Use chessboard squares (vs interior corners); fix resolution selector bug (#139)

* Change chessboard size to be squares not interior corners This reduces ambiguity * Force users to select resolution This forces the correct video mode index to be selected. Otherwise the 0th camera videomode index will be used, as it's zero-inited. This is undesirable. * Make target model an enum This will allow the UI to remember the currently selected target.
2026-06-19 00:41:41 +00:00 · 2020-10-13 06:58:50 -07:00
parent 6e0a6b804e
commit 23f3c0e6e1
13 changed files with 146 additions and 194 deletions
--- a/photon-client/src/assets/FRCtargets.json
+++ b/photon-client/src/assets/FRCtargets.json
@@ -1,52 +0,0 @@
-{
-  "2020 Hex Goal": {
-    "realWorldCoordinatesArray": [
-      {
-        "x": -0.49847498536109924,
-        "y": 0.0,
-        "z": 0.0
-      },
-      {
-        "x": -0.24942462146282196,
-        "y": -0.4318000078201294,
-        "z": 0.0
-      },
-      {
-        "x": 0.24942462146282196,
-        "y": -0.4318000078201294,
-        "z": 0.0
-      },
-      {
-        "x": 0.49847498536109924,
-        "y": 0.0,
-        "z": 0.0
-      }
-    ],
-    "boxHeight": 0.30479999999999996
-  },
-  "2019 Dual Target": {
-    "realWorldCoordinatesArray": [
-      {
-        "x": -0.15077440440654755,
-        "y": 0.06761480122804642,
-        "z": 0.0
-      },
-      {
-        "x": -0.18575020134449005,
-        "y": -0.06761480122804642,
-        "z": 0.0
-      },
-      {
-        "x": 0.18575020134449005,
-        "y": -0.06761480122804642,
-        "z": 0.0
-      },
-      {
-        "x": 0.15077440440654755,
-        "y": 0.06761480122804642,
-        "z": 0.0
-      }
-    ],
-    "boxHeight": 0.1
-  }
-}
--- a/photon-client/src/store/index.js
+++ b/photon-client/src/store/index.js
@@ -122,8 +122,8 @@ export default new Vuex.Store({
            minCount: 25,
            hasEnough: false,
            squareSizeIn: 1.0,
-            patternWidth: 7,
-            patternHeight: 7,
+            patternWidth: 8,
+            patternHeight: 8,
            boardType: 0, // Chessboard, dotboard
        },
        metrics: {
--- a/photon-client/src/views/CamerasView.vue
+++ b/photon-client/src/views/CamerasView.vue
@@ -93,14 +93,14 @@
                  v-model="boardWidth"
                  name="Board width"
                  label-cols="5"
-                  tooltip="Width of the board in dots or corners; with the standard chessboard, this is usually 7"
+                  tooltip="Width of the board in dots or chessboard squares; with the standard chessboard, this is usually 8"
                  :disabled="isCalibrating"
                />
                <CVnumberinput
                  v-model="boardHeight"
                  name="Board height"
                  label-cols="5"
-                  tooltip="Height of the board in dots or corners; with the standard chessboard, this is usually 7"
+                  tooltip="Height of the board in dots or chessboard squares; with the standard chessboard, this is usually 8"
                  :disabled="isCalibrating"
                />
              </v-col>
@@ -291,7 +291,7 @@ export default {
                text: ""
            },
            snack: false,
-            filteredVideomodeIndex: 0
+            filteredVideomodeIndex: undefined,
        }
    },
    computed: {
@@ -409,7 +409,6 @@ export default {
                return this.$store.getters.currentPipelineIndex === -2;
            }
        },
-
        selectedFilteredResIndex: {
            get() {
                return this.filteredVideomodeIndex
--- a/photon-client/src/views/PipelineViews/PnPTab.vue
+++ b/photon-client/src/views/PipelineViews/PnPTab.vue
@@ -16,10 +16,10 @@
      color="accent"
      item-color="secondary"
      label="Select a target model"
-      :items="FRCtargets"
+      :items="targetList"
      item-text="name"
      item-value="data"
-      @change="onModelSelect"
+      @input="handlePipelineUpdate('targetModel', targetList.indexOf(selectedModel))"
    />
    <CVslider
      v-model="cornerDetectionAccuracyPercentage"
@@ -51,7 +51,6 @@
    import Papa from 'papaparse';
    import miniMap from '../../components/pipeline/3D/MiniMap';
    import CVslider from '../../components/common/cv-slider'
-    import FRCtargetsConfig from '../../assets/FRCtargets'

