Add support for removing calib coefficients (#2150)

## Description

Adds the ability to remove old calibrations. This might be helpful if
you have a bad calibration.

closes #1262

## 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

---------

Co-authored-by: Gold856 <117957790+Gold856@users.noreply.github.com>

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

@@ -3,7 +3,7 @@ import type { CameraCalibrationResult, VideoFormat } from "@/types/SettingTypes"
 import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
 import { useStateStore } from "@/stores/StateStore";
 import { computed, inject, ref } from "vue";
-import { getResolutionString, parseJsonFile } from "@/lib/PhotonUtils";
+import { axiosPost, getResolutionString, parseJsonFile } from "@/lib/PhotonUtils";
 import { useTheme } from "vuetify";
 
 const theme = useTheme();
@@ -12,6 +12,18 @@ const props = defineProps<{
   videoFormat: VideoFormat;
 }>();
 
+const confirmRemoveDialog = ref({ show: false, vf: {} as VideoFormat });
+
+const removeCalibration = (vf: VideoFormat) => {
+  axiosPost("/calibration/remove", "delete a camera calibration", {
+    cameraUniqueName: useCameraSettingsStore().currentCameraSettings.uniqueName,
+    width: vf.resolution.width,
+    height: vf.resolution.height
+  });
+
+  confirmRemoveDialog.value.show = false;
+};
+
 const exportCalibration = ref();
 const openExportCalibrationPrompt = () => {
   exportCalibration.value.click();
@@ -93,18 +105,30 @@ const calibrationImageURL = (index: number) =>
 </script>
 <template>
   <v-card color="surface" dark>
-    <div class="d-flex flex-wrap pt-2 pl-2 pr-2">
+    <div class="d-flex flex-wrap pt-2 pl-2 pr-2 align-center">
       <v-col cols="12" md="6">
         <v-card-title class="pa-0"> Calibration Details </v-card-title>
       </v-col>
-      <v-col cols="6" md="3" class="d-flex align-center pt-0 pt-md-3 pl-6 pl-md-3">
+      <v-col cols="12" md="6" class="d-flex align-center pt-0 pt-md-3">
+        <v-btn
+          color="error"
+          :disabled="!currentCalibrationCoeffs"
+          class="mr-2"
+          style="flex: 1"
+          :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+          @click="() => (confirmRemoveDialog = { show: true, vf: props.videoFormat })"
+        >
+          <v-icon start size="large">mdi-delete</v-icon>
+          <span>Delete</span>
+        </v-btn>
         <v-btn
           color="buttonPassive"
-          style="width: 100%"
+          class="mr-2"
+          style="flex: 1"
           :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
           @click="openUploadPhotonCalibJsonPrompt"
         >
-          <v-icon start size="large"> mdi-import</v-icon>
+          <v-icon start size="large">mdi-import</v-icon>
           <span>Import</span>
         </v-btn>
         <input
@@ -114,12 +138,10 @@ const calibrationImageURL = (index: number) =>
           style="display: none"
           @change="importCalibration"
         />
-      </v-col>
-      <v-col cols="6" md="3" class="d-flex align-center pt-0 pt-md-3 pr-6 pr-md-3">
         <v-btn
           color="buttonPassive"
           :disabled="!currentCalibrationCoeffs"
-          style="width: 100%"
+          style="flex: 1"
           :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
           @click="openExportCalibrationPrompt"
         >
@@ -289,6 +311,33 @@ const calibrationImageURL = (index: number) =>
       </v-data-table>
     </v-card-text>
   </v-card>
+
+  <v-dialog v-model="confirmRemoveDialog.show" width="600">
+    <v-card color="surface" dark>
+      <v-card-title>Delete Calibration</v-card-title>
+      <v-card-text class="pt-0">
+        Are you sure you want to delete the calibration for {{ confirmRemoveDialog.vf.resolution.width }}x{{
+          confirmRemoveDialog.vf.resolution.height
+        }}? This cannot be undone.
+        <v-card-actions class="pt-5 pb-0 pr-0" style="justify-content: flex-end">
+          <v-btn
+            :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+            color="primary"
+            @click="() => (confirmRemoveDialog.show = false)"
+          >
+            Cancel
+          </v-btn>
+          <v-btn
+            :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+            color="error"
+            @click="removeCalibration(confirmRemoveDialog.vf)"
+          >
+            Delete
+          </v-btn>
+        </v-card-actions>
+      </v-card-text>
+    </v-card>
+  </v-dialog>
 </template>
 
 <style scoped>

photon-core/src/main/java/org/photonvision/common/configuration/CameraConfiguration.java

