Exclude tags from PnP

package.json

@@ -0,0 +1,5 @@
+{
+  "dependencies": {
+    "pnpm": "^11.0.8"
+  }
+}

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

@@ -8,6 +8,8 @@ import { useStateStore } from "@/stores/StateStore";
 import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
 import { useDisplay } from "vuetify";
 
+import { useSettingsStore } from "@/stores/settings/GeneralSettingsStore";
+
 // 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<AprilTagPipelineSettings>(
@@ -90,5 +92,29 @@ const interactiveCols = computed(() =>
         (value) => useCameraSettingsStore().changeCurrentPipelineSetting({ refineEdges: value }, false)
       "
     />
+    <pv-switch
+      v-for="(tag, index) in useSettingsStore().currentFieldLayout.tags"
+      :key="index"
+      :model-value="
+        currentPipelineSettings.excludeTags instanceof Set ? currentPipelineSettings.excludeTags.has(tag.ID) : false
+      "
+      :switch-cols="interactiveCols"
+      :label="`Ignore tag ${tag.ID}`"
+      @update:modelValue="
+        (value) => {
+          const next = new Set<number>(
+            currentPipelineSettings.excludeTags instanceof Set ? currentPipelineSettings.excludeTags : []
+          );
+
+          if (value) {
+            next.add(tag.ID);
+          } else {
+            next.delete(tag.ID);
+          }
+
+          useCameraSettingsStore().changeCurrentPipelineSetting({ excludeTags: next }, true);
+        }
+      "
+    />
   </div>
 </template>

photon-client/src/types/PipelineTypes.ts

@@ -276,6 +276,7 @@ export interface AprilTagPipelineSettings extends PipelineSettings {
   tagFamily: AprilTagFamily;
   doMultiTarget: boolean;
   doSingleTargetAlways: boolean;
+  excludeTags: Set<number>;
 }
 export type ConfigurableAprilTagPipelineSettings = Partial<
   Omit<AprilTagPipelineSettings, "pipelineType" | "hammingDist" | "debug">
@@ -299,7 +300,8 @@ export const DefaultAprilTagPipelineSettings: AprilTagPipelineSettings = {
   threads: 4,
   tagFamily: AprilTagFamily.Family36h11,
   doMultiTarget: false,
-  doSingleTargetAlways: false
+  doSingleTargetAlways: false,
+  excludeTags: new Set<number>()
 };
 
 export interface ArucoPipelineSettings extends PipelineSettings {
@@ -320,6 +322,7 @@ export interface ArucoPipelineSettings extends PipelineSettings {
 
   doMultiTarget: boolean;
   doSingleTargetAlways: boolean;
+  excludeTags: Set<number>;
 }
 export type ConfigurableArucoPipelineSettings = Partial<Omit<ArucoPipelineSettings, "pipelineType">> &
   ConfigurablePipelineSettings;
@@ -342,7 +345,8 @@ export const DefaultArucoPipelineSettings: ArucoPipelineSettings = {
   aruco3MinMarkerSideRatio: 0.02,
   aruco3MinCanonicalImgSide: 32,
   doMultiTarget: false,
-  doSingleTargetAlways: false
+  doSingleTargetAlways: false,
+  excludeTags: new Set<number>()
 };
 
 export interface ObjectDetectionPipelineSettings extends PipelineSettings {

photon-client/tsconfig.json

@@ -14,5 +14,5 @@
     "paths": {
       "@/*": ["./src/*"]
     }
-  },
+  }
 }

photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java

@@ -158,14 +158,16 @@ protected CVPipelineResult process(Frame frame, AprilTagPipelineSettings setting
             // Populate target list for multitag
             // (TODO: Address circular dependencies. Multitag only requires corners and IDs, this should
             // not be necessary.)
-            TrackedTarget target =
-                    new TrackedTarget(
-                            detection,
-                            null,
-                            new TargetCalculationParameters(
-                                    false, null, null, null, null, frameStaticProperties));
-
-            targetList.add(target);
+            if (settings.excludeTags.contains(detection.getId())) {
+                TrackedTarget target =
+                        new TrackedTarget(
+                                detection,
+                                null,
+                                new TargetCalculationParameters(
+                                        false, null, null, null, null, frameStaticProperties));
+
+                targetList.add(target);
+            }
         }
 
         // Do multi-tag pose estimation

photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipelineSettings.java

@@ -18,12 +18,14 @@
 package org.photonvision.vision.pipeline;
 
 import com.fasterxml.jackson.annotation.JsonTypeName;
+import java.util.HashSet;
 import org.photonvision.vision.apriltag.AprilTagFamily;
 import org.photonvision.vision.target.TargetModel;
 
 @JsonTypeName("AprilTagPipelineSettings")
 public class AprilTagPipelineSettings extends AdvancedPipelineSettings {
     public AprilTagFamily tagFamily = AprilTagFamily.kTag36h11;
+    public HashSet<Integer> excludeTags = new HashSet<>();
     public int decimate = 1;
     public double blur = 0;
     public int threads = 4; // Multiple threads seems to be better performance on most platforms

photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipeline.java

@@ -151,13 +151,14 @@ protected CVPipelineResult process(Frame frame, ArucoPipelineSettings settings)
             // Populate target list for multitag
             // (TODO: Address circular dependencies. Multitag only requires corners and IDs, this should
             // not be necessary.)
-
-            targetList.add(
-                    new TrackedTarget(
-                            detection,
-                            null,
-                            new TargetCalculationParameters(
-                                    false, null, null, null, null, frameStaticProperties)));
+            if (settings.excludeTags.contains(detection.getId())) {
+                targetList.add(
+                        new TrackedTarget(
+                                detection,
+                                null,
+                                new TargetCalculationParameters(
+                                        false, null, null, null, null, frameStaticProperties)));
+            }
         }
 
         // Do multi-tag pose estimation

photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipelineSettings.java

@@ -18,14 +18,15 @@
 package org.photonvision.vision.pipeline;
 
 import com.fasterxml.jackson.annotation.JsonTypeName;
+import java.util.HashSet;
 import org.photonvision.common.util.numbers.IntegerCouple;
 import org.photonvision.vision.apriltag.AprilTagFamily;
 import org.photonvision.vision.target.TargetModel;
 
 @JsonTypeName("ArucoPipelineSettings")
 public class ArucoPipelineSettings extends AdvancedPipelineSettings {
     public AprilTagFamily tagFamily = AprilTagFamily.kTag36h11;
-
+    public HashSet<Integer> excludeTags = new HashSet<>();
     public IntegerCouple threshWinSizes = new IntegerCouple(11, 91);
     public int threshStepSize = 40;
     public double threshConstant = 10;