    export default {
        name: "SolvePNP",
@@ -61,18 +60,25 @@
        },
        data() {
            return {
-                FRCtargets: null,
+                targetList: ['2020 High Goal Outer', '2020 High Goal Inner', '2019 Dual Target', 'Power Cell (7in)'],
                snackbar: {
                    color: "Success",
                    text: ""
                },
                snack: false,
-                selectedModel: {
-                    isCustom: false
-                }
            }
        },
        computed: {
+            selectedModel: {
+                get() {
+                    let ret = this.$store.getters.currentPipelineSettings.targetModel
+                    console.log(ret)
+                    return this.targetList[ret];
+                },
+                set(val) {
+                    this.$store.commit("mutatePipeline", {"targetModel": this.targetList.indexOf(val)})
+                }
+            },
            cornerDetectionAccuracyPercentage: {
                get() {
                    return this.$store.getters.currentPipelineSettings.cornerDetectionAccuracyPercentage
@@ -97,20 +103,6 @@
                }
            },
        },
-        mounted() {
-            let tmp = [];
-            for (let t in FRCtargetsConfig) {
-                if (FRCtargetsConfig.hasOwnProperty(t)) {
-                    tmp.push({name: t, data: FRCtargetsConfig[t]});
-                }
-            }
-
-            // Special dropdown item for uploading your own model
-            // data is what gets put in selectedMode, so we add a special field
-            tmp.push({name: "Custom model", data: {isCustom: true}});
-
-            this.FRCtargets = tmp;
-        },
        methods: {
            readFile(event) {
                let file = event.target.files[0];
@@ -119,13 +111,6 @@
                    skipEmptyLines: true
                });
            },
-            onModelSelect() {
-              if (this.selectedModel.isCustom) {
-                this.$refs.file.click();
-              } else {
-                this.uploadPremade();
-              }
-            },
            onParse(result) {
                if (result.data.length > 0) {
                    let data = [];
@@ -158,29 +143,6 @@
                    this.selectedModel = null;
                }
            },
-            uploadPremade() {
-                this.uploadModel(this.selectedModel, true);
-            },
-            uploadModel(model, premade = false) {
-                this.axios.post("http://" + this.$address + "/api/vision/pnpModel", {
-                    ['targetModel']: model,
-                    ['index']: this.$store.getters.currentCameraIndex
-                }).then(() => {
-                    this.snackbar = {
-                        color: "success",
-                        text: premade ? "Target model changed successfully" : "Custom target model uploaded and selected successfully"
-                    };
-                    this.snack = true;
-                }).catch(() => {
-                    this.snackbar = {
-                        color: "error",
-                        text: "An error occurred selecting a target model"
-                    };
-                    this.snack = true;
-
-                    this.selectedModel = null;
-                });
-            }
        }
    }
 </script>
--- a/photon-server/src/main/java/org/photonvision/Main.java
+++ b/photon-server/src/main/java/org/photonvision/Main.java
@@ -33,6 +33,7 @@ import org.photonvision.common.networking.NetworkManager;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.server.Server;
 import org.photonvision.vision.camera.FileVisionSource;
+import org.photonvision.vision.opencv.ContourGroupingMode;
 import org.photonvision.vision.pipeline.CVPipelineSettings;
 import org.photonvision.vision.pipeline.ReflectivePipelineSettings;
 import org.photonvision.vision.processes.VisionModule;
@@ -93,7 +94,9 @@ public class Main {

        var pipeline2019 = new ReflectivePipelineSettings();
        pipeline2019.pipelineNickname = "CargoShip";
-        pipeline2019.targetModel = TargetModel.get2019Target();
+        pipeline2019.targetModel = TargetModel.k2019DualTarget;
+        pipeline2019.outputShowMultipleTargets = true;
+        pipeline2019.contourGroupingMode = ContourGroupingMode.Dual;

        var psList2019 = new ArrayList<CVPipelineSettings>();
        psList2019.add(pipeline2019);
@@ -107,7 +110,7 @@ public class Main {

        var pipeline2020 = new ReflectivePipelineSettings();
        pipeline2020.pipelineNickname = "OuterPort";
-        pipeline2020.targetModel = TargetModel.get2020Target();
+        pipeline2020.targetModel = TargetModel.k2020HighGoalOuter;
        camConf2020.calibrations.add(TestUtils.get2020LifeCamCoeffs(true));

        var psList2020 = new ArrayList<CVPipelineSettings>();
--- a/photon-server/src/main/java/org/photonvision/vision/pipe/impl/FindBoardCornersPipe.java
+++ b/photon-server/src/main/java/org/photonvision/vision/pipe/impl/FindBoardCornersPipe.java
@@ -17,15 +17,21 @@

 package org.photonvision.vision.pipe.impl;

