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Aruco/Multitag 36h11 support #981

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merged 11 commits into from
Oct 30, 2023
Merged

Aruco/Multitag 36h11 support #981

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bc3ad50
fix
srimanachanta Oct 25, 2023
3f2feb0
identify model as AprilTag
amquake Oct 25, 2023
99dc7d7
Aruco infer tag width
amquake Oct 25, 2023
6758320
Aruco/multitag 36h11 support
amquake Oct 25, 2023
9ab4e8b
format
amquake Oct 25, 2023
86197f0
add tag model to photon estimator
amquake Oct 25, 2023
3fa1bb2
Merge branch 'master' into oops
amquake Oct 26, 2023
cf5f3c3
16h5 default in sim
amquake Oct 26, 2023
53f823a
ui naming
amquake Oct 27, 2023
f8ec2a1
Formatting fixes
srimanachanta Oct 27, 2023
027e741
set aruco tag model
amquake Oct 28, 2023
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7 changes: 2 additions & 5 deletions photon-client/src/components/dashboard/tabs/PnPTab.vue
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Original file line number Diff line number Diff line change
Expand Up @@ -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 }
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]"
:select-cols="interactiveCols"
@input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ targetModel: value }, false)"
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11 changes: 4 additions & 7 deletions photon-client/src/types/PipelineTypes.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -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 {
Expand Down Expand Up @@ -225,7 +222,7 @@ export type ConfigurableAprilTagPipelineSettings = Partial<
export const DefaultAprilTagPipelineSettings: AprilTagPipelineSettings = {
...DefaultPipelineSettings,
cameraGain: 75,
targetModel: TargetModel.Apriltag6in_16h5,
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targetModel: TargetModel.k6in_16h5,
ledMode: false,
outputShowMultipleTargets: true,
cameraExposure: 20,
Expand Down Expand Up @@ -268,7 +265,7 @@ export type ConfigurableArucoPipelineSettings = Partial<Omit<ArucoPipelineSettin
export const DefaultArucoPipelineSettings: ArucoPipelineSettings = {
...DefaultPipelineSettings,
outputShowMultipleTargets: true,
targetModel: TargetModel.Aruco6in_16h5,
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targetModel: TargetModel.k6in_16h5,
cameraExposure: -1,
cameraAutoExposure: true,
ledMode: false,
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14 changes: 0 additions & 14 deletions photon-core/src/main/java/org/photonvision/vision/target/TargetModel.java
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Expand Up @@ -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(
Expand All @@ -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),
Expand Down
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