Raise minimum images for calibration to 100 (#2437)

photon-client/src/components/cameras/CameraCalibrationCard.vue

@@ -242,7 +242,7 @@ const endCalibration = () => {
   calibSuccess.value = undefined;
   calibEndpointFail.value = false;
 
-  if (!useStateStore().calibrationData.hasEnoughImages) {
+  if (!hasEnoughImages.value) {
     calibCanceled.value = true;
   }
 
@@ -270,6 +270,10 @@ const endCalibration = () => {
 
 const drawAllSnapshots = ref(true);
 
+const bypassVal = ref(false);
+const minCount = computed(() => (bypassVal.value ? 10 : 100));
+const hasEnoughImages = computed(() => useStateStore().calibrationData.imageCount >= minCount.value);
+
 const showCalDialog = ref(false);
 const selectedVideoFormat = ref<VideoFormat | undefined>(undefined);
 const setSelectedVideoFormat = (format: VideoFormat) => {
@@ -540,11 +544,22 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
           <v-chip
             :variant="theme.global.current.value.dark ? 'tonal' : 'elevated'"
             label
-            :color="useStateStore().calibrationData.hasEnoughImages ? 'buttonPassive' : 'light-grey'"
+            :color="hasEnoughImages ? 'buttonPassive' : 'light-grey'"
           >
             Snapshots: {{ useStateStore().calibrationData.imageCount }} of at least
-            {{ useStateStore().calibrationData.minimumImageCount }}
+            {{ minCount }}
           </v-chip>
+          <v-spacer />
+          <pv-switch
+            v-model="bypassVal"
+            color="error"
+            hide-details
+            class="ml-4"
+            label="Bypass minimum"
+            :label-cols="6"
+            :switch-cols="6"
+            tooltip="Bypass the minimum recommended amount of snapshots for a calibration. Should only be used for dev work or temporary tests not competitions. Still requires 10 images to calibrate."
+          />
         </div>
         <div>
           <v-btn
@@ -589,16 +604,14 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
               size="small"
               block
               :variant="theme.global.current.value.dark ? 'outlined' : 'elevated'"
-              :color="useStateStore().calibrationData.hasEnoughImages ? 'buttonActive' : 'error'"
+              :color="hasEnoughImages ? 'buttonActive' : 'error'"
               :disabled="!isCalibrating || !settingsValid"
               @click="endCalibration"
             >
               <v-icon start class="calib-btn-icon" size="large">
-                {{ useStateStore().calibrationData.hasEnoughImages ? "mdi-flag-checkered" : "mdi-flag-off-outline" }}
+                {{ hasEnoughImages ? "mdi-flag-checkered" : "mdi-flag-off-outline" }}
               </v-icon>
-              <span class="calib-btn-label">{{
-                useStateStore().calibrationData.hasEnoughImages ? "Finish Calibration" : "Cancel Calibration"
-              }}</span>
+              <span class="calib-btn-label">{{ hasEnoughImages ? "Finish Calibration" : "Cancel Calibration" }}</span>
             </v-btn>
           </v-col>
         </div>

photon-client/src/stores/StateStore.ts

@@ -40,8 +40,6 @@ interface StateStore {
   calibrationData: {
     imageCount: number;
     videoFormatIndex: number;
-    minimumImageCount: number;
-    hasEnoughImages: boolean;
   };
 
   snackbarData: {
@@ -89,9 +87,7 @@ export const useStateStore = defineStore("state", {
 
       calibrationData: {
         imageCount: 0,
-        videoFormatIndex: 0,
-        minimumImageCount: 12,
-        hasEnoughImages: false
+        videoFormatIndex: 0
       },
 
       snackbarData: {
@@ -162,9 +158,7 @@ export const useStateStore = defineStore("state", {
     updateCalibrationStateValuesFromWebsocket(data: WebsocketCalibrationData) {
       this.calibrationData = {
         imageCount: data.count,
-        videoFormatIndex: data.videoModeIndex,
-        minimumImageCount: data.minCount,
-        hasEnoughImages: data.hasEnough
+        videoFormatIndex: data.videoModeIndex
       };
     },
     updateDiscoveredCameras(data: VsmState) {