+import java.util.Objects;
 import org.apache.commons.lang3.tuple.Triple;
 import org.opencv.calib3d.Calib3d;
 import org.opencv.core.*;
 import org.opencv.imgproc.Imgproc;
+import org.photonvision.common.logging.LogGroup;
+import org.photonvision.common.logging.Logger;
 import org.photonvision.vision.pipe.CVPipe;
 import org.photonvision.vision.pipeline.UICalibrationData;

 public class FindBoardCornersPipe
        extends CVPipe<Mat, Triple<Size, Mat, Mat>, FindBoardCornersPipe.FindCornersPipeParams> {
+    private static final Logger logger =
+            new Logger(FindBoardCornersPipe.class, LogGroup.VisionModule);
+
    MatOfPoint3f objectPoints = new MatOfPoint3f();

    Size imageSize;
@@ -38,25 +44,22 @@ public class FindBoardCornersPipe
    private final Size zeroZone = new Size(-1, -1);
    private final TermCriteria criteria = new TermCriteria(3, 30, 0.001);

-    private boolean objectPointsCreated = false;
-
-    @Override
-    public void setParams(FindCornersPipeParams params) {
-        super.setParams(params);
-
-        if (new Size(params.boardWidth, params.boardHeight).equals(patternSize)) return;
-
-        objectPointsCreated = false;
-    }
+    private FindCornersPipeParams lastParams = null;

    public void createObjectPoints() {
-        if (objectPointsCreated) return; // TODO reinstantiate on settings change
+        if (this.lastParams != null && this.lastParams.equals(this.params)) return;
+        this.lastParams = this.params;

        /*If using a chessboard, then the pattern size if the inner corners of the board. For example, the pattern size of a 9x9 chessboard would be 8x8
        If using a dot board, then the pattern size width is the sum of the bottom 2 rows and the height is the left or right most column
        For example, a 5x4 dot board would have a pattern size of 11x4
+        We subtract 1 for chessboard because the UI prompts users for the number of squares, not the
+        number of corners.
        * */
-        this.patternSize = new Size(params.boardWidth, params.boardHeight);
+        this.patternSize =
+                params.type == UICalibrationData.BoardType.CHESSBOARD
+                        ? new Size(params.boardWidth - 1, params.boardHeight - 1)
+                        : new Size(params.boardWidth, params.boardHeight);

        // Chessboard and dot board have different 3D points to project as a dot board has alternating
        // dots per column
@@ -81,9 +84,8 @@ public class FindBoardCornersPipe
                }
            }
        } else {
-            // TOOD log
+            logger.error("Can't create pattern for unknown board type " + params.type);
        }
-        objectPointsCreated = true;
    }

    /**
@@ -162,5 +164,21 @@ public class FindBoardCornersPipe
            this.type = type;
            this.gridSize = gridSize; // mm
        }
+
+        @Override
+        public boolean equals(Object o) {
+            if (this == o) return true;
+            if (o == null || getClass() != o.getClass()) return false;
+            FindCornersPipeParams that = (FindCornersPipeParams) o;
+            return boardHeight == that.boardHeight
+                    && boardWidth == that.boardWidth
+                    && Double.compare(that.gridSize, gridSize) == 0
+                    && type == that.type;
+        }
+
+        @Override
+        public int hashCode() {
+            return Objects.hash(boardHeight, boardWidth, type, gridSize);
+        }
    }
 }
--- a/photon-server/src/main/java/org/photonvision/vision/pipeline/Calibration3dPipelineSettings.java
+++ b/photon-server/src/main/java/org/photonvision/vision/pipeline/Calibration3dPipelineSettings.java
@@ -21,8 +21,8 @@ import edu.wpi.first.wpilibj.util.Units;
 import org.opencv.core.Size;

 public class Calibration3dPipelineSettings extends AdvancedPipelineSettings {
-    public int boardHeight = 7;
-    public int boardWidth = 7;
+    public int boardHeight = 8;
+    public int boardWidth = 8;
    public UICalibrationData.BoardType boardType = UICalibrationData.BoardType.CHESSBOARD;
    public double gridSize = Units.inchesToMeters(1.0);

