From 34479ce7c1905dcd6c84fd27f2a527b1236e6b7c Mon Sep 17 00:00:00 2001
From: Matthew Morley <matthew.morley.ca@gmail.com>
Date: Sun, 1 Oct 2023 10:17:59 -0400
Subject: [PATCH] Add rather ugly view of multi tag solution

---
 .../src/components/dashboard/tabs/TargetsTab.vue   |  7 ++++---
 photon-client/src/types/PhotonTrackingTypes.ts     | 14 ++++++++------
 photon-client/src/views/GeneralSettingsView.vue    |  2 ++
 3 files changed, 14 insertions(+), 9 deletions(-)

diff --git a/photon-client/src/components/dashboard/tabs/TargetsTab.vue b/photon-client/src/components/dashboard/tabs/TargetsTab.vue
index 5250199c14..1095946ae5 100644
--- a/photon-client/src/components/dashboard/tabs/TargetsTab.vue
+++ b/photon-client/src/components/dashboard/tabs/TargetsTab.vue
@@ -12,7 +12,6 @@ import { useStateStore } from "@/stores/StateStore";
         <template #default>
           <thead style="font-size: 1.25rem">
             <tr>
-              <th class="text-center">Target Count</th>
               <th
                 v-if="
                   useCameraSettingsStore().currentPipelineType === PipelineType.AprilTag ||
@@ -45,7 +44,6 @@ import { useStateStore } from "@/stores/StateStore";
           </thead>
           <tbody>
             <tr v-for="(target, index) in useStateStore().currentPipelineResults?.targets" :key="index">
-              <td>{{ index }}</td>
               <td
                 v-if="
                   useCameraSettingsStore().currentPipelineType === PipelineType.AprilTag ||
@@ -63,7 +61,7 @@ import { useStateStore } from "@/stores/StateStore";
               <template v-else-if="useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled">
                 <td>{{ target.pose?.x.toFixed(2) }}&nbsp;m</td>
                 <td>{{ target.pose?.y.toFixed(2) }}&nbsp;m</td>
-                <td>{{ ((target.pose?.angle_z * 180.0) / Math.PI).toFixed(2) }}&deg;</td>
+                <td>{{ (((target.pose?.angle_z || 0) * 180.0) / Math.PI).toFixed(2) }}&deg;</td>
               </template>
               <template
                 v-if="
@@ -78,6 +76,9 @@ import { useStateStore } from "@/stores/StateStore";
         </template>
       </v-simple-table>
     </v-row>
+    <p class="white--text">
+      Estimated multi-tag pose: {{  useStateStore().currentPipelineResults?.multitagResult  }}
+    </p>
   </div>
 </template>
 
diff --git a/photon-client/src/types/PhotonTrackingTypes.ts b/photon-client/src/types/PhotonTrackingTypes.ts
index d356e0d49b..1140ae6251 100644
--- a/photon-client/src/types/PhotonTrackingTypes.ts
+++ b/photon-client/src/types/PhotonTrackingTypes.ts
@@ -9,6 +9,13 @@ export interface Transform3d {
   angle_z: number;
 }
 
+export interface Quaternion {
+          X: number;
+          Y: number;
+          Z: number;
+          W: number;
+}
+
 export interface AprilTagFieldLayout {
   field: {
     length: number;
@@ -23,12 +30,7 @@ export interface AprilTagFieldLayout {
         z: number;
       };
       rotation: {
-        quaternion: {
-          X: number;
-          Y: number;
-          Z: number;
-          W: number;
-        };
+        quaternion: Quaternion;
       };
     };
   }[];
diff --git a/photon-client/src/views/GeneralSettingsView.vue b/photon-client/src/views/GeneralSettingsView.vue
index 4cc5d0206d..edd3e67edd 100644
--- a/photon-client/src/views/GeneralSettingsView.vue
+++ b/photon-client/src/views/GeneralSettingsView.vue
@@ -4,6 +4,7 @@ import DeviceControlCard from "@/components/settings/DeviceControlCard.vue";
 import NetworkingCard from "@/components/settings/NetworkingCard.vue";
 import LightingControlCard from "@/components/settings/LEDControlCard.vue";
 import { useSettingsStore } from "@/stores/settings/GeneralSettingsStore";
+import ApriltagControlCard from "@/components/settings/ApriltagControlCard.vue";
 </script>
 
 <template>
@@ -12,5 +13,6 @@ import { useSettingsStore } from "@/stores/settings/GeneralSettingsStore";
     <DeviceControlCard />
     <NetworkingCard />
     <LightingControlCard v-if="useSettingsStore().lighting.supported" />
+    <ApriltagControlCard />
   </div>
 </template>