Show board outliers in calibration info card (#1267)

photon-client/src/lib/ThreeUtils.ts

@@ -0,0 +1,23 @@
+import type { JsonMatOfDouble, Resolution } from "@/types/SettingTypes";
+const { PerspectiveCamera } = await import("three");
+
+/**
+ * Convert a camera intrinsics matrix and image resolution to a Three.js PerspectiveCamera. This assumes no skew and square pixels (same focal length in x and y), which is a sane assumption for most FRC cameras
+ *
+ * @param resolution video mode width/height
+ * @param intrinsicsCore camera intrinsics from the backend, row-major
+ * @returns a Three.js PerspectiveCamera matching the provided intrinsics
+ */
+export const createPerspectiveCamera = (
+  resolution: Resolution,
+  intrinsicsCore: JsonMatOfDouble,
+  frustumMax: number = 1
+) => {
+  const imageWidth = resolution.width;
+  const imageHeight = resolution.height;
+  const focalLengthY = intrinsicsCore.data[4];
+  const fovY = 2 * Math.atan(imageHeight / (2 * focalLengthY)) * (180 / Math.PI);
+  const aspect = imageWidth / imageHeight;
+
+  return new PerspectiveCamera(fovY, aspect, 0.1, frustumMax);
+};