Create "Hide calibration corners" switch, default to mrcal on if possible (#1462)

photon-core/src/main/java/org/photonvision/vision/pipe/impl/DrawCalibrationPipe.java

@@ -43,6 +43,8 @@ public class DrawCalibrationPipe
 
     @Override
     protected Void process(Pair<Mat, List<TrackedTarget>> in) {
+        if (!params.drawAllSnapshots) return null;
+
         var image = in.getLeft();
 
         var imgSz = image.size();
@@ -82,9 +84,11 @@ public class DrawCalibrationPipe
 
     public static class DrawCalibrationPipeParams {
         private final FrameDivisor divisor;
+        public boolean drawAllSnapshots;
 
-        public DrawCalibrationPipeParams(FrameDivisor divisor) {
+        public DrawCalibrationPipeParams(FrameDivisor divisor, boolean drawSnapshots) {
             this.divisor = divisor;
+            this.drawAllSnapshots = drawSnapshots;
         }
     }
 }

photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java

@@ -230,7 +230,6 @@ public class Calibrate3dPipeline
                                 settings.boardWidth,
                                 settings.boardHeight,
                                 settings.boardType,
-                                settings.useMrCal,
                                 settings.useOldPattern,
                                 settings.tagFamily));
 

photon-core/src/main/java/org/photonvision/vision/pipeline/Calibration3dPipelineSettings.java

@@ -32,6 +32,7 @@ public class Calibration3dPipelineSettings extends AdvancedPipelineSettings {
     public Size resolution = new Size(640, 480);
     public boolean useMrCal = true;
     public boolean useOldPattern = false;
+    public boolean drawAllSnapshots;
 
     public Calibration3dPipelineSettings() {
         super();
@@ -39,5 +40,6 @@ public class Calibration3dPipelineSettings extends AdvancedPipelineSettings {
         this.inputShouldShow = true;
         this.outputShouldShow = true;
         this.streamingFrameDivisor = FrameDivisor.HALF;
+        this.drawAllSnapshots = true;
     }
 }

photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java

@@ -114,8 +114,12 @@ public class OutputStreamPipeline {
         resizeImagePipe.setParams(
                 new ResizeImagePipe.ResizeImageParams(settings.streamingFrameDivisor));
 
-        drawCalibrationPipe.setParams(
-                new DrawCalibrationPipe.DrawCalibrationPipeParams(settings.streamingFrameDivisor));
+        if (settings instanceof Calibration3dPipelineSettings) {
+            drawCalibrationPipe.setParams(
+                    new DrawCalibrationPipe.DrawCalibrationPipeParams(
+                            settings.streamingFrameDivisor,
+                            ((Calibration3dPipelineSettings) settings).drawAllSnapshots));
+        }
     }
 
     public CVPipelineResult process(

photon-core/src/main/java/org/photonvision/vision/pipeline/UICalibrationData.java

@@ -28,7 +28,6 @@ public class UICalibrationData {
     public int patternWidth;
     public int patternHeight;
     public BoardType boardType;
-    public boolean useMrCal;
     public double markerSizeIn;
     public boolean useOldPattern;
     public TagFamily tagFamily;
@@ -45,7 +44,6 @@ public class UICalibrationData {
             int patternWidth,
             int patternHeight,
             BoardType boardType,
-            boolean useMrCal,
             boolean useOldPattern,
             TagFamily tagFamily) {
         this.count = count;
@@ -57,7 +55,6 @@ public class UICalibrationData {
         this.patternWidth = patternWidth;
         this.patternHeight = patternHeight;
         this.boardType = boardType;
-        this.useMrCal = useMrCal;
         this.useOldPattern = useOldPattern;
         this.tagFamily = tagFamily;
     }

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

@@ -355,7 +355,6 @@ public class VisionModule {
         settings.boardHeight = data.patternHeight;
         settings.boardWidth = data.patternWidth;
         settings.boardType = data.boardType;
-        settings.useMrCal = data.useMrCal;
         settings.resolution = resolution;
         settings.useOldPattern = data.useOldPattern;
         settings.tagFamily = data.tagFamily;