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Store calibration board measurements in native units (#2480)

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This commit is contained in:
Alan Everett
2026-06-22 23:31:44 -06:00
committed by GitHub
parent bd9f899514
commit e41be8e858
7 changed files with 50 additions and 66 deletions
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20
photon-core/src/main/java/org/photonvision/vision/pipeline/UICalibrationData.java
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@@ -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="

5
photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
View File

@@ -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;