Algae

photon-client/src/components/dashboard/CameraAndPipelineSelectCard.vue

@@ -28,6 +28,9 @@ const changeCurrentCameraUniqueName = (cameraUniqueName: string) => {
     case PipelineType.ObjectDetection:
       pipelineType.value = WebsocketPipelineType.ObjectDetection;
       break;
+    case PipelineType.Algae:
+      pipelineType.value = WebsocketPipelineType.Algae;
+      break;
   }
 };
 
@@ -130,7 +133,8 @@ const validNewPipelineTypes = computed(() => {
     { name: "Reflective", value: WebsocketPipelineType.Reflective },
     { name: "Colored Shape", value: WebsocketPipelineType.ColoredShape },
     { name: "AprilTag", value: WebsocketPipelineType.AprilTag },
-    { name: "Aruco", value: WebsocketPipelineType.Aruco }
+    { name: "Aruco", value: WebsocketPipelineType.Aruco },
+    { name: "Algae", value: WebsocketPipelineType.Algae }
   ];
   if (useSettingsStore().general.supportedBackends.length > 0) {
     pipelineTypes.push({ name: "Object Detection", value: WebsocketPipelineType.ObjectDetection });
@@ -168,7 +172,8 @@ const pipelineTypesWrapper = computed<{ name: string; value: number }[]>(() => {
     { name: "Reflective", value: WebsocketPipelineType.Reflective },
     { name: "Colored Shape", value: WebsocketPipelineType.ColoredShape },
     { name: "AprilTag", value: WebsocketPipelineType.AprilTag },
-    { name: "Aruco", value: WebsocketPipelineType.Aruco }
+    { name: "Aruco", value: WebsocketPipelineType.Aruco },
+    { name: "Algae", value: WebsocketPipelineType.Algae }
   ];
   if (useSettingsStore().general.supportedBackends.length > 0) {
     pipelineTypes.push({ name: "Object Detection", value: WebsocketPipelineType.ObjectDetection });
@@ -230,6 +235,9 @@ useCameraSettingsStore().$subscribe((mutation, state) => {
     case PipelineType.ObjectDetection:
       pipelineType.value = WebsocketPipelineType.ObjectDetection;
       break;
+    case PipelineType.Algae:
+      pipelineType.value = WebsocketPipelineType.Algae;
+      break;
   }
 });
 const wrappedCameras = computed<SelectItem[]>(() =>

photon-client/src/components/dashboard/ConfigOptions.vue

@@ -118,13 +118,14 @@ const tabGroups = computed<ConfigOption[][]>(() => {
   const isAruco = useCameraSettingsStore().currentWebsocketPipelineType === WebsocketPipelineType.Aruco;
   const isObjectDetection =
     useCameraSettingsStore().currentWebsocketPipelineType === WebsocketPipelineType.ObjectDetection;
+  const isAlgae = useCameraSettingsStore().currentWebsocketPipelineType === WebsocketPipelineType.Algae;
 
   return getTabGroups()
     .map((tabGroup) =>
       tabGroup.filter(
         (tabConfig) =>
           !(!allow3d && tabConfig.tabName === "3D") && //Filter out 3D tab any time 3D isn't calibrated
-          !((!allow3d || isAprilTag || isAruco || isObjectDetection) && tabConfig.tabName === "PnP") && //Filter out the PnP config tab if 3D isn't available, or we're doing AprilTags
+          !((!allow3d || isAprilTag || isAruco || isObjectDetection || isAlgae) && tabConfig.tabName === "PnP") && //Filter out the PnP config tab if 3D isn't available, or we're doing AprilTags
           !((isAprilTag || isAruco || isObjectDetection) && tabConfig.tabName === "Threshold") && //Filter out threshold tab if we're doing AprilTags
           !((isAprilTag || isAruco || isObjectDetection) && tabConfig.tabName === "Contours") && //Filter out contours if we're doing AprilTags
           !(!isAprilTag && tabConfig.tabName === "AprilTag") && //Filter out apriltag unless we actually are doing AprilTags

