fix

PhotonVision · Oct 25, 2023 · bc3ad50 · bc3ad50
1 parent cb401e1
commit bc3ad50
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Showing 3 changed files with 6 additions and 26 deletions.
diff --git a/photon-client/src/components/dashboard/tabs/PnPTab.vue b/photon-client/src/components/dashboard/tabs/PnPTab.vue
@@ -26,11 +26,8 @@ const interactiveCols = computed(
         { name: '2020 High Goal Outer', value: TargetModel.InfiniteRechargeHighGoalOuter },
         { name: '2020 Power Cell (7in)', value: TargetModel.CircularPowerCell7in },
         { name: '2022 Cargo Ball (9.5in)', value: TargetModel.RapidReactCircularCargoBall },
-        { name: '200mm AprilTag', value: TargetModel.Apriltag_200mm },
-        { name: '6in (16h5) Aruco', value: TargetModel.Aruco6in_16h5 },
-        { name: '6in (16h5) AprilTag', value: TargetModel.Apriltag6in_16h5 },
-        { name: '6.5in (36h11) Aruco', value: TargetModel.Aruco6p5in_36h11 },
-        { name: '6.5in (36h11) AprilTag', value: TargetModel.Apriltag6p5in_36h11 }
+        { name: '6in (16h5)', value: TargetModel.k6in_16h5 },
+        { name: '6.5in (36h11)', value: TargetModel.k6p5in_36h11 }
       ]"
       :select-cols="interactiveCols"
       @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ targetModel: value }, false)"

diff --git a/photon-client/src/types/PipelineTypes.ts b/photon-client/src/types/PipelineTypes.ts
@@ -26,11 +26,8 @@ export enum TargetModel {
   InfiniteRechargeHighGoalOuter = 2,
   CircularPowerCell7in = 3,
   RapidReactCircularCargoBall = 4,
-  Apriltag_200mm = 5,
-  Aruco6in_16h5 = 6,
-  Apriltag6in_16h5 = 7,
-  Aruco6p5in_36h11 = 8,
-  Apriltag6p5in_36h11 = 9
+  k6in_16h5 = 5,
+  k6p5in_36h11 = 6
 }
 
 export interface PipelineSettings {
@@ -225,7 +222,7 @@ export type ConfigurableAprilTagPipelineSettings = Partial<
 export const DefaultAprilTagPipelineSettings: AprilTagPipelineSettings = {
   ...DefaultPipelineSettings,
   cameraGain: 75,
-  targetModel: TargetModel.Apriltag6in_16h5,
+  targetModel: TargetModel.k6in_16h5,
   ledMode: false,
   outputShowMultipleTargets: true,
   cameraExposure: 20,
@@ -268,7 +265,7 @@ export type ConfigurableArucoPipelineSettings = Partial<Omit<ArucoPipelineSettin
 export const DefaultArucoPipelineSettings: ArucoPipelineSettings = {
   ...DefaultPipelineSettings,
   outputShowMultipleTargets: true,
-  targetModel: TargetModel.Aruco6in_16h5,
+  targetModel: TargetModel.k6in_16h5,
   cameraExposure: -1,
   cameraAutoExposure: true,
   ledMode: false,

diff --git a/photon-core/src/main/java/org/photonvision/vision/target/TargetModel.java b/photon-core/src/main/java/org/photonvision/vision/target/TargetModel.java
@@ -107,13 +107,6 @@ public enum TargetModel implements Releasable {
                             -Units.inchesToMeters(9.5) / 2,
                             -Units.inchesToMeters(9.5) / 2)),
             0),
-    k200mmAprilTag( // Corners of the tag's inner black square (excluding white border)
-            List.of(
-                    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),
-                    new Point3(Units.inchesToMeters(3.25), -Units.inchesToMeters(3.25), 0)),
-            Units.inchesToMeters(3.25 * 2)),
     k6in_16h5( // Nominal edge length of 200 mm includes the white border, but solvePNP corners
             // do not
             List.of(
@@ -123,13 +116,6 @@ public enum TargetModel implements Releasable {
                     new Point3(Units.inchesToMeters(3), -Units.inchesToMeters(3), 0)),
             Units.inchesToMeters(3 * 2)),
     // 2024 FRC tag. 6.5in inner tag, 8.125 overall
-    kAruco6p5in_36h11(
-            List.of(
-                    new Point3(Units.inchesToMeters(6.5 / 2.0), Units.inchesToMeters(6.5 / 2.0), 0),
-                    new Point3(Units.inchesToMeters(6.5 / 2.0), -Units.inchesToMeters(6.5 / 2.0), 0),
-                    new Point3(-Units.inchesToMeters(6.5 / 2.0), -Units.inchesToMeters(6.5 / 2.0), 0),
-                    new Point3(Units.inchesToMeters(6.5 / 2.0), -Units.inchesToMeters(6.5 / 2.0), 0)),
-            Units.inchesToMeters(6.5)),
     k6p5in_36h11(
             List.of(
                     new Point3(-Units.inchesToMeters(6.5 / 2.0), Units.inchesToMeters(6.5 / 2.0), 0),