From 831df409f72142a234b41403ec1414661eaa2be9 Mon Sep 17 00:00:00 2001
From: Sam Freund <samf.236@proton.me>
Date: Mon, 13 Oct 2025 16:56:16 -0500
Subject: [PATCH] Disable 3d mode for OD (#2121)

## Description

There isn't anything that 3D mode adds for OD, and the results are
typically messed up. Thus, we disable 3D mode when we're using an OD
pipeline.

## Meta

Merge checklist:
- [x] Pull Request title is [short, imperative
summary](https://cbea.ms/git-commit/) of proposed changes
- [x] The description documents the _what_ and _why_
- [ ] If this PR changes behavior or adds a feature, user documentation
is updated
- [ ] If this PR touches photon-serde, all messages have been
regenerated and hashes have not changed unexpectedly
- [ ] If this PR touches configuration, this is backwards compatible
with settings back to v2025.3.2
- [ ] If this PR touches pipeline settings or anything related to data
exchange, the frontend typing is updated
- [ ] If this PR addresses a bug, a regression test for it is added
---
 .../src/components/dashboard/StreamConfigCard.vue      |  6 +++++-
 .../photonvision/vision/processes/PipelineManager.java | 10 ++++++++++
 2 files changed, 15 insertions(+), 1 deletion(-)

diff --git a/photon-client/src/components/dashboard/StreamConfigCard.vue b/photon-client/src/components/dashboard/StreamConfigCard.vue
index 5efbe2530..ad0e88617 100644
--- a/photon-client/src/components/dashboard/StreamConfigCard.vue
+++ b/photon-client/src/components/dashboard/StreamConfigCard.vue
@@ -3,6 +3,7 @@ import { computed } from "vue";
 import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
 import { useStateStore } from "@/stores/StateStore";
 import { useTheme } from "vuetify";
+import { PipelineType } from "@/types/PipelineTypes";
 
 const theme = useTheme();
 
@@ -43,7 +44,10 @@ const processingMode = computed<number>({
           <v-btn
             color="buttonPassive"
             :disabled="
-              !useCameraSettingsStore().hasConnected || !useCameraSettingsStore().isCurrentVideoFormatCalibrated
+              !useCameraSettingsStore().hasConnected ||
+              !useCameraSettingsStore().isCurrentVideoFormatCalibrated ||
+              useCameraSettingsStore().currentPipelineSettings.pipelineType == PipelineType.ObjectDetection ||
+              useCameraSettingsStore().currentPipelineSettings.pipelineType == PipelineType.ColoredShape
             "
             :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
             class="w-50"
diff --git a/photon-core/src/main/java/org/photonvision/vision/processes/PipelineManager.java b/photon-core/src/main/java/org/photonvision/vision/processes/PipelineManager.java
index 9d8b6cc32..e97824a82 100644
--- a/photon-core/src/main/java/org/photonvision/vision/processes/PipelineManager.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/PipelineManager.java
@@ -488,6 +488,16 @@ public class PipelineManager {
                     // Skip fields that are annotated with SuppressSettingCopy
                     continue;
                 }
+
+                // Object detection doesn't support 3D mode, so we gotta make sure that gets
+                // turned off when we switch from a pipeline that had 3D mode enabled.
+                if ((newType == PipelineType.ObjectDetection.baseIndex
+                                || newType == PipelineType.ColoredShape.baseIndex)
+                        && field.getName().equals("solvePNPEnabled")) {
+                    field.set(newSettings, false);
+                    continue;
+                }
+
                 Object value = field.get(oldSettings);
                 logger.debug("setting " + field.getName() + " to " + value);
                 field.set(newSettings, value);