standardize on calibration in inches and add square size as a divisor

This should do the same thing as calibrating in the correct units but it doesnt like meeeeee

chameleon-client/src/views/SettingsViewes/Cameras.vue

@@ -17,7 +17,7 @@
                     <CVselect name="Resolution" v-model="resolutionIndex" :list="resolutionList"/>
                 </v-col>
                 <v-col>
-                    <CVnumberinput name="Square Size (mm)" v-model="squareSize"/>
+                    <CVnumberinput name="Square Size (in)" v-model="squareSize"/>
                 </v-col>
             </v-row>
             <v-row>
@@ -74,7 +74,7 @@
                     text: "Cancel Calibration",
                     color: "red"
                 },
-                squareSize: 2.54,
+                squareSize: 1.0,
                 snapshotAmount: 0,
                 hasEnough: false,
                 snack: false

chameleon-server/src/main/java/com/chameleonvision/config/CameraCalibrationConfig.java

@@ -15,21 +15,25 @@ public class CameraCalibrationConfig {
     @JsonProperty("resolution") public final Size resolution;
     @JsonProperty("cameraMatrix") public final JsonMat cameraMatrix;
     @JsonProperty("distortionCoeffs") public final JsonMat distortionCoeffs;
+    @JsonProperty("squareSize") public final double squareSize;
 
     @JsonCreator
     public CameraCalibrationConfig(
             @JsonProperty("resolution") Size resolution,
             @JsonProperty("cameraMatrix") JsonMat cameraMatrix,
-            @JsonProperty("distortionCoeffs") JsonMat distortionCoeffs) {
+            @JsonProperty("distortionCoeffs") JsonMat distortionCoeffs,
+            @JsonProperty("squareSize") double squareSize) {
         this.resolution = resolution;
         this.cameraMatrix = cameraMatrix;
         this.distortionCoeffs = distortionCoeffs;
+        this.squareSize = squareSize;
     }
 
-    public CameraCalibrationConfig(Size resolution, Mat cameraMatrix, Mat distortionCoeffs) {
+    public CameraCalibrationConfig(Size resolution, Mat cameraMatrix, Mat distortionCoeffs, double squareSize) {
         this.resolution = resolution;
         this.cameraMatrix = JsonMat.fromMat(cameraMatrix);
         this.distortionCoeffs = JsonMat.fromMat(distortionCoeffs);
+        this.squareSize = squareSize;
     }
 
     @JsonIgnoreType

chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/Calibrate3dPipeline.java

@@ -40,6 +40,7 @@ public class Calibrate3dPipeline extends CVPipeline<DriverVisionPipeline.DriverP
 
     private int captureCount = 0;
     private boolean wantsSnapshot = false;
+    private double squareSizeInches;
 
     public Calibrate3dPipeline(StandardCVPipelineSettings settings) {
         super(settings);
@@ -60,7 +61,7 @@ public class Calibrate3dPipeline extends CVPipeline<DriverVisionPipeline.DriverP
     }
 
     public void setSquareSize(double size) {
-        Core.multiply(objP_ORIG, new Scalar(new double[] { size, size, size }), objP);
+        this.squareSizeInches = size;
     }
 
     public void takeSnapshot() {
@@ -139,7 +140,7 @@ public class Calibrate3dPipeline extends CVPipeline<DriverVisionPipeline.DriverP
 
         VideoMode currentVidMode = cameraCapture.getCurrentVideoMode();
         Size resolution = new Size(currentVidMode.width, currentVidMode.height);
-        CameraCalibrationConfig cal = new CameraCalibrationConfig(resolution, cameraMatrix, distortionCoeffs);
+        CameraCalibrationConfig cal = new CameraCalibrationConfig(resolution, cameraMatrix, distortionCoeffs, squareSizeInches);
 
         VisionManager.getCurrentUIVisionProcess().addCalibration(cal);
 

chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/SolvePNPPipe.java

@@ -33,6 +33,7 @@ public class SolvePNPPipe implements Pipe<List<StandardCVPipeline.TrackedTarget>
     private List<StandardCVPipeline.TrackedTarget> poseList = new ArrayList<>();
     Comparator<Point> leftRightComparator = Comparator.comparingDouble(point -> point.x);
     Comparator<Point> verticalComparator = Comparator.comparingDouble(point -> point.y);
+    private double distanceDivisor = 1.0;
 
     public SolvePNPPipe(StandardCVPipelineSettings settings, CameraCalibrationConfig calibration, Rotation2d tilt) {
         super();
@@ -78,6 +79,7 @@ public class SolvePNPPipe implements Pipe<List<StandardCVPipeline.TrackedTarget>
             distortionCoefficients.release();
             settings.getDistortionCoeffsAsMat().copyTo(distortionCoefficients);
         }
+        this.distanceDivisor = settings.squareSize;
     }
 