photon-client/src/stores/settings/CameraSettingsStore.ts

@@ -385,8 +385,6 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
       const payload = {
         startPnpCalibration: {
           count: stateCalibData.imageCount,
-          minCount: stateCalibData.minimumImageCount,
-          hasEnough: stateCalibData.hasEnoughImages,
           videoModeIndex: stateCalibData.videoFormatIndex,
           ...calibrationInitData
         },

photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java

@@ -63,21 +63,14 @@ public class Calibrate3dPipeline
     /// Output of the calibration, getter method is set for this.
     private CVPipeResult<CameraCalibrationCoefficients> calibrationOutput;
 
-    private final int minSnapshots;
-
     private boolean calibrating = false;
 
     private static final FrameThresholdType PROCESSING_TYPE = FrameThresholdType.NONE;
 
     public Calibrate3dPipeline() {
-        this(12);
-    }
-
-    public Calibrate3dPipeline(int minSnapshots) {
         super(PROCESSING_TYPE);
         this.settings = new Calibration3dPipelineSettings();
         this.foundCornersList = new ArrayList<>();
-        this.minSnapshots = minSnapshots;
     }
 
     @Override
@@ -164,21 +157,7 @@ public class Calibrate3dPipeline
         return foundCornersList.stream().map(it -> it.imagePoints.toList()).toList();
     }
 
-    public boolean hasEnough() {
-        return foundCornersList.size() >= minSnapshots;
-    }
-
     public CameraCalibrationCoefficients tryCalibration(Path imageSavePath) {
-        if (!hasEnough()) {
-            logger.info(
-                    "Not enough snapshots! Only got "
-                            + foundCornersList.size()
-                            + " of "
-                            + minSnapshots
-                            + " -- returning null..");
-            return null;
-        }
-
         this.calibrating = true;
 
         /*
@@ -216,8 +195,6 @@ public class Calibrate3dPipeline
                         new UICalibrationData(
                                 foundCornersList.size(),
                                 settings.cameraVideoModeIndex,
-                                minSnapshots,
-                                hasEnough(),
                                 Units.metersToInches(settings.gridSize),
                                 Units.metersToInches(settings.markerSize),
                                 settings.boardWidth,

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

@@ -22,8 +22,6 @@ import org.opencv.objdetect.Objdetect;
 public class UICalibrationData {
     public int videoModeIndex;
     public int count;
-    public int minCount;
-    public boolean hasEnough;
     public double squareSizeIn;
     public int patternWidth;
     public int patternHeight;
@@ -37,8 +35,6 @@ public class UICalibrationData {
     public UICalibrationData(
             int count,
             int videoModeIndex,
-            int minCount,
-            boolean hasEnough,
             double squareSizeIn,
             double markerSizeIn,
             int patternWidth,
@@ -47,9 +43,7 @@ public class UICalibrationData {
             boolean useOldPattern,
             TagFamily tagFamily) {
         this.count = count;
-        this.minCount = minCount;
         this.videoModeIndex = videoModeIndex;
-        this.hasEnough = hasEnough;
         this.squareSizeIn = squareSizeIn;
         this.markerSizeIn = markerSizeIn;
         this.patternWidth = patternWidth;
@@ -90,10 +84,6 @@ public class UICalibrationData {
                 + videoModeIndex
                 + ", count="
                 + count
-                + ", minCount="
-                + minCount
-                + ", hasEnough="
-                + hasEnough
                 + ", squareSizeIn="
                 + squareSizeIn
                 + ", markerSizeIn="

photon-core/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java

@@ -216,7 +216,7 @@ public class Calibrate3dPipeTest {
 
         assertTrue(directoryListing.length >= 12);
 
-        Calibrate3dPipeline calibration3dPipeline = new Calibrate3dPipeline(10);
+        Calibrate3dPipeline calibration3dPipeline = new Calibrate3dPipeline();
         calibration3dPipeline.getSettings().boardType = boardType;
         calibration3dPipeline.getSettings().markerSize = markerSize;
         calibration3dPipeline.getSettings().tagFamily = tagFamily;