@@ -24,6 +24,7 @@ import edu.wpi.first.cscore.UsbCameraInfo;
 import java.util.ArrayList;
 import java.util.List;
 import java.util.UUID;
+import org.opencv.core.Size;
 import org.photonvision.common.dataflow.websocket.UICameraConfiguration;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
@@ -189,6 +190,23 @@ public class CameraConfiguration {
         calibrations.add(calibration);
     }
 
+    /**
+     * Remove a calibration from our list.
+     *
+     * @param calibration The calibration to remove
+     */
+    public void removeCalibration(Size unrotatedImageSize) {
+        logger.info("deleting calibration " + unrotatedImageSize);
+        calibrations.stream()
+                .filter(it -> it.unrotatedImageSize.equals(unrotatedImageSize))
+                .findAny()
+                .ifPresent(
+                        (it) -> {
+                            it.release();
+                            calibrations.remove(it);
+                        });
+    }
+
     /**
      * cscore will auto-reconnect to the camera path we give it. v4l does not guarantee that if i swap
      * cameras around, the same /dev/videoN ID will be assigned to that camera. So instead default to

photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java

@@ -680,6 +680,16 @@ public class VisionModule {
         saveAndBroadcastAll();
     }
 
+    public void removeCalibrationFromConfig(Size unrotatedImageSize) {
+        if (unrotatedImageSize != null) {
+            visionSource.getSettables().removeCalibration(unrotatedImageSize);
+        } else {
+            logger.error("Got null size?");
+        }
+
+        saveAndBroadcastAll();
+    }
+
     /**
      * Add/remove quirks from the camera we're controlling
      *

photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceSettables.java

@@ -19,6 +19,7 @@ package org.photonvision.vision.processes;
 
 import edu.wpi.first.cscore.VideoMode;
 import java.util.HashMap;
+import org.opencv.core.Size;
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
@@ -120,6 +121,11 @@ public abstract class VisionSourceSettables {
         calculateFrameStaticProps();
     }
 
+    public void removeCalibration(Size unrotatedImageSize) {
+        configuration.removeCalibration(unrotatedImageSize);
+        calculateFrameStaticProps();
+    }
+
     protected void calculateFrameStaticProps() {
         var videoMode = getCurrentVideoMode();
         this.frameStaticProperties =

photon-server/src/main/java/org/photonvision/server/RequestHandler.java

@@ -35,6 +35,7 @@ import org.apache.commons.io.FileUtils;
 import org.opencv.core.Mat;
 import org.opencv.core.MatOfByte;
 import org.opencv.core.MatOfInt;
+import org.opencv.core.Size;
 import org.opencv.imgcodecs.Imgcodecs;
 import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.configuration.NetworkConfig;
@@ -997,6 +998,46 @@ public class RequestHandler {
         ctx.status(204);
     }
 
+    private record CalibrationRemoveRequest(int width, int height, String cameraUniqueName) {}
+
+    public static void onCalibrationRemoveRequest(Context ctx) {
+        try {
+            CalibrationRemoveRequest request =
+                    kObjectMapper.readValue(ctx.body(), CalibrationRemoveRequest.class);
+
+            logger.info(
+                    "Attempting to remove calibration for camera: "
+                            + request.cameraUniqueName
+                            + " with a resolution of "
+                            + request.width
+                            + "x"
+                            + request.height);
+
+            VisionSourceManager.getInstance()
+                    .vmm
+                    .getModule(request.cameraUniqueName)
+                    .removeCalibrationFromConfig(new Size(request.width, request.height));
+
+            ctx.status(200);
+            ctx.result(
+                    "Successfully removed calibration for resolution: "
+                            + request.width
+                            + "x"
+                            + request.height);
+            logger.info(
+                    "Successfully removed calibration for resolution: "
+                            + request.width
+                            + "x"
+                            + request.height);
+        } catch (JsonProcessingException e) {
+            ctx.status(400).result("Invalid JSON format");
+            logger.error("Failed to process calibration removed request", e);
+        } catch (Exception e) {
+            ctx.status(500).result("Failed to removed calibration");
+            logger.error("Unexpected error while attempting to remove calibration", e);
+        }
+    }
+
     public static void onCalibrationSnapshotRequest(Context ctx) {
         String cameraUniqueName = ctx.queryParam("cameraUniqueName");
         var width = Integer.parseInt(ctx.queryParam("width"));

photon-server/src/main/java/org/photonvision/server/Server.java

@@ -148,6 +148,7 @@ public class Server {
         // Calibration
         app.post("/api/calibration/end", RequestHandler::onCalibrationEndRequest);
         app.post("/api/calibration/importFromData", RequestHandler::onDataCalibrationImportRequest);
+        app.post("/api/calibration/remove", RequestHandler::onCalibrationRemoveRequest);
 
         // Object detection
         app.post("/api/objectdetection/import", RequestHandler::onImportObjectDetectionModelRequest);