From a1b09100e0398864276a4e6c277700f277b2fea4 Mon Sep 17 00:00:00 2001
From: Jack <31329139+realSaddy@users.noreply.github.com>
Date: Mon, 17 Oct 2022 11:41:57 -0500
Subject: [PATCH] Remove pitch camera configuration (#492)

* Remove pitch configuration from camera view

* Remove pitch config from backend; fix 'this' binding bug

* Stylistic choice to remove excessive whitespace br

* Spotless apply

* Spotless apply 2
---
 photon-client/src/views/CamerasView.vue               | 11 +----------
 .../photonvision/vision/processes/VisionModule.java   |  3 +--
 .../java/org/photonvision/server/RequestHandler.java  | 11 +++--------
 3 files changed, 5 insertions(+), 20 deletions(-)

diff --git a/photon-client/src/views/CamerasView.vue b/photon-client/src/views/CamerasView.vue
index 47ae3888e..91f1b5188 100644
--- a/photon-client/src/views/CamerasView.vue
+++ b/photon-client/src/views/CamerasView.vue
@@ -31,14 +31,6 @@
               :label-cols="$vuetify.breakpoint.mdAndUp ? undefined : 7"
             />
             <br>
-            <CVnumberinput
-              v-model="cameraSettings.tiltDegrees"
-              name="Camera pitch"
-              tooltip="How many degrees above the horizontal the physical camera is tilted"
-              :step="0.01"
-              :label-cols="$vuetify.breakpoint.mdAndUp ? undefined : 7"
-            />
-            <br>
             <v-btn
               style="margin-top:10px"
               small
@@ -625,8 +617,7 @@ export default {
             this.axios.post("http://" + this.$address + "/api/settings/camera", {
                 "settings": this.cameraSettings,
                 "index": this.$store.state.currentCameraIndex
-            }).then(
-                function (response) {
+            }).then(response => {
                     if (response.status === 200) {
                         this.$store.state.saveBar = true;
                     }
diff --git a/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java b/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
index 3640403d3..2bcad2a17 100644
--- a/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
@@ -17,7 +17,6 @@
 
 package org.photonvision.vision.processes;
 
-import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.util.Units;
 import io.javalin.websocket.WsContext;
 import java.util.*;
@@ -304,7 +303,7 @@ public class VisionModule {
         streamRunnable.start();
     }
 
-    public void setFovAndPitch(double fov, Rotation2d pitch) {
+    public void setFov(double fov) {
         var settables = visionSource.getSettables();
         logger.trace(() -> "Setting " + settables.getConfiguration().nickname + ") FOV (" + fov + ")");
 
diff --git a/photon-server/src/main/java/org/photonvision/server/RequestHandler.java b/photon-server/src/main/java/org/photonvision/server/RequestHandler.java
index f6c617490..4bb02e875 100644
--- a/photon-server/src/main/java/org/photonvision/server/RequestHandler.java
+++ b/photon-server/src/main/java/org/photonvision/server/RequestHandler.java
@@ -19,7 +19,6 @@ package org.photonvision.server;
 
 import com.fasterxml.jackson.core.JsonProcessingException;
 import com.fasterxml.jackson.databind.ObjectMapper;
-import edu.wpi.first.math.geometry.Rotation2d;
 import io.javalin.http.Context;
 import java.io.File;
 import java.io.FileInputStream;
@@ -173,16 +172,12 @@ public class RequestHandler {
             var settings = (HashMap<String, Object>) settingsAndIndex.get("settings");
             int index = (Integer) settingsAndIndex.get("index");
 
-            // The only settings we actually care about are FOV and pitch
+            // The only settings we actually care about are FOV
             var fov = Double.parseDouble(settings.get("fov").toString());
-            var pitch =
-                    Rotation2d.fromDegrees(Double.parseDouble(settings.get("tiltDegrees").toString()));
 
-            logger.info(
-                    String.format(
-                            "Setting camera %s's fov to %s w/pitch %s", index, fov, pitch.getDegrees()));
+            logger.info(String.format("Setting camera %s's fov to %s", index, fov));
             var module = VisionModuleManager.getInstance().getModule(index);
-            module.setFovAndPitch(fov, pitch);
+            module.setFov(fov);
             module.saveModule();
         } catch (JsonProcessingException e) {
             logger.error("Got invalid camera setting JSON from frontend!");