From 3e879cc30f7f3ad11b2e724dcf5c5c9420d5c92d Mon Sep 17 00:00:00 2001
From: Sam Freund <techguy763@gmail.com>
Date: Wed, 19 Mar 2025 16:29:59 -0500
Subject: [PATCH] feat: crosshair toggle for driver mode (#1822)

closes #1818

![image of added
toggle](https://github.com/user-attachments/assets/9a8a4f88-3ce2-4fcd-b0ac-61f5b96d26e4)
Here's what the added toggle looks like, I just put in the input
settings. It'll also hide itself when drivermode is off.
---
 .../src/components/dashboard/tabs/InputTab.vue        |  8 ++++++++
 .../vision/pipeline/DriverModePipeline.java           | 11 +++++++----
 .../vision/pipeline/DriverModePipelineSettings.java   |  1 +
 3 files changed, 16 insertions(+), 4 deletions(-)

diff --git a/photon-client/src/components/dashboard/tabs/InputTab.vue b/photon-client/src/components/dashboard/tabs/InputTab.vue
index 8f0a2340c..90881f05c 100644
--- a/photon-client/src/components/dashboard/tabs/InputTab.vue
+++ b/photon-client/src/components/dashboard/tabs/InputTab.vue
@@ -170,5 +170,13 @@ const interactiveCols = computed(() =>
       :select-cols="interactiveCols"
       @input="(args) => handleStreamResolutionChange(args)"
     />
+    <pv-switch
+      v-if="useCameraSettingsStore().isDriverMode"
+      v-model="useCameraSettingsStore().currentPipelineSettings.crosshair"
+      label="Crosshair"
+      :switch-cols="interactiveCols"
+      tooltip="Enables or disables a crosshair overlay on the camera stream"
+      @input="(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ crosshair: args }, false)"
+    />
   </div>
 </template>
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/DriverModePipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/DriverModePipeline.java
index 2da0f23a3..856c03579 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/DriverModePipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/DriverModePipeline.java
@@ -68,10 +68,12 @@ public class DriverModePipeline
         if (!emptyIn) {
             totalNanos += resizeImagePipe.run(inputMat).nanosElapsed;
 
-            var draw2dCrosshairResult = draw2dCrosshairPipe.run(Pair.of(inputMat, List.of()));
+            if (settings.crosshair) {
+                var draw2dCrosshairResult = draw2dCrosshairPipe.run(Pair.of(inputMat, List.of()));
 
-            // calculate elapsed nanoseconds
-            totalNanos += draw2dCrosshairResult.nanosElapsed;
+                // calculate elapsed nanoseconds
+                totalNanos += draw2dCrosshairResult.nanosElapsed;
+            }
         }
 
         var fpsResult = calculateFPSPipe.run(null);
@@ -92,6 +94,7 @@ public class DriverModePipeline
 
     @Override
     public void release() {
-        // we never actually need to give resources up since pipelinemanager only makes one of us
+        // we never actually need to give resources up since pipelinemanager only makes
+        // one of us
     }
 }
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/DriverModePipelineSettings.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/DriverModePipelineSettings.java
index 70beebf7a..e09b107d5 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/DriverModePipelineSettings.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/DriverModePipelineSettings.java
@@ -24,6 +24,7 @@ import org.photonvision.vision.processes.PipelineManager;
 @JsonTypeName("DriverModePipelineSettings")
 public class DriverModePipelineSettings extends CVPipelineSettings {
     public DoubleCouple offsetPoint = new DoubleCouple();
+    public boolean crosshair = true;
 
     public DriverModePipelineSettings() {
         super();