From 16f63e4d90f0946d96ae4ce924c7748b877124cb Mon Sep 17 00:00:00 2001
From: Matt <matthew.morley.ca@gmail.com>
Date: Sat, 25 Nov 2023 14:06:22 -0500
Subject: [PATCH] Remove % from ambiguity (#1017)

* Remove % from ambiguity

* Update javadocs

---------

Co-authored-by: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
---
 photon-client/src/components/dashboard/tabs/TargetsTab.vue  | 4 ++--
 .../org/photonvision/targeting/PhotonTrackedTarget.java     | 5 +++--
 .../native/include/photon/targeting/PhotonTrackedTarget.h   | 6 ++++--
 3 files changed, 9 insertions(+), 6 deletions(-)

diff --git a/photon-client/src/components/dashboard/tabs/TargetsTab.vue b/photon-client/src/components/dashboard/tabs/TargetsTab.vue
index 726b776c02..45975da6d6 100644
--- a/photon-client/src/components/dashboard/tabs/TargetsTab.vue
+++ b/photon-client/src/components/dashboard/tabs/TargetsTab.vue
@@ -41,7 +41,7 @@ const currentPipelineSettings = useCameraSettingsStore().currentPipelineSettings
                   useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled
                 "
               >
-                <th class="text-center">Ambiguity %</th>
+                <th class="text-center">Ambiguity Ratio</th>
               </template>
             </tr>
           </thead>
@@ -73,7 +73,7 @@ const currentPipelineSettings = useCameraSettingsStore().currentