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PhotonVision · Jan 12, 2024 · b899257 · b899257
1 parent a5f3ca1
commit b899257
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Showing 7 changed files with 26 additions and 21 deletions.
diff --git a/photon-client/src/components/dashboard/ConfigOptions.vue b/photon-client/src/components/dashboard/ConfigOptions.vue
@@ -60,7 +60,7 @@ const allTabs = Object.freeze({
   dnnTab: {
     tabName: "DNN",
     component: DnnTab
-  },
+  }
 });
 
 const selectedTabs = ref([0, 0, 0, 0]);
@@ -88,7 +88,14 @@ const getTabGroups = (): ConfigOption[][] => {
   } else if (lgAndDown) {
     return [
       [allTabs.inputTab],
-      [allTabs.thresholdTab, allTabs.contoursTab, allTabs.apriltagTab, allTabs.arucoTab, allTabs.dnnTab, allTabs.outputTab],
+      [
+        allTabs.thresholdTab,
+        allTabs.contoursTab,
+        allTabs.apriltagTab,
+        allTabs.arucoTab,
+        allTabs.dnnTab,
+        allTabs.outputTab
+      ],
       [allTabs.targetsTab, allTabs.pnpTab, allTabs.map3dTab]
     ];
   } else if (xl) {

diff --git a/photon-client/src/components/dashboard/tabs/DnnTab.vue b/photon-client/src/components/dashboard/tabs/DnnTab.vue
@@ -20,16 +20,16 @@ const interactiveCols = computed(
   : 8;
 
 const models = () => {
-  return ["a", "bcd"]
-}
+  return ["a", "bcd"];
+};
 </script>
 
 <template>
   <div v-if="currentPipelineSettings.pipelineType === PipelineType.Dnn">
     <pv-select
       v-model="currentPipelineSettings.modelIndex"
       label="Model Index"
-      :items = "models"
+      :items="models"
       :select-cols="interactiveCols"
       @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ tagFamily: value }, false)"
     />

diff --git a/photon-client/src/components/dashboard/tabs/TargetsTab.vue b/photon-client/src/components/dashboard/tabs/TargetsTab.vue
@@ -48,9 +48,7 @@ const resetCurrentBuffer = () => {
               >
                 Fiducial ID
               </th>
-                <template
-                v-if="currentPipelineSettings.pipelineType === PipelineType.Dnn" 
-                >
+              <template v-if="currentPipelineSettings.pipelineType === PipelineType.Dnn">
                 <th class="text-center white--text">Class ID</th>
                 <th class="text-center white--text">Confidence</th>
               </template>
@@ -91,8 +89,12 @@ const resetCurrentBuffer = () => {
               >
                 {{ target.fiducialId }}
               </td>
-              <td v-if="currentPipelineSettings.pipelineType === PipelineType.Dnn" class="text-center white--text"> {{ target.classId }} </td>
-              <td v-if="currentPipelineSettings.pipelineType === PipelineType.Dnn" class="text-center white--text"> {{ target.confidence.toFixed(2) }} </td>
+              <td v-if="currentPipelineSettings.pipelineType === PipelineType.Dnn" class="text-center white--text">
+                {{ target.classId }}
+              </td>
+              <td v-if="currentPipelineSettings.pipelineType === PipelineType.Dnn" class="text-center white--text">
+                {{ target.confidence.toFixed(2) }}
+              </td>
               <template v-if="!useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled">
                 <td class="text-center">{{ target.pitch.toFixed(2) }}&deg;</td>
                 <td class="text-center">{{ target.yaw.toFixed(2) }}&deg;</td>

diff --git a/photon-client/src/types/PhotonTrackingTypes.ts b/photon-client/src/types/PhotonTrackingTypes.ts
@@ -55,9 +55,9 @@ export interface PhotonTarget {
   // -1 if not set
   fiducialId: number;
   // undefined if 3d isn't enabled
-  pose?: Transform3d,
+  pose?: Transform3d;
 
-  confidence: number,
+  confidence: number;
   classId: number;
 }
 

diff --git a/photon-client/src/types/PipelineTypes.ts b/photon-client/src/types/PipelineTypes.ts
@@ -240,8 +240,8 @@ export const DefaultAprilTagPipelineSettings: AprilTagPipelineSettings = {
 
 export interface DnnPipelineSettings extends PipelineSettings {
   pipelineType: PipelineType.Dnn;
-  modelIndex: number
-  confidence: number
+  modelIndex: number;
+  confidence: number;
 }
 export type ConfigurableDnnPipelineSettings = Partial<Omit<DnnPipelineSettings, "pipelineType">> &
   ConfigurablePipelineSettings;

diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/OpencvDnnPipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/OpencvDnnPipeline.java
@@ -19,10 +19,6 @@
 
 import java.util.ArrayList;
 import java.util.List;
-import org.opencv.core.Point;
-import org.opencv.core.Scalar;
-import org.opencv.imgproc.Imgproc;
-import org.photonvision.common.util.ColorHelper;
 import org.photonvision.vision.frame.Frame;
 import org.photonvision.vision.frame.FrameThresholdType;
 import org.photonvision.vision.pipe.CVPipe.CVPipeResult;
@@ -50,7 +46,7 @@ public OpencvDnnPipeline(DnnPipelineSettings settings) {
 
     @Override
     protected void setPipeParamsImpl() {
-        dnnPipe.setParams(new OpencvDnnPipeParams(settings.modelPath, (float)settings.confidence));
+        dnnPipe.setParams(new OpencvDnnPipeParams(settings.modelPath, (float) settings.confidence));
     }
 
     @Override
@@ -73,7 +69,8 @@ protected CVPipelineResult process(Frame input_frame, DnnPipelineSettings settin
         int i = 0;
         for (var t : targetList) {
             // Imgproc.rectangle(
-            //         input_frame.processedImage.getMat(), t.box.tl(), t.box.br(), new Scalar(0, 0, 255), 2);
+            //         input_frame.processedImage.getMat(), t.box.tl(), t.box.br(), new Scalar(0, 0, 255),
+            // 2);
 
             // Let the draw pipeline deal with this all for us
             // var name = String.format("%d (%f)", i, t.confidence);

diff --git a/photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java b/photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java
@@ -448,7 +448,6 @@ public HashMap<String, Object> toHashMap() {
         ret.put("confidence", m_confidence);
         ret.put("classId", m_classId);
 
-
         return ret;
     }