From e41be8e858164babe2bae83894010ce3082f3f5f Mon Sep 17 00:00:00 2001
From: Alan Everett <thatcomputerguy0101@gmail.com>
Date: Mon, 22 Jun 2026 23:31:44 -0600
Subject: [PATCH] Store calibration board measurements in native units (#2480)

---
 photon-client/package.json                    |  1 +
 photon-client/pnpm-lock.yaml                  | 25 +++-----
 .../cameras/CameraCalibrationCard.vue         | 57 ++++++++-----------
 .../stores/settings/CameraSettingsStore.ts    |  4 +-
 photon-client/src/types/WebsocketDataTypes.ts |  4 +-
 .../vision/pipeline/UICalibrationData.java    | 20 +++----
 .../vision/processes/VisionModule.java        |  5 +-
 7 files changed, 50 insertions(+), 66 deletions(-)

diff --git a/photon-client/package.json b/photon-client/package.json
index 9859aef8e..29844e701 100644
--- a/photon-client/package.json
+++ b/photon-client/package.json
@@ -21,6 +21,7 @@
     "type-check": "vue-tsc --noEmit"
   },
   "dependencies": {
+    "@adam-rocska/units-and-measurement": "^1.2.0",
     "@fontsource/prompt": "^5.2.6",
     "@mdi/font": "^7.4.47",
     "@msgpack/msgpack": "^3.1.2",
diff --git a/photon-client/pnpm-lock.yaml b/photon-client/pnpm-lock.yaml
index 1ac335e64..010e739ec 100644
--- a/photon-client/pnpm-lock.yaml
+++ b/photon-client/pnpm-lock.yaml
@@ -8,6 +8,9 @@ importers:
 
   .:
     dependencies:
+      '@adam-rocska/units-and-measurement':
+        specifier: ^1.2.0
+        version: 1.2.0
       '@fontsource/prompt':
         specifier: ^5.2.6
         version: 5.2.6
@@ -96,6 +99,10 @@ importers:
 
 packages:
 
+  '@adam-rocska/units-and-measurement@1.2.0':
+    resolution: {integrity: sha512-mBnZ8/STbztVec+Mz9DH932z0gny52SebtSJ/y3n+IVtuF7KqbtQ3t1u1lpFSkLFU1msaNGzFgqsW7Emj0lrXA==}
+    engines: {node: '>=20.0.0'}
+
   '@babel/helper-string-parser@7.27.1':
     resolution: {integrity: sha512-qMlSxKbpRlAridDExk92nSobyDdpPijUq2DW6oDnUqd0iOGxmQjyqhMIihI9+zv4LPyZdRje2cavWPbCbWm3eA==}
     engines: {node: '>=6.9.0'}
@@ -250,42 +257,36 @@ packages:
     engines: {node: '>= 10.0.0'}
     cpu: [arm]
     os: [linux]
-    libc: [glibc]
 
   '@parcel/watcher-linux-arm-musl@2.5.1':
     resolution: {integrity: sha512-6E+m/Mm1t1yhB8X412stiKFG3XykmgdIOqhjWj+VL8oHkKABfu/gjFj8DvLrYVHSBNC+/u5PeNrujiSQ1zwd1Q==}
     engines: {node: '>= 10.0.0'}
     cpu: [arm]
     os: [linux]
-    libc: [musl]
 
   '@parcel/watcher-linux-arm64-glibc@2.5.1':
     resolution: {integrity: sha512-LrGp+f02yU3BN9A+DGuY3v3bmnFUggAITBGriZHUREfNEzZh/GO06FF5u2kx8x+GBEUYfyTGamol4j3m9ANe8w==}
     engines: {node: '>= 10.0.0'}
     cpu: [arm64]
     os: [linux]
-    libc: [glibc]
 
   '@parcel/watcher-linux-arm64-musl@2.5.1':
     resolution: {integrity: sha512-cFOjABi92pMYRXS7AcQv9/M1YuKRw8SZniCDw0ssQb/noPkRzA+HBDkwmyOJYp5wXcsTrhxO0zq1U11cK9jsFg==}
     engines: {node: '>= 10.0.0'}
     cpu: [arm64]
     os: [linux]
-    libc: [musl]
 
   '@parcel/watcher-linux-x64-glibc@2.5.1':
     resolution: {integrity: sha512-GcESn8NZySmfwlTsIur+49yDqSny2IhPeZfXunQi48DMugKeZ7uy1FX83pO0X22sHntJ4Ub+9k34XQCX+oHt2A==}
     engines: {node: '>= 10.0.0'}
     cpu: [x64]
     os: [linux]
-    libc: [glibc]
 
   '@parcel/watcher-linux-x64-musl@2.5.1':
     resolution: {integrity: sha512-n0E2EQbatQ3bXhcH2D1XIAANAcTZkQICBPVaxMeaCVBtOpBZpWJuf7LwyWPSBDITb7In8mqQgJ7gH8CILCURXg==}
     engines: {node: '>= 10.0.0'}
     cpu: [x64]
     os: [linux]
-    libc: [musl]
 
   '@parcel/watcher-win32-arm64@2.5.1':
     resolution: {integrity: sha512-RFzklRvmc3PkjKjry3hLF9wD7ppR4AKcWNzH7kXR7GUe0Igb3Nz8fyPwtZCSquGrhU5HhUNDr/mKBqj7tqA2Vw==}
@@ -353,42 +354,36 @@ packages:
     engines: {node: ^20.19.0 || >=22.12.0}
     cpu: [arm64]
     os: [linux]
-    libc: [glibc]
 
   '@rolldown/binding-linux-arm64-musl@1.0.0-rc.17':
     resolution: {integrity: sha512-b/CgbwAJpmrRLp02RPfhbudf5tZnN9nsPWK82znefso832etkem8H7FSZwxrOI9djcdTP7U6YfNhbRnh7djErg==}
     engines: {node: ^20.19.0 || >=22.12.0}
     cpu: [arm64]
     os: [linux]
-    libc: [musl]
 
   '@rolldown/binding-linux-ppc64-gnu@1.0.0-rc.17':
     resolution: {integrity: sha512-4EII1iNGRUN5WwGbF/kOh/EIkoDN9HsupgLQoXfY+D1oyJm7/F4t5PYU5n8SWZgG0FEwakyM8pGgwcBYruGTlA==}
     engines: {node: ^20.19.0 || >=22.12.0}
     cpu: [ppc64]
     os: [linux]
-    libc: [glibc]
 
   '@rolldown/binding-linux-s390x-gnu@1.0.0-rc.17':
     resolution: {integrity: sha512-AH8oq3XqQo4IibpVXvPeLDI5pzkpYn0WiZAfT05kFzoJ6tQNzwRdDYQ45M8I/gslbodRZwW8uxLhbSBbkv96rA==}
     engines: {node: ^20.19.0 || >=22.12.0}
     cpu: [s390x]
     os: [linux]
-    libc: [glibc]
 
   '@rolldown/binding-linux-x64-gnu@1.0.0-rc.17':
     resolution: {integrity: sha512-cLnjV3xfo7KslbU41Z7z8BH/E1y5mzUYzAqih1d1MDaIGZRCMqTijqLv76/P7fyHuvUcfGsIpqCdddbxLLK9rA==}
     engines: {node: ^20.19.0 || >=22.12.0}
     cpu: [x64]
     os: [linux]
-    libc: [glibc]
 
   '@rolldown/binding-linux-x64-musl@1.0.0-rc.17':
     resolution: {integrity: sha512-0phclDw1spsL7dUB37sIARuis2tAgomCJXAHZlpt8PXZ4Ba0dRP1e+66lsRqrfhISeN9bEGNjQs+T/Fbd7oYGw==}
     engines: {node: ^20.19.0 || >=22.12.0}
     cpu: [x64]
     os: [linux]
-    libc: [musl]
 