photon-client/src/components/dashboard/tabs/ContoursTab.vue

@@ -48,6 +48,28 @@ const contourRadius = computed<[number, number]>({
     }
   }
 });
+const circularity = computed<[number, number]>({
+  get: () =>
+    currentPipelineSettings.value.pipelineType === PipelineType.Algae
+      ? (Object.values(currentPipelineSettings.value.circularity) as [number, number])
+      : ([0, 0] as [number, number]),
+  set: (v) => {
+    if (currentPipelineSettings.value.pipelineType === PipelineType.Algae) {
+      currentPipelineSettings.value.circularity = v;
+    }
+  }
+});
+const edgeThresholds = computed<[number, number]>({
+  get: () =>
+    currentPipelineSettings.value.pipelineType === PipelineType.Algae
+      ? (Object.values(currentPipelineSettings.value.edgeThresholds) as [number, number])
+      : ([0, 0] as [number, number]),
+  set: (v) => {
+    if (currentPipelineSettings.value.pipelineType === PipelineType.Algae) {
+      currentPipelineSettings.value.edgeThresholds = v;
+    }
+  }
+});
 
 const interactiveCols = computed(() =>
   (getCurrentInstance()?.proxy.$vuetify.breakpoint.mdAndDown || false) &&
@@ -60,6 +82,7 @@ const interactiveCols = computed(() =>
 <template>
   <div>
     <pv-select
+      v-if="currentPipelineSettings.pipelineType !== PipelineType.Algae"
       v-model="useCameraSettingsStore().currentPipelineSettings.contourTargetOrientation"
       label="Target Orientation"
       tooltip="Used to determine how to calculate target landmarks, as well as aspect ratio"
@@ -87,7 +110,10 @@ const interactiveCols = computed(() =>
       @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourArea: value }, false)"
     />
     <pv-range-slider
-      v-if="useCameraSettingsStore().currentPipelineType !== PipelineType.ColoredShape"
+      v-if="
+        useCameraSettingsStore().currentPipelineType !== PipelineType.ColoredShape &&
+        useCameraSettingsStore().currentPipelineType !== PipelineType.Algae
+      "
       v-model="contourRatio"
       label="Ratio (W/H)"
       tooltip="Min and max ratio between the width and height of a contour's bounding rectangle"
@@ -118,6 +144,7 @@ const interactiveCols = computed(() =>
       @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourPerimeter: value }, false)"
     />
     <pv-slider
+      v-if="currentPipelineSettings.pipelineType !== PipelineType.Algae"
       v-model="useCameraSettingsStore().currentPipelineSettings.contourSpecklePercentage"
       label="Speckle Rejection"
       tooltip="Rejects contours whose average area is less than the given percentage of the average area of all the other contours"
@@ -231,5 +258,63 @@ const interactiveCols = computed(() =>
         @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourRadius: value }, false)"
       />
     </template>
+    <template v-else-if="currentPipelineSettings.pipelineType === PipelineType.Algae">
+      <pv-range-slider
+        v-model="circularity"
+        label="Circularity"
+        :min="0"
+        :max="100"
+        :slider-cols="interactiveCols"
+        @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ circularity: value }, false)"
+      />
+      <pv-slider
+        v-model="currentPipelineSettings.padding"
+        label="Padding"
+        :min="0"
+        :max="500"
+        :slider-cols="interactiveCols"
+        @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ padding: value }, false)"
+      />
+      <pv-slider
+        v-model="currentPipelineSettings.erosion"
+        label="Erosion"
+        :min="0"
+        :max="8"
+        :slider-cols="interactiveCols"
+        @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ erosion: value }, false)"
+      />
+      <pv-slider
+        v-model="currentPipelineSettings.initialDilation"
+        label="Initial Dilation"
+        :min="0"
+        :max="8"
+        :slider-cols="interactiveCols"
+        @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ initialDilation: value }, false)"
+      />
+      <pv-range-slider
+        v-model="edgeThresholds"
+        label="Edge Threshold"
+        :min="0"
+        :max="1000"
+        :slider-cols="interactiveCols"
+        @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ edgeThresholds: value }, false)"
+      />
+      <pv-slider
+        v-model="currentPipelineSettings.edgeDilation"
+        label="Edge Dilation"
+        :min="0"
+        :max="8"
+        :slider-cols="interactiveCols"
+        @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ edgeDilation: value }, false)"
+      />
+      <pv-slider
+        v-model="currentPipelineSettings.finalDilation"
+        label="Final Dilation"
+        :min="0"
+        :max="8"
+        :slider-cols="interactiveCols"
+        @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ finalDilation: value }, false)"
+      />
+    </template>
   </div>
 </template>

photon-client/src/components/dashboard/tabs/PnPTab.vue

@@ -1,11 +1,17 @@
 <script setup lang="ts">
 import PvSelect from "@/components/common/pv-select.vue";
 import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
-import { TargetModel } from "@/types/PipelineTypes";
+import { PipelineType, TargetModel, type ActivePipelineSettings } from "@/types/PipelineTypes";
 import PvSlider from "@/components/common/pv-slider.vue";
 import { computed, getCurrentInstance } from "vue";
 import { useStateStore } from "@/stores/StateStore";
 