     @Override
@@ -235,7 +237,7 @@ public class SolvePNPPipe implements Pipe<List<StandardCVPipeline.TrackedTarget>
         var targetAngle = -angle1; // radians
         var targetRotation = -angle2; // radians
         //noinspection UnnecessaryLocalVariable
-        var targetDistance = distance; // meters or whatever the calibration was in
+        var targetDistance = distance * 25.4 / 1000d / distanceDivisor; // meters or whatever the calibration was in
 
         var targetLocation = new Translation2d(targetDistance * FastMath.cos(targetAngle), targetDistance * FastMath.sin(targetAngle));
         target.cameraRelativePose = new Pose2d(targetLocation, new Rotation2d(targetRotation));

chameleon-server/src/main/java/com/chameleonvision/web/RequestHandler.java

@@ -22,8 +22,10 @@ import java.util.Map;
 
 public class RequestHandler {
 
+    private static final ObjectMapper kObjectMapper = new ObjectMapper();
+
     public static void onGeneralSettings(Context ctx) {
-        ObjectMapper objectMapper = new ObjectMapper();
+        ObjectMapper objectMapper = kObjectMapper;
         try {
             Map map = objectMapper.readValue(ctx.body(), Map.class);
 
@@ -44,7 +46,7 @@ public class RequestHandler {
     }
 
     public static void onDuplicatePipeline(Context ctx) {
-        ObjectMapper objectMapper = new ObjectMapper();
+        ObjectMapper objectMapper = kObjectMapper;
 
         try {
             Map newPipelineData = objectMapper.readValue(ctx.body(), Map.class);
@@ -81,7 +83,7 @@ public class RequestHandler {
     }
 
     public static void onCameraSettings(Context ctx) {
-        ObjectMapper objectMapper = new ObjectMapper();
+        ObjectMapper objectMapper = kObjectMapper;
         try {
             Map camSettings = objectMapper.readValue(ctx.body(), Map.class);
 
@@ -112,7 +114,7 @@ public class RequestHandler {
 
     public static void onCalibrationStart(Context ctx) throws JsonProcessingException {
         PipelineManager pipeManager = VisionManager.getCurrentUIVisionProcess().pipelineManager;
-        ObjectMapper objectMapper = new ObjectMapper();
+        ObjectMapper objectMapper = kObjectMapper;
         var data = objectMapper.readValue(ctx.body(), Map.class);
         int resolutionIndex = (Integer) data.get("resolution");
         double squareSize;
@@ -122,7 +124,7 @@ public class RequestHandler {
             squareSize = (Integer) data.get("squareSize");
         }
         // convert from mm to meters
-        pipeManager.calib3dPipe.setSquareSize(squareSize / 1000d);
+        pipeManager.calib3dPipe.setSquareSize(squareSize);
         VisionManager.getCurrentUIVisionProcess().pipelineManager.calib3dPipe.settings.videoModeIndex = resolutionIndex;
         VisionManager.getCurrentUIVisionProcess().pipelineManager.setCalibrationMode(true);
         VisionManager.getCurrentUIVisionProcess().getCamera().setVideoMode(resolutionIndex);
@@ -143,6 +145,16 @@ public class RequestHandler {
 
     public static void onCalibrationEnding(Context ctx) throws JsonProcessingException {
         PipelineManager pipeManager = VisionManager.getCurrentUIVisionProcess().pipelineManager;
+
+        var data = kObjectMapper.readValue(ctx.body(), Map.class);
+        double squareSize;
+        try {
+            squareSize = (Double) data.get("squareSize");
+        } catch (Exception e) {
+            squareSize = (Integer) data.get("squareSize");
+        }
+        pipeManager.calib3dPipe.setSquareSize(squareSize);
+
         System.out.println("Finishing Cal");
         if (pipeManager.calib3dPipe.hasEnoughSnapshots()) {
             if (pipeManager.calib3dPipe.tryCalibration()) {
@@ -158,7 +170,7 @@ public class RequestHandler {
 
     public static void onPnpModel(Context ctx) throws JsonProcessingException {
         System.out.println(ctx.body());
-        ObjectMapper objectMapper = new ObjectMapper();
+        ObjectMapper objectMapper = kObjectMapper;
         List points = objectMapper.readValue(ctx.body(), List.class);
         System.out.println(points);
     }