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[photon-client] ATFL Settings card unit and styling fixes #967

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merged 2 commits into from
Oct 19, 2023
Merged

[photon-client] ATFL Settings card unit and styling fixes #967

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6ce64a1
Fix ATFL settings card
srimanachanta Oct 19, 2023
81a2908
Update ApriltagControlCard.vue
srimanachanta Oct 19, 2023
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38 changes: 19 additions & 19 deletions photon-client/src/components/settings/ApriltagControlCard.vue
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Original file line number Diff line number Diff line change
Expand Up @@ -3,18 +3,21 @@ import { useSettingsStore } from "@/stores/settings/GeneralSettingsStore";
import { Euler, Quaternion as ThreeQuat } from "three";
import type { Quaternion } from "@/types/PhotonTrackingTypes";

const quatToEuler = (quat: Quaternion): Euler => {
const three_quat = new ThreeQuat(quat.X, quat.Y, quat.Z, quat.W);
return new Euler().setFromQuaternion(three_quat, "ZYX");
};
const quaternionToEuler = (rot_quat: Quaternion): { x: number; y: number; z: number } => {
const quat = new ThreeQuat(rot_quat.X, rot_quat.Y, rot_quat.Z, rot_quat.W);
const euler = new Euler().setFromQuaternion(quat, "ZYX");

// Convert from radians to degrees.
const degrees = (radians: number): number => (radians * 180) / Math.PI;
return {
x: euler.x * (180.0 / Math.PI),
y: euler.y * (180.0 / Math.PI),
z: euler.z * (180.0 / Math.PI)
};
};
</script>

<template>
<v-card dark class="mb-3 pr-6 pb-3" style="background-color: #006492">
<v-card-title>Apriltag Layout</v-card-title>
<v-card dark class="pr-6 pb-3" style="background-color: #006492">
<v-card-title>Apriltag Field Layout</v-card-title>
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<div class="ml-5">
<p>Field width: {{ useSettingsStore().currentFieldLayout.field.width.toFixed(2) }} meters</p>
<p>Field length: {{ useSettingsStore().currentFieldLayout.field.length.toFixed(2) }} meters</p>
Expand All @@ -25,24 +28,21 @@ const degrees = (radians: number): number => (radians * 180) / Math.PI;
<thead style="font-size: 1.25rem">
<tr>
<th class="text-center">ID</th>
<th class="text-center">X, meters</th>
<th class="text-center">Y, meters</th>
<th class="text-center">Z, meters</th>
<th class="text-center">θ<sub>x</sub> angle, &deg;</th>
<th class="text-center">θ<sub>y</sub> angle, &deg;</th>
<th class="text-center">θ<sub>z</sub> angle, &deg;</th>
<th class="text-center">X meters</th>
<th class="text-center">Y meters</th>
<th class="text-center">Z meters</th>
<th class="text-center">θ<sub>x</sub>&deg;</th>
<th class="text-center">θ<sub>y</sub>&deg;</th>
<th class="text-center">θ<sub>z</sub>&deg;</th>
</tr>
</thead>
<tbody>
<tr v-for="(tag, index) in useSettingsStore().currentFieldLayout.tags" :key="index">
<td>{{ tag.ID }}</td>
<td v-for="(val, idx) in Object.values(tag.pose.translation).slice(0, 3).map(degrees)" :key="idx">
<td v-for="(val, idx) in Object.values(tag.pose.translation)" :key="idx">
{{ val.toFixed(2) }}
</td>
<td
v-for="(val, idx) in Object.values(quatToEuler(tag.pose.rotation.quaternion)).slice(0, 3).map(degrees)"
:key="idx"
>
<td v-for="(val, idx) in Object.values(quaternionToEuler(tag.pose.rotation.quaternion))" :key="idx + 4">
{{ val.toFixed(2) }}
</td>
</tr>
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