Disable Roborio finder (#450)

Rio finder has been linked to weird crashes after Autonomous

photon-client/src/views/PipelineViews/ContoursTab.vue

@@ -18,6 +18,14 @@
       step="0.1"
       @input="handlePipelineData('contourRatio')"
     />
+    <CVselect
+        v-model="contourTargetOrientation"
+        name="Target Orientation"
+        tooltip="Used to determine how to calculate target landmarks, as well as aspect ratio"
+        :list="['Portrait', 'Landscape']"
+        @input="handlePipelineData('contourTargetOrientation')"
+        @rollback="e=> rollback('contourTargetOrientation', e)"
+    />
     <CVrangeSlider
       v-if="currentPipelineType() !== 3"
       v-model="contourFullness"
@@ -203,6 +211,14 @@ export default {
         this.$store.commit("mutatePipeline", {"contourRatio": val});
       }
     },
+    contourTargetOrientation: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.contourTargetOrientation
+      },
+      set(val) {
+        this.$store.commit("mutatePipeline", {"contourTargetOrientation": val});
+      }
+    },
     contourFullness: {
       get() {
         return this.$store.getters.currentPipelineSettings.contourFullness

photon-core/src/main/java/org/photonvision/common/util/file/JacksonUtils.java

@@ -34,7 +34,7 @@ import java.nio.file.Path;
 
 public class JacksonUtils {
     public static <T> void serialize(Path path, T object) throws IOException {
-        serialize(path, object, false);
+        serialize(path, object, true);
     }
 
     public static <T> void serialize(Path path, T object, boolean forceSync) throws IOException {
@@ -80,7 +80,7 @@ public class JacksonUtils {
 
     public static <T> void serialize(Path path, T object, Class<T> ref, StdSerializer<T> serializer)
             throws IOException {
-        serialize(path, object, ref, serializer, false);
+        serialize(path, object, ref, serializer, true);
     }
 
     public static <T> void serialize(

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

@@ -18,16 +18,14 @@
 package org.photonvision.vision.pipe.impl;
 
 import java.util.ArrayList;
-import java.util.Comparator;
 import java.util.List;
-import java.util.stream.Collectors;
-import org.opencv.core.Rect;
+
 import org.opencv.core.RotatedRect;
-import org.photonvision.common.util.math.MathUtils;
 import org.photonvision.common.util.numbers.DoubleCouple;
 import org.photonvision.vision.frame.FrameStaticProperties;
 import org.photonvision.vision.opencv.Contour;
 import org.photonvision.vision.pipe.CVPipe;
+import org.photonvision.vision.target.TargetCalculations;
 
 public class FilterContoursPipe
         extends CVPipe<List<Contour>, List<Contour>, FilterContoursPipe.FilterContoursParams> {
@@ -114,8 +112,7 @@ public class FilterContoursPipe
         if (contourArea <= minFullness || contourArea >= maxFullness) return;
 
         // Aspect Ratio Filtering.
-        Rect boundingRect = contour.getBoundingRect();
-        double aspectRatio = (double) boundingRect.width / boundingRect.height;
+        double aspectRatio = TargetCalculations.getAspectRatio(contour.getMinAreaRect(), params.isLandscape);
         if (aspectRatio < params.getRatio().getFirst() || aspectRatio > params.getRatio().getSecond())
             return;
 
@@ -129,6 +126,7 @@ public class FilterContoursPipe
         private final FrameStaticProperties m_frameStaticProperties;
         private final double xTol; // IQR tolerance for x
         private final double yTol; // IQR tolerance for x
+        public final boolean isLandscape;
 
         public FilterContoursParams(
                 DoubleCouple area,
@@ -136,13 +134,14 @@ public class FilterContoursPipe
                 DoubleCouple extent,
                 FrameStaticProperties camProperties,
                 double xTol,
-                double yTol) {
+                double yTol, boolean isLandscape) {
             this.m_area = area;
             this.m_ratio = ratio;
             this.m_fullness = extent;
             this.m_frameStaticProperties = camProperties;
             this.xTol = xTol;
             this.yTol = yTol;
+            this.isLandscape = isLandscape;
         }
 
         public DoubleCouple getArea() {

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

@@ -30,6 +30,7 @@ import org.photonvision.vision.pipe.CVPipe.CVPipeResult;
 import org.photonvision.vision.pipe.impl.*;
 import org.photonvision.vision.pipeline.result.CVPipelineResult;
 import org.photonvision.vision.target.PotentialTarget;
+import org.photonvision.vision.target.TargetOrientation;
 import org.photonvision.vision.target.TrackedTarget;
 
 /** Represents a pipeline for tracking retro-reflective targets. */
@@ -102,7 +103,8 @@ public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectiveP
                         settings.contourFullness,
                         frameStaticProperties,
                         settings.contourFilterRangeX,
-                        settings.contourFilterRangeY);
+                        settings.contourFilterRangeY,
+                        settings.contourTargetOrientation == TargetOrientation.Landscape);
         filterContoursPipe.setParams(filterContoursParams);
 
         var groupContoursParams =

photon-core/src/main/java/org/photonvision/vision/target/TargetCalculations.java

@@ -111,6 +111,23 @@ public class TargetCalculations {
         }
     }
 
+    public static double getAspectRatio(RotatedRect rect, boolean isLandscape) {
+        if (rect.size.width == 0 || rect.size.height == 0) return 0;
+        double ratio = rect.size.width / rect.size.height;
+
+        // In landscape, we should be shorter than we are wide (that is, aspect ratio should be >1)
+        if (isLandscape && ratio < 1) {
+            ratio = 1.0 / ratio;
+        }
+
+        // If portrait, should always be taller than wide (ratio < 1)
+        else if (!isLandscape && ratio > 1) {
+            ratio = 1.0 / ratio;
+        }
+
+        return ratio;
+    }
+
     public static Point calculateDualOffsetCrosshair(
             DualOffsetValues dualOffsetValues, double currentArea) {
         boolean firstLarger = dualOffsetValues.firstPointArea >= dualOffsetValues.secondPointArea;

photon-server/src/main/java/org/photonvision/server/RequestHandler.java

@@ -40,7 +40,6 @@ import org.photonvision.common.hardware.metrics.MetricsPublisher;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.networking.NetworkManager;
-import org.photonvision.common.networking.RoborioFinder;
 import org.photonvision.common.util.ShellExec;
 import org.photonvision.common.util.TimedTaskManager;
 import org.photonvision.common.util.file.ProgramDirectoryUtilities;
@@ -281,7 +280,8 @@ public class RequestHandler {
 
     public static void sendMetrics(Context ctx) {
         MetricsPublisher.getInstance().publish();
-        TimedTaskManager.getInstance().addOneShotTask(() -> RoborioFinder.getInstance().findRios(), 0);
+        // TimedTaskManager.getInstance().addOneShotTask(() -> RoborioFinder.getInstance().findRios(),
+        // 0);
         ctx.status(200);
     }