Disallow low-resolution calibration (#2438)

docs/source/docs/calibration/calibration.md

@@ -7,7 +7,7 @@ In order to detect AprilTags and use 3D mode, your camera must be calibrated at
 To calibrate a camera, images of a ChArUco board (or chessboard) are taken. By comparing where the grid corners should be in object space (for example, a corner once every inch in an 8x6 grid) with where they appear in the camera image, we can find a least-squares estimate for intrinsic camera properties like focal lengths, center point, and distortion coefficients. For more on camera calibration, please review the [OpenCV documentation](https://docs.opencv.org/4.x/dc/dbb/tutorial_py_calibration.html).
 
 :::{warning}
-While any resolution can be calibrated, higher resolutions may be too performance-intensive for some coprocessors to handle. Therefore, we recommend experimenting to see what works best for your coprocessor.
+PhotonVision supports many resolution configuration options, with only a minimum of 640x480 required. However, higher resolutions may be too performance-intensive for some coprocessors to handle. Therefore, we recommend experimenting to see what works best for your coprocessor.
 :::
 
 :::{note}

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

@@ -38,6 +38,11 @@ const getUniqueVideoFormatsByResolution = (): VideoFormat[] => {
 
     if (!skip) {
       const calib = useCameraSettingsStore().getCalibrationCoeffs(format.resolution);
+
+      // minPixelCount is the multiplied area of a 640x480 (the minimum for proper calibration) resolution
+      const minPixelCount = 640 * 480;
+      const resArea = format.resolution.width * format.resolution.height;
+
       if (calib !== undefined) {
         // Mean overall reprojection error
         // Calculated as average of each observation's mean error
@@ -60,7 +65,10 @@ const getUniqueVideoFormatsByResolution = (): VideoFormat[] => {
           ) *
           (180 / Math.PI);
       }
-      uniqueResolutions.push(format);
+
+      if (resArea >= minPixelCount) {
+        uniqueResolutions.push(format);
+      }
     }
   });
   uniqueResolutions.sort(
@@ -86,12 +94,19 @@ const uniqueVideoResolutionString = ref("");
 // Use a watchEffect so the value is populated/reacts when the stores become available or update.
 // This avoids trying to index into an array that may be empty during page reload.
 watchEffect(() => {
-  const currentIndex = useCameraSettingsStore().currentVideoFormat.index ?? 0;
-  useStateStore().calibrationData.videoFormatIndex = currentIndex;
   const names = useCameraSettingsStore().currentCameraSettings.validVideoFormats.map((f) =>
     getResolutionString(f.resolution)
   );
-  uniqueVideoResolutionString.value = names[currentIndex] ?? names[0] ?? "";
+  const currentFormatIndex = useCameraSettingsStore().currentVideoFormat.index ?? 0;
+  // Checks if the current resolution is present in the list of valid formats, if not defaults to the last index (which is usually the highest resolution)
+  const currentIndex =
+    getUniqueVideoResolutionStrings()
+      .map((x) => x.name)
+      .find((n) => n === names[currentFormatIndex]) !== undefined
+      ? currentFormatIndex
+      : names.length - 1;
+  useStateStore().calibrationData.videoFormatIndex = currentIndex;
+  uniqueVideoResolutionString.value = names[currentIndex] ?? "";
 });
 const squareSizeIn = ref(1);
 const markerSizeIn = ref(0.75);