+// TODO fix pipeline typing in order to fix this, the store settings call should be able to infer that only valid pipeline type settings are exposed based on pre-checks for the entire config section
+// Defer reference to store access method
+const currentPipelineSettings = computed<ActivePipelineSettings>(
+  () => useCameraSettingsStore().currentPipelineSettings
+);
+
 const interactiveCols = computed(() =>
   (getCurrentInstance()?.proxy.$vuetify.breakpoint.mdAndDown || false) &&
   (!useStateStore().sidebarFolded || useCameraSettingsStore().isDriverMode)
@@ -15,7 +21,7 @@ const interactiveCols = computed(() =>
 </script>
 
 <template>
-  <div>
+  <div v-if="currentPipelineSettings.pipelineType !== PipelineType.Algae">
     <pv-select
       v-model="useCameraSettingsStore().currentPipelineSettings.targetModel"
       label="Target Model"

photon-client/src/types/PipelineTypes.ts

@@ -6,7 +6,8 @@ export enum PipelineType {
   ColoredShape = 3,
   AprilTag = 4,
   Aruco = 5,
-  ObjectDetection = 6
+  ObjectDetection = 6,
+  Algae = 7
 }
 
 export enum AprilTagFamily {
@@ -316,6 +317,35 @@ export const DefaultObjectDetectionPipelineSettings: ObjectDetectionPipelineSett
   model: ""
 };
 
+export interface AlgaePipelineSettings extends PipelineSettings {
+  pipelineType: PipelineType.Algae;
+  circularity: WebsocketNumberPair | [number, number];
+  padding: number;
+  erosion: number;
+  initialDilation: number;
+  edgeThresholds: WebsocketNumberPair | [number, number];
+  edgeDilation: number;
+  finalDilation: number;
+}
+export type ConfigurableAlgaePipelineSettings = Partial<Omit<AlgaePipelineSettings, "pipelineType">> &
+  ConfigurablePipelineSettings;
+export const DefaultAlgaePipelineSettings: AlgaePipelineSettings = {
+  ...DefaultPipelineSettings,
+  cameraGain: 20,
+  targetModel: TargetModel.InfiniteRechargeHighGoalOuter,
+  ledMode: true,
+  outputShowMultipleTargets: false,
+  cameraExposureRaw: 6,
+  pipelineType: PipelineType.Algae,
+  circularity: { first: 30, second: 100 },
+  padding: 20,
+  erosion: 2,
+  initialDilation: 2,
+  edgeThresholds: { first: 100, second: 300 },
+  edgeDilation: 3,
+  finalDilation: 3
+};
+
 export interface Calibration3dPipelineSettings extends PipelineSettings {
   drawAllSnapshots: boolean;
 }
@@ -338,6 +368,7 @@ export type ActivePipelineSettings =
   | AprilTagPipelineSettings
   | ArucoPipelineSettings
   | ObjectDetectionPipelineSettings
+  | AlgaePipelineSettings
   | Calibration3dPipelineSettings;
 
 export type ActiveConfigurablePipelineSettings =
@@ -346,4 +377,5 @@ export type ActiveConfigurablePipelineSettings =
   | ConfigurableAprilTagPipelineSettings
   | ConfigurableArucoPipelineSettings
   | ConfigurableObjectDetectionPipelineSettings
+  | ConfigurableAlgaePipelineSettings
   | ConfigurableCalibration3dPipelineSettings;

photon-client/src/types/WebsocketDataTypes.ts

@@ -115,5 +115,6 @@ export enum WebsocketPipelineType {
   ColoredShape = 1,
   AprilTag = 2,
   Aruco = 3,
-  ObjectDetection = 4
+  ObjectDetection = 4,
+  Algae = 5
 }