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93 changes: 93 additions & 0 deletions
93
photon-client/src/components/settings/ApriltagControlCard.vue
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,93 @@ | ||
| <script setup lang="ts"> | ||
| import { useSettingsStore } from "@/stores/settings/GeneralSettingsStore"; | ||
| import { Euler, Quaternion as ThreeQuat } from "three"; | ||
| import type { Quaternion } from "@/types/PhotonTrackingTypes"; | ||
| const quatToEuler = (quat: Quaternion): Euler => { | ||
| const three_quat = new ThreeQuat(quat.X, quat.Y, quat.Z, quat.W); | ||
| return new Euler().setFromQuaternion(three_quat, "ZYX"); | ||
| }; | ||
| // Convert from radians to degrees. | ||
| const degrees = (radians: number): number => (radians * 180) / Math.PI; | ||
| </script> | ||
|
|
||
| <template> | ||
| <v-card dark class="mb-3 pr-6 pb-3" style="background-color: #006492"> | ||
| <v-card-title>Apriltag Layout</v-card-title> | ||
| <div class="ml-5"> | ||
| <p>Field width: {{ useSettingsStore().currentFieldLayout.field.width.toFixed(2) }} meters</p> | ||
| <p>Field length: {{ useSettingsStore().currentFieldLayout.field.length.toFixed(2) }} meters</p> | ||
|
|
||
| <!-- 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> | ||
| <template #default> | ||
| <thead style="font-size: 1.25rem"> | ||
| <tr> | ||
| <th class="text-center">ID</th> | ||
| <th class="text-center">X, meters</th> | ||
| <th class="text-center">Y, meters</th> | ||
| <th class="text-center">Z, meters</th> | ||
| <th class="text-center">θ<sub>x</sub> angle, °</th> | ||
| <th class="text-center">θ<sub>y</sub> angle, °</th> | ||
| <th class="text-center">θ<sub>z</sub> angle, °</th> | ||
| </tr> | ||
| </thead> | ||
| <tbody> | ||
| <tr v-for="(tag, index) in useSettingsStore().currentFieldLayout.tags" :key="index"> | ||
| <td>{{ tag.ID }}</td> | ||
| <td v-for="(val, idx) in Object.values(tag.pose.translation).slice(0, 3).map(degrees)" :key="idx"> | ||
| {{ val.toFixed(2) }} | ||
| </td> | ||
| <td | ||
| v-for="(val, idx) in Object.values(quatToEuler(tag.pose.rotation.quaternion)).slice(0, 3).map(degrees)" | ||
| :key="idx" | ||
| > | ||
| {{ val.toFixed(2) }} | ||
| </td> | ||
| </tr> | ||
| </tbody> | ||
| </template> | ||
| </v-simple-table> | ||
| </div> | ||
| </v-card> | ||
| </template> | ||
|
|
||
| <style scoped lang="scss"> | ||
| .v-data-table { | ||
| width: 100%; | ||
| height: 100%; | ||
| text-align: center; | ||
| background-color: #006492 !important; | ||
| th, | ||
| td { | ||
| background-color: #006492 !important; | ||
| font-size: 1rem !important; | ||
| } | ||
| td { | ||
| font-family: monospace !important; | ||
| } | ||
| tbody :hover td { | ||
| background-color: #005281 !important; | ||
| } | ||
| ::-webkit-scrollbar { | ||
| width: 0; | ||
| height: 0.55em; | ||
| border-radius: 5px; | ||
| } | ||
| ::-webkit-scrollbar-track { | ||
| -webkit-box-shadow: inset 0 0 6px rgba(0, 0, 0, 0.3); | ||
| border-radius: 10px; | ||
| } | ||
| ::-webkit-scrollbar-thumb { | ||
| background-color: #ffd843; | ||
| border-radius: 10px; | ||
| } | ||
| } | ||
| </style> |
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