Raise minimum images for calibration to 100 (#2437)

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;