   '@rolldown/binding-openharmony-arm64@1.0.0-rc.17':
     resolution: {integrity: sha512-0ag/hEgXOwgw4t8QyQvUCxvEg+V0KBcA6YuOx9g0r02MprutRF5dyljgm3EmR02O292UX7UeS6HzWHAl6KgyhA==}
@@ -1084,28 +1079,24 @@ packages:
     engines: {node: '>= 12.0.0'}
     cpu: [arm64]
     os: [linux]
-    libc: [glibc]
 
   lightningcss-linux-arm64-musl@1.32.0:
     resolution: {integrity: sha512-UpQkoenr4UJEzgVIYpI80lDFvRmPVg6oqboNHfoH4CQIfNA+HOrZ7Mo7KZP02dC6LjghPQJeBsvXhJod/wnIBg==}
     engines: {node: '>= 12.0.0'}
     cpu: [arm64]
     os: [linux]
-    libc: [musl]
 
   lightningcss-linux-x64-gnu@1.32.0:
     resolution: {integrity: sha512-V7Qr52IhZmdKPVr+Vtw8o+WLsQJYCTd8loIfpDaMRWGUZfBOYEJeyJIkqGIDMZPwPx24pUMfwSxxI8phr/MbOA==}
     engines: {node: '>= 12.0.0'}
     cpu: [x64]
     os: [linux]
-    libc: [glibc]
 
   lightningcss-linux-x64-musl@1.32.0:
     resolution: {integrity: sha512-bYcLp+Vb0awsiXg/80uCRezCYHNg1/l3mt0gzHnWV9XP1W5sKa5/TCdGWaR/zBM2PeF/HbsQv/j2URNOiVuxWg==}
     engines: {node: '>= 12.0.0'}
     cpu: [x64]
     os: [linux]
-    libc: [musl]
 
   lightningcss-win32-arm64-msvc@1.32.0:
     resolution: {integrity: sha512-8SbC8BR40pS6baCM8sbtYDSwEVQd4JlFTOlaD3gWGHfThTcABnNDBda6eTZeqbofalIJhFx0qKzgHJmcPTnGdw==}
@@ -1550,6 +1541,8 @@ packages:
 
 snapshots:
 
+  '@adam-rocska/units-and-measurement@1.2.0': {}
+
   '@babel/helper-string-parser@7.27.1': {}
 
   '@babel/helper-validator-identifier@7.27.1': {}
diff --git a/photon-client/src/components/cameras/CameraCalibrationCard.vue b/photon-client/src/components/cameras/CameraCalibrationCard.vue
index 1bd01bc8d..0185a58af 100644
--- a/photon-client/src/components/cameras/CameraCalibrationCard.vue
+++ b/photon-client/src/components/cameras/CameraCalibrationCard.vue
@@ -1,5 +1,5 @@
 <script setup lang="ts">
-import { computed, ref, watchEffect } from "vue";
+import { computed, ref, watch, watchEffect } from "vue";
 import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
 import { CalibrationBoardTypes, CalibrationTagFamilies, type VideoFormat } from "@/types/SettingTypes";
 import MonoLogo from "@/assets/images/logoMono.png";
@@ -15,12 +15,12 @@ import CameraCalibrationInfoCard from "@/components/cameras/CameraCalibrationInf
 import { useSettingsStore } from "@/stores/settings/GeneralSettingsStore";
 import { useTheme } from "vuetify";
 import TooltippedLabel from "@/components/common/pv-tooltipped-label.vue";
+import { length } from "@adam-rocska/units-and-measurement/length";
 
 const PromptRegular = import("@/assets/fonts/PromptRegular");
 const jspdf = import("jspdf");
 
 const theme = useTheme();
-const MM_PER_INCH = 25.4;
 
 const settingsValid = ref(true);
 
@@ -110,8 +110,8 @@ watchEffect(() => {
   uniqueVideoResolutionIndex.value = currentIndex;
 });
 const dimensionUnit = ref<"in" | "mm">("in");
-const squareSizeIn = ref(1);
-const markerSizeIn = ref(0.75);
+const squareSize = ref(30);
+const markerSize = ref(22);
 const patternWidth = ref(8);
 const patternHeight = ref(8);
 const boardType = ref<CalibrationBoardTypes>(CalibrationBoardTypes.Charuco);
@@ -119,24 +119,9 @@ const useOldPattern = ref(false);
 const tagFamily = ref<CalibrationTagFamilies>(CalibrationTagFamilies.Dict_4X4_1000);
 const requestedVideoFormatIndex = ref(0);
 
-const convertInchesToDisplay = (valueInInches: number) =>
-  dimensionUnit.value === "mm" ? valueInInches * MM_PER_INCH : valueInInches;
-
-const convertDisplayToInches = (displayValue: number) =>
-  dimensionUnit.value === "mm" ? displayValue / MM_PER_INCH : displayValue;
-
-const squareSize = computed({
-  get: () => convertInchesToDisplay(squareSizeIn.value),
-  set(value) {
-    squareSizeIn.value = convertDisplayToInches(value);
-  }
-});
-
-const markerSize = computed({
-  get: () => convertInchesToDisplay(markerSizeIn.value),
-  set(value) {
-    markerSizeIn.value = convertDisplayToInches(value);
-  }
+watch(dimensionUnit, (value, oldValue) => {
+  squareSize.value = length[oldValue](squareSize.value)[value].value;
+  markerSize.value = length[oldValue](markerSize.value)[value].value;
 });
 
 const dimensionStep = computed(() => (dimensionUnit.value === "mm" ? 0.1 : 0.01));
@@ -161,25 +146,31 @@ const downloadCalibBoard = async () => {
 
   switch (boardType.value) {
     case CalibrationBoardTypes.Chessboard:
-      const chessboardStartX = (paperWidth - patternWidth.value * squareSizeIn.value) / 2;
+      const squareSizeIn = length[dimensionUnit.value](squareSize.value).in.value;
+      const chessboardStartX = (paperWidth - patternWidth.value * squareSizeIn) / 2;
 
-      const chessboardStartY = (paperHeight - patternWidth.value * squareSizeIn.value) / 2;
+      const chessboardStartY = (paperHeight - patternHeight.value * squareSizeIn) / 2;
 
       for (let squareY = 0; squareY < patternHeight.value; squareY++) {
         for (let squareX = 0; squareX < patternWidth.value; squareX++) {
-          const xPos = chessboardStartX + squareX * squareSizeIn.value;
-          const yPos = chessboardStartY + squareY * squareSizeIn.value;
+          const xPos = chessboardStartX + squareX * squareSizeIn;
+          const yPos = chessboardStartY + squareY * squareSizeIn;
 
           // Only draw the odd squares to create the chessboard pattern
           if (squareY % 2 !== squareX % 2) {
-            doc.rect(xPos, yPos, squareSizeIn.value, squareSizeIn.value, "F");
+            doc.rect(xPos, yPos, squareSizeIn, squareSizeIn, "F");
           }
         }
       }
-      doc.text(`${patternWidth.value} x ${patternHeight.value} | ${squareSizeIn.value}in`, paperWidth - 1, 1.0, {
-        maxWidth: (paperWidth - 2.0) / 2,
-        align: "right"
-      });
+      doc.text(
+        `${patternWidth.value} x ${patternHeight.value} | ${squareSize.value}${dimensionUnit.value}`,
+        paperWidth - 1,
+        1.0,
+        {
+          maxWidth: (paperWidth - 2.0) / 2,
+          align: "right"
+        }
+      );
       break;
 
     case CalibrationBoardTypes.Charuco:
@@ -220,8 +211,8 @@ const isCalibrating = computed(
 
 const startCalibration = () => {
   useCameraSettingsStore().startPnPCalibration({
-    squareSizeIn: squareSizeIn.value,
-    markerSizeIn: markerSizeIn.value,
+    squareSizeMeters: length[dimensionUnit.value](squareSize.value).m.value,
+    markerSizeMeters: length[dimensionUnit.value](markerSize.value).m.value,
     patternHeight: patternHeight.value,
     patternWidth: patternWidth.value,
     boardType: boardType.value,
diff --git a/photon-client/src/stores/settings/CameraSettingsStore.ts b/photon-client/src/stores/settings/CameraSettingsStore.ts
index 703cf3d9f..6b649e6e2 100644
--- a/photon-client/src/stores/settings/CameraSettingsStore.ts
+++ b/photon-client/src/stores/settings/CameraSettingsStore.ts
@@ -368,8 +368,8 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
      */
     startPnPCalibration(
       calibrationInitData: {
-        squareSizeIn: number;
-        markerSizeIn: number;
+        squareSizeMeters: number;
+        markerSizeMeters: number;
         patternWidth: number;
         patternHeight: number;
         boardType: CalibrationBoardTypes;
diff --git a/photon-client/src/types/WebsocketDataTypes.ts b/photon-client/src/types/WebsocketDataTypes.ts
index 3116f4667..3a3e179a2 100644
--- a/photon-client/src/types/WebsocketDataTypes.ts
+++ b/photon-client/src/types/WebsocketDataTypes.ts
@@ -87,8 +87,8 @@ export interface WebsocketCalibrationData {
   minCount: number;
   videoModeIndex: number;
   patternHeight: number;
-  squareSizeIn: number;
-  markerSizeIn: number;
+  squareSizeMm: number;
+  markerSizeMm: number;
 }
 
 export interface IncomingWebsocketData {
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/UICalibrationData.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/UICalibrationData.java
index 21a049ca6..0db4da964 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/UICalibrationData.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/UICalibrationData.java
@@ -24,11 +24,11 @@ import org.opencv.objdetect.Objdetect;
 public class UICalibrationData {
     public int videoModeIndex;
     public int count;
-    public double squareSizeIn;
+    public double squareSizeMeters;
     public int patternWidth;
     public int patternHeight;
     public BoardType boardType;
-    public double markerSizeIn;
+    public double markerSizeMeters;
     public boolean useOldPattern;
     public TagFamily tagFamily;
 
@@ -37,8 +37,8 @@ public class UICalibrationData {
     public UICalibrationData(
             int count,
             int videoModeIndex,
-            double squareSizeIn,
-            double markerSizeIn,
+            double squareSizeMeters,
+            double markerSizeMeters,
             int patternWidth,
             int patternHeight,
             BoardType boardType,
@@ -46,8 +46,8 @@ public class UICalibrationData {
             TagFamily tagFamily) {
         this.count = count;
         this.videoModeIndex = videoModeIndex;
-        this.squareSizeIn = squareSizeIn;
-        this.markerSizeIn = markerSizeIn;
+        this.squareSizeMeters = squareSizeMeters;
+        this.markerSizeMeters = markerSizeMeters;
         this.patternWidth = patternWidth;
         this.patternHeight = patternHeight;
         this.boardType = boardType;
@@ -98,10 +98,10 @@ public class UICalibrationData {
                 + videoModeIndex
                 + ", count="
                 + count
-                + ", squareSizeIn="
-                + squareSizeIn
-                + ", markerSizeIn="
-                + markerSizeIn
+                + ", squareSizeMeters="
+                + squareSizeMeters
+                + ", markerSizeMeters="
+                + markerSizeMeters
                 + ", patternWidth="
                 + patternWidth
                 + ", patternHeight="
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 a985b34c1..b0349ef46 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
@@ -55,7 +55,6 @@ import org.photonvision.vision.pipeline.UICalibrationData;
 import org.photonvision.vision.pipeline.result.CVPipelineResult;
 import org.photonvision.vision.target.TargetModel;
 import org.photonvision.vision.target.TrackedTarget;
-import org.wpilib.math.util.Units;
 import org.wpilib.vision.camera.CameraServerJNI;
 import org.wpilib.vision.camera.VideoException;
 
@@ -391,8 +390,8 @@ public class VisionModule {
                         + data.videoModeIndex
                         + " and settings "
                         + data);
-        settings.gridSize = Units.inchesToMeters(data.squareSizeIn);
-        settings.markerSize = Units.inchesToMeters(data.markerSizeIn);
+        settings.gridSize = data.squareSizeMeters;
+        settings.markerSize = data.markerSizeMeters;
         settings.boardHeight = data.patternHeight;
         settings.boardWidth = data.patternWidth;
         settings.boardType = data.boardType;