings.targetModel) {
             case k200mmAprilTag:
                 {
                     tagWidth = Units.inchesToMeters(3.25 * 2);
                     break;
                 }
+            case k6in_16h5:
+                {
+                    tagWidth = Units.inchesToMeters(3 * 2);
+                    break;
+                }
             default:
                 {
+                    // guess at 200mm?? If it's zero everything breaks, but it should _never_ be zero. Unless
+                    // users select the wrong model...
+                    tagWidth = 0.16;
                     break;
                 }
         }
@@ -135,6 +145,10 @@ public class AprilTagPipeline extends CVPipeline<CVPipelineResult, AprilTagPipel
 
         targetList = new ArrayList<>();
         for (DetectionResult detection : tagDetectionPipeResult.output) {
+            // TODO this should be in a pipe, not in the top level here (Matt)
+            if (detection.getDecisionMargin() < settings.decisionMargin) continue;
+            if (detection.getHamming() > settings.hammingDist) continue;
+
             // populate the target list
             // Challenge here is that TrackedTarget functions with OpenCV Contour
             TrackedTarget target =

photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipelineSettings.java

@@ -32,6 +32,10 @@ public class AprilTagPipelineSettings extends AdvancedPipelineSettings {
     public boolean refineEdges = true;
     public int numIterations = 200;
 
+    // TODO is this a legit, reasonable default?
+    public int hammingDist = 1;
+    public int decisionMargin = 30;
+
     // 3d settings
 
     public AprilTagPipelineSettings() {

photon-core/src/main/java/org/photonvision/vision/target/TargetModel.java

@@ -108,7 +108,15 @@ public enum TargetModel implements Releasable {
                     new Point3(Units.inchesToMeters(3.25), Units.inchesToMeters(3.25), 0),
                     new Point3(Units.inchesToMeters(3.25), -Units.inchesToMeters(3.25), 0),
                     new Point3(-Units.inchesToMeters(3.25), -Units.inchesToMeters(3.25), 0)),
-            Units.inchesToMeters(3.25 * 2));
+            Units.inchesToMeters(3.25 * 2)),
+    k6in_16h5( // Nominal edge length of 200 mm includes the white border, but solvePNP corners
+            // do not
+            List.of(
+                    new Point3(-Units.inchesToMeters(3), Units.inchesToMeters(3), 0),
+                    new Point3(Units.inchesToMeters(3), Units.inchesToMeters(3), 0),
+                    new Point3(Units.inchesToMeters(3), -Units.inchesToMeters(3), 0),
+                    new Point3(-Units.inchesToMeters(3), -Units.inchesToMeters(3), 0)),
+            Units.inchesToMeters(3 * 2));
 
     @JsonIgnore private MatOfPoint3f realWorldTargetCoordinates;
     @JsonIgnore private MatOfPoint3f visualizationBoxBottom = new MatOfPoint3f();

photon-server/src/main/resources/web/index.html

@@ -1 +1 @@
-<!DOCTYPE html><html lang=en><head><meta charset=utf-8><meta http-equiv=X-UA-Compatible content="IE=edge"><meta name=viewport content="width=device-width,initial-scale=1"><link rel=icon href=/favicon.png><title>PhotonVision</title><link href=/js/chunk-2d216214.4302abb0.js rel=prefetch><link href=/js/chunk-2d216257.0de4b8cc.js rel=prefetch><link href=/js/chunk-ad0384ec.7dafafc8.js rel=prefetch><link href=/css/app.3dcf0da8.css rel=preload as=style><link href=/css/chunk-vendors.7e4af884.css rel=preload as=style><link href=/js/app.4e0aa52b.js rel=preload as=script><link href=/js/chunk-vendors.58a768b6.js rel=preload as=script><link href=/css/chunk-vendors.7e4af884.css rel=stylesheet><link href=/css/app.3dcf0da8.css rel=stylesheet></head><body><noscript><strong>We're sorry but PhotonVision doesn't work properly without JavaScript enabled. Please enable it to continue.</strong></noscript><div id=app></div><script src=/js/chunk-vendors.58a768b6.js></script><script src=/js/app.4e0aa52b.js></script></body></html>
+<p>UI has not been copied!</p>