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Clean up front end, remove decision margin and error bits, remove target family selector #652

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Merged
merged 9 commits into from
Dec 31, 2022
Merged

Clean up front end, remove decision margin and error bits, remove target family selector #652

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d19af30
clean up front end ui
mdurrani808 Dec 25, 2022
d564bcb
address changes
mdurrani808 Dec 31, 2022
178d0f1
Merge branch 'master' into frontendCleanup
gerth2 Dec 31, 2022
eb0a3d3
Further tweaks to camera default gains to help make sure users get a …
gerth2 Dec 31, 2022
ac59465
even more saner defaults
gerth2 Dec 31, 2022
c08b03f
Even even more camera sane defaults
gerth2 Dec 31, 2022
2be04e7
lint
gerth2 Dec 31, 2022
cbec96d
lint pt 2
gerth2 Dec 31, 2022
732467d
unit test fixup
gerth2 Dec 31, 2022
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316 changes: 143 additions & 173 deletions photon-client/src/views/PipelineViews/AprilTagTab.vue
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Original file line number Diff line number Diff line change
@@ -1,196 +1,166 @@
<template>
<div>
<v-select
v-model="selectedFamily"
dark
color="accent"
item-color="secondary"
label="Select target family"
:items="familyList"
@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)"
v-model="selectedFamily"
dark
color="accent"
item-color="secondary"
label="Select target family"
:items="familyList"
@input="handlePipelineUpdate('tagFamily', familyList.indexOf(selectedFamily))"
/>
<CVslider
v-model="decimate"
class="pt-2"
slider-cols="8"
name="Decimate"
min="1"
max="8"
step="1.0"
tooltip="Increases FPS at the expense of range by reducing image resolution initially"
@input="handlePipelineData('decimate')"
v-model="decimate"
class="pt-2"
slider-cols="8"
name="Decimate"
min="1"
max="8"
step="1.0"
tooltip="Increases FPS at the expense of range by reducing image resolution initially"
@input="handlePipelineData('decimate')"
/>
<CVslider
v-model="blur"
class="pt-2"
slider-cols="8"
name="Blur"
min="0"
max="5"
step=".01"
tooltip="Gaussian blur added to the image, high FPS cost for slightly decreased noise"
@input="handlePipelineData('blur')"
v-model="blur"
class="pt-2"
slider-cols="8"
name="Blur"
min="0"
max="5"
step=".01"
tooltip="Gaussian blur added to the image, high FPS cost for slightly decreased noise"
@input="handlePipelineData('blur')"
/>
<CVslider
v-model="threads"
class="pt-2"
slider-cols="8"
name="Threads"
min="1"
max="8"
step="1"
tooltip="Number of threads spawned by the AprilTag detector"
@input="handlePipelineData('threads')"
v-model="threads"
class="pt-2"
slider-cols="8"
name="Threads"
min="1"
max="8"
step="1"
tooltip="Number of threads spawned by the AprilTag detector"
@input="handlePipelineData('threads')"
/>
<CVswitch
v-model="refineEdges"
class="pt-2"
slider-cols="8"
name="Refine Edges"
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')"
v-model="refineEdges"
class="pt-2"
slider-cols="8"
name="Refine Edges"
tooltip="Further refines the apriltag corner position initial estimate, suggested left on"
@input="handlePipelineData('refineEdges')"
/>
<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')"
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"
slider-cols="8"
name="Pose Estimation Iterations"
min="0"
max="500"
step="1"
tooltip="Number of iterations the pose estimation algorithm will run, 50-100 is a good starting point"
@input="handlePipelineData('numIterations')"
v-model="numIterations"
class="pt-2 pb-4"
slider-cols="8"
name="Pose Estimation Iterations"
min="0"
max="500"
step="1"
tooltip="Number of iterations the pose estimation algorithm will run, 50-100 is a good starting point"
@input="handlePipelineData('numIterations')"
/>
</div>
</template>

<script>
import CVslider from '../../components/common/cv-slider'
import CVswitch from '../../components/common/cv-switch'
import CVslider from '../../components/common/cv-slider'
import CVswitch from '../../components/common/cv-switch'

export default {
name: "AprilTag",
components: {
CVslider,
CVswitch,
},
data() {
return {
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.$store.getters.currentPipelineSettings.tagFamily
return this.familyList[ret];
},
set(val) {
this.$store.commit("mutatePipeline", {"tagFamily": this.familyList.indexOf(val)})
}
},
decimate: {
get() {
return this.$store.getters.currentPipelineSettings.decimate
},
set(val) {
this.$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.$store.getters.currentPipelineSettings.numIterations
},
set(val) {
this.$store.commit("mutatePipeline", {"numIterations": val});
}
},
blur: {
get() {
return this.$store.getters.currentPipelineSettings.blur
},
set(val) {
this.$store.commit("mutatePipeline", {"blur": val});
}
},
threads: {
get() {
return this.$store.getters.currentPipelineSettings.threads
},
set(val) {
this.$store.commit("mutatePipeline", {"threads": val});
}
},
refineEdges: {
get() {
return this.$store.getters.currentPipelineSettings.refineEdges
},
set(val) {
this.$store.commit("mutatePipeline", {"refineEdges": val});
}
},
},
methods: {
}
export default {
name: "AprilTag",
components: {
CVslider,
CVswitch,
},
data() {
return {
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: ['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.$store.getters.currentPipelineSettings.tagFamily
return this.familyList[ret];
},
set(val) {
this.$store.commit("mutatePipeline", {"tagFamily": this.familyList.indexOf(val)})
}
},
decimate: {
get() {
return this.$store.getters.currentPipelineSettings.decimate
},
set(val) {
this.$store.commit("mutatePipeline", {"decimate": val});
}
},
decisionMargin: {
get() {
return this.$store.getters.currentPipelineSettings.decisionMargin
},
set(val) {
this.$store.commit("mutatePipeline", {"decisionMargin": val});
}
},
numIterations: {
get() {
return this.$store.getters.currentPipelineSettings.numIterations
},
set(val) {
this.$store.commit("mutatePipeline", {"numIterations": val});
}
},
blur: {
get() {
return this.$store.getters.currentPipelineSettings.blur
},
set(val) {
this.$store.commit("mutatePipeline", {"blur": val});
}
},
threads: {
get() {
return this.$store.getters.currentPipelineSettings.threads
},
set(val) {
this.$store.commit("mutatePipeline", {"threads": val});
}
},
refineEdges: {
get() {
return this.$store.getters.currentPipelineSettings.refineEdges
},
set(val) {
this.$store.commit("mutatePipeline", {"refineEdges": val});
}
},
},
methods: {
}
}
</script>
23 changes: 1 addition & 22 deletions photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java
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Original file line number Diff line number Diff line change
Expand Up @@ -69,28 +69,7 @@ protected void setPipeParamsImpl() {
// target model for the draw 3d targets pipeline to work...

// for now, hard code tag width based on enum value
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;
}
}
double tagWidth = Units.inchesToMeters(3 * 2); // for 6in 16h5 tag.

// AprilTagDetectorParams aprilTagDetectionParams =
// new AprilTagDetectorParams(
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