--- a/photon-server/src/main/java/org/photonvision/vision/pipeline/ReflectivePipelineSettings.java
+++ b/photon-server/src/main/java/org/photonvision/vision/pipeline/ReflectivePipelineSettings.java
@@ -34,7 +34,7 @@ public class ReflectivePipelineSettings extends AdvancedPipelineSettings {

    // 3d settings
    public boolean solvePNPEnabled = false;
-    public TargetModel targetModel = TargetModel.get2020Target();
+    public TargetModel targetModel = TargetModel.k2020HighGoalOuter;

    // Corner detection settings
    public CornerDetectionPipe.DetectionStrategy cornerDetectionStrategy =
--- a/photon-server/src/main/java/org/photonvision/vision/target/TargetModel.java
+++ b/photon-server/src/main/java/org/photonvision/vision/target/TargetModel.java
@@ -23,21 +23,71 @@ import com.fasterxml.jackson.annotation.JsonProperty;
 import edu.wpi.first.wpilibj.util.Units;
 import java.util.ArrayList;
 import java.util.List;
-import java.util.Objects;
 import org.opencv.core.MatOfPoint3f;
 import org.opencv.core.Point3;
 import org.photonvision.vision.opencv.Releasable;

-public class TargetModel implements Releasable {
+public enum TargetModel implements Releasable {
+    k2020HighGoalOuter(
+            List.of(
+                    new Point3(Units.inchesToMeters(-19.625), 0, 0),
+                    new Point3(Units.inchesToMeters(-9.819867), Units.inchesToMeters(-17), 0),
+                    new Point3(Units.inchesToMeters(9.819867), Units.inchesToMeters(-17), 0),
+                    new Point3(Units.inchesToMeters(19.625), 0, 0)),
+            Units.inchesToMeters(12)),
+    k2020HighGoalInner(
+            List.of(
+                    new Point3(Units.inchesToMeters(-19.625), 0, Units.inchesToMeters(2d * 12d + 5.25)),
+                    new Point3(
+                            Units.inchesToMeters(-9.819867),
+                            Units.inchesToMeters(-17),
+                            Units.inchesToMeters(2d * 12d + 5.25)),
+                    new Point3(
+                            Units.inchesToMeters(9.819867),
+                            Units.inchesToMeters(-17),
+                            Units.inchesToMeters(2d * 12d + 5.25)),
+                    new Point3(Units.inchesToMeters(19.625), 0, Units.inchesToMeters(2d * 12d + 5.25))),
+            Units.inchesToMeters(12)),
+    k2019DualTarget(
+            List.of(
+                    new Point3(Units.inchesToMeters(-5.936), Units.inchesToMeters(2.662), 0),
+                    new Point3(Units.inchesToMeters(-7.313), Units.inchesToMeters(-2.662), 0),
+                    new Point3(Units.inchesToMeters(7.313), Units.inchesToMeters(-2.662), 0),
+                    new Point3(Units.inchesToMeters(5.936), Units.inchesToMeters(2.662), 0)),
+            0.1),
+    kCircularPowerCell7in(
+            List.of(
+                    new Point3(
+                            -Units.inchesToMeters(7) / 2,
+                            -Units.inchesToMeters(7) / 2,
+                            -Units.inchesToMeters(7) / 2),
+                    new Point3(
+                            -Units.inchesToMeters(7) / 2,
+                            Units.inchesToMeters(7) / 2,
+                            -Units.inchesToMeters(7) / 2),
+                    new Point3(
+                            Units.inchesToMeters(7) / 2,
+                            Units.inchesToMeters(7) / 2,
+                            -Units.inchesToMeters(7) / 2),
+                    new Point3(
+                            Units.inchesToMeters(7) / 2,
+                            -Units.inchesToMeters(7) / 2,
+                            -Units.inchesToMeters(7) / 2)),
+            0);

-    @JsonIgnore private final MatOfPoint3f realWorldTargetCoordinates;
-    @JsonIgnore private final MatOfPoint3f visualizationBoxBottom = new MatOfPoint3f();
-    @JsonIgnore private final MatOfPoint3f visualizationBoxTop = new MatOfPoint3f();
+    @JsonIgnore private MatOfPoint3f realWorldTargetCoordinates;
+    @JsonIgnore private MatOfPoint3f visualizationBoxBottom = new MatOfPoint3f();
+    @JsonIgnore private MatOfPoint3f visualizationBoxTop = new MatOfPoint3f();

