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PhotonVision · Oct 12, 2024 · 960e02b · 960e02b
1 parent c349d0a
commit 960e02b
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Showing 4 changed files with 19 additions and 11 deletions.
diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java b/photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java
@@ -30,7 +30,6 @@
 import java.time.temporal.TemporalAccessor;
 import java.util.Date;
 import java.util.List;
-
 import org.opencv.core.Size;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
@@ -252,7 +251,9 @@ public Path getImageSavePath() {
     }
 
     public Path getCalibrationImageSavePath(Size frameSize) {
-        var imgFilePath = Path.of(configDirectoryFile.toString(), "calibration","imgs",frameSize.toString()).toFile();
+        var imgFilePath =
+                Path.of(configDirectoryFile.toString(), "calibration", "imgs", frameSize.toString())
+                        .toFile();
         if (!imgFilePath.exists()) imgFilePath.mkdirs();
         return imgFilePath.toPath();
     }

diff --git a/...on-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java b/...on-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java
@@ -133,7 +133,11 @@ public void updateCameraNickname(String newCameraNickname) {
     @Override
     public void accept(CVPipelineResult result) {
         CVPipelineResult acceptedResult;
-        if (result instanceof CalibrationPipelineResult)
+        if (result
+                instanceof
+                CalibrationPipelineResult) // If the data is from a calibration pipeline, override the list
+            // of targets to be null to prevent the data from being sent and
+            // continue to post blank/zero data to the network tables
             acceptedResult =
                     new CVPipelineResult(
                             result.sequenceID,

diff --git a/photon-core/src/main/java/org/photonvision/vision/calibration/BoardObservation.java b/photon-core/src/main/java/org/photonvision/vision/calibration/BoardObservation.java
@@ -20,7 +20,6 @@
 import com.fasterxml.jackson.annotation.JsonCreator;
 import com.fasterxml.jackson.annotation.JsonProperty;
 import edu.wpi.first.math.geometry.Pose3d;
-
 import java.nio.file.Path;
 import java.util.List;
 import org.opencv.core.Point;

diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Calibrate3dPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Calibrate3dPipe.java
@@ -23,7 +23,6 @@
 import java.util.Arrays;
 import java.util.List;
 import java.util.stream.Collectors;
-
 import org.apache.commons.io.FileUtils;
 import org.opencv.calib3d.Calib3d;
 import org.opencv.core.*;
@@ -38,7 +37,6 @@
 import org.photonvision.vision.calibration.BoardObservation;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
 import org.photonvision.vision.calibration.CameraLensModel;
-import org.photonvision.vision.calibration.JsonImageMat;
 import org.photonvision.vision.calibration.JsonMatOfDouble;
 import org.photonvision.vision.frame.FrameStaticProperties;
 import org.photonvision.vision.pipe.CVPipe;
@@ -297,8 +295,6 @@ protected CameraCalibrationCoefficients calibrateMrcal(
             tvecs.add(tvec);
         }
 
-
-
         List<BoardObservation> observations =
                 createObservations(
                         in,
@@ -333,9 +329,12 @@ private List<BoardObservation> createObservations(
         List<Mat> imgPts = in.stream().map(it -> it.imagePoints).collect(Collectors.toList());
 
         // Clear the calibration image folder of any old images before we save the new ones.
-        
+
         try {
-            FileUtils.cleanDirectory(ConfigManager.getInstance().getCalibrationImageSavePath(in.get(0).inputImage.size()).toFile());
+            FileUtils.cleanDirectory(
+                    ConfigManager.getInstance()
+                            .getCalibrationImageSavePath(in.get(0).inputImage.size())
+                            .toFile());
         } catch (Exception e) {
             logger.error("Failed to clean calibration image directory", e);
         }
@@ -404,7 +403,12 @@ private List<BoardObservation> createObservations(
             Path image_path = null;
             String snapshotName = "img" + i + ".png";
             if (inputImage != null) {
-                image_path = Paths.get(ConfigManager.getInstance().getCalibrationImageSavePath(inputImage.size()).toString(), snapshotName);
+                image_path =
+                        Paths.get(
+                                ConfigManager.getInstance()
+                                        .getCalibrationImageSavePath(inputImage.size())
+                                        .toString(),
+                                snapshotName);
                 Imgcodecs.imwrite(image_path.toString(), inputImage);
             }