-    public final List<Point3> realWorldCoordinatesArray;
-    public final double boxHeight;
+    @JsonProperty("realWorldCoordinatesArray")
+    private List<Point3> realWorldCoordinatesArray;

-    public TargetModel(MatOfPoint3f realWorldTargetCoordinates, double boxHeight) {
+    @JsonProperty("boxHeight")
+    private double boxHeight;
+
+    TargetModel() {}
+
+    TargetModel(MatOfPoint3f realWorldTargetCoordinates, double boxHeight) {
        this.realWorldTargetCoordinates = realWorldTargetCoordinates;
        this.realWorldCoordinatesArray = realWorldTargetCoordinates.toList();
        this.boxHeight = boxHeight;
@@ -53,12 +103,28 @@ public class TargetModel implements Releasable {
    }

    @JsonCreator
-    public TargetModel(
+    TargetModel(
            @JsonProperty(value = "realWorldCoordinatesArray") List<Point3> points,
            @JsonProperty(value = "boxHeight") double boxHeight) {
        this(listToMat(points), boxHeight);
    }

+    public List<Point3> getRealWorldCoordinatesArray() {
+        return this.realWorldCoordinatesArray;
+    }
+
+    public double getBoxHeight() {
+        return boxHeight;
+    }
+
+    public void setRealWorldCoordinatesArray(List<Point3> realWorldCoordinatesArray) {
+        this.realWorldCoordinatesArray = realWorldCoordinatesArray;
+    }
+
+    public void setBoxHeight(double boxHeight) {
+        this.boxHeight = boxHeight;
+    }
+
    private static MatOfPoint3f listToMat(List<Point3> points) {
        var mat = new MatOfPoint3f();
        mat.fromList(points);
@@ -77,58 +143,15 @@ public class TargetModel implements Releasable {
        return visualizationBoxTop;
    }

-    public static TargetModel get2020Target() {
-        return get2020Target(0);
-    }
-
-    public static TargetModel get2020TargetInnerPort() {
-        // Per the game manual, the inner port is 2ft 5.25in behind the outer port
-        return get2020Target(Units.inchesToMeters(2d * 12d + 5.25));
-    }
-
-    public static TargetModel get2020Target(double offsetMeters) {
-        var corners =
-                List.of(
-                        new Point3(Units.inchesToMeters(-19.625), 0, offsetMeters),
-                        new Point3(Units.inchesToMeters(-9.819867), Units.inchesToMeters(-17), offsetMeters),
-                        new Point3(Units.inchesToMeters(9.819867), Units.inchesToMeters(-17), offsetMeters),
-                        new Point3(Units.inchesToMeters(19.625), 0, offsetMeters));
-        return new TargetModel(corners, Units.inchesToMeters(12));
-    }
-
-    public static TargetModel get2019Target() {
-        var corners =
-                List.of(
-                        new Point3(Units.inchesToMeters(-5.936), Units.inchesToMeters(2.662), 0),
-                        new Point3(Units.inchesToMeters(-7.313), Units.inchesToMeters(-2.662), 0),
-                        new Point3(Units.inchesToMeters(7.313), Units.inchesToMeters(-2.662), 0),
-                        new Point3(Units.inchesToMeters(5.936), Units.inchesToMeters(2.662), 0));
-        return new TargetModel(corners, 0.1);
-    }
-
-    public static TargetModel getCircleTarget(double radius) {
-        var corners =
-                List.of(
-                        new Point3(-radius / 2, -radius / 2, -radius / 2),
-                        new Point3(-radius / 2, radius / 2, -radius / 2),
-                        new Point3(radius / 2, radius / 2, -radius / 2),
-                        new Point3(radius / 2, -radius / 2, -radius / 2));
-        return new TargetModel(corners, 0);
-    }
-
-    @Override
-    public boolean equals(Object o) {
-        if (this == o) return true;
-        if (!(o instanceof TargetModel)) return false;
-        TargetModel that = (TargetModel) o;
-        return Double.compare(that.boxHeight, boxHeight) == 0
-                && Objects.equals(realWorldCoordinatesArray, that.realWorldCoordinatesArray);
-    }
-
-    @Override
-    public int hashCode() {
-        return Objects.hash(realWorldCoordinatesArray, boxHeight);
-    }
+    //    public static TargetModel getCircleTarget(double Units.inchesToMeters(7)) {
+    //        var corners =
+    //            List.of(
+    //                new Point3(-Units.inchesToMeters(7) / 2, -radius / 2, -radius / 2),
+    //                new Point3(-Units.inchesToMeters(7) / 2, radius / 2, -radius / 2),
+    //                new Point3(Units.inchesToMeters(7) / 2, radius / 2, -radius / 2),
+    //                new Point3(Units.inchesToMeters(7) / 2, -radius / 2, -radius / 2));
+    //        return new TargetModel(corners, 0);
+    //    }

    @Override
    public void release() {
--- a/photon-server/src/test/java/org/photonvision/common/configuration/ConfigTest.java
+++ b/photon-server/src/test/java/org/photonvision/common/configuration/ConfigTest.java
@@ -54,7 +54,7 @@ public class ConfigTest {
        COLORED_SHAPE_PIPELINE_SETTINGS = new ColoredShapePipelineSettings();

        REFLECTIVE_PIPELINE_SETTINGS.pipelineNickname = "2019Tape";
-        REFLECTIVE_PIPELINE_SETTINGS.targetModel = TargetModel.get2019Target();
+        REFLECTIVE_PIPELINE_SETTINGS.targetModel = TargetModel.k2019DualTarget;

        COLORED_SHAPE_PIPELINE_SETTINGS.pipelineNickname = "2019Cargo";
        COLORED_SHAPE_PIPELINE_SETTINGS.pipelineIndex = 1;
--- a/photon-server/src/test/java/org/photonvision/vision/pipeline/CirclePNPTest.java
+++ b/photon-server/src/test/java/org/photonvision/vision/pipeline/CirclePNPTest.java
@@ -97,7 +97,7 @@ public class CirclePNPTest {
        pipeline.getSettings().cornerDetectionAccuracyPercentage = 4;
        pipeline.getSettings().cornerDetectionUseConvexHulls = true;
        pipeline.getSettings().cameraCalibration = getCoeffs(LIFECAM_480P_CAL_FILE);
-        pipeline.getSettings().targetModel = TargetModel.getCircleTarget(7);
+        pipeline.getSettings().targetModel = TargetModel.kCircularPowerCell7in;
        pipeline.getSettings().cameraPitch = Rotation2d.fromDegrees(0.0);
        pipeline.getSettings().outputShouldDraw = true;
        pipeline.getSettings().outputShowMultipleTargets = false;
--- a/photon-server/src/test/java/org/photonvision/vision/pipeline/SolvePNPTest.java
+++ b/photon-server/src/test/java/org/photonvision/vision/pipeline/SolvePNPTest.java
@@ -98,7 +98,7 @@ public class SolvePNPTest {
        pipeline.getSettings().contourGroupingMode = ContourGroupingMode.Dual;
        pipeline.getSettings().contourIntersection = ContourIntersectionDirection.Up;
        pipeline.getSettings().cornerDetectionUseConvexHulls = true;
-        pipeline.getSettings().targetModel = TargetModel.get2019Target();
+        pipeline.getSettings().targetModel = TargetModel.k2019DualTarget;

        var frameProvider =
                new FileFrameProvider(
@@ -133,7 +133,7 @@ public class SolvePNPTest {
        pipeline.getSettings().solvePNPEnabled = true;
        pipeline.getSettings().cornerDetectionAccuracyPercentage = 4;
        pipeline.getSettings().cornerDetectionUseConvexHulls = true;
-        pipeline.getSettings().targetModel = TargetModel.get2020Target();
+        pipeline.getSettings().targetModel = TargetModel.k2020HighGoalOuter;

        var frameProvider =
                new FileFrameProvider(
--- a/photon-server/src/test/resources/hardware/HardwareConfig.json
+++ b/photon-server/src/test/resources/hardware/HardwareConfig.json
@@ -15,7 +15,6 @@
  "cpuMemoryCommand" : "echo 10",
  "cpuUtilCommand" : "echo 10",
  "gpuMemoryCommand" : "echo 10",
-  "gpuTempCommand" : "echo 10",
  "ramUtilCommand" : "echo 10",
  "restartHardwareCommand" : "echo 10",
  "vendorFOV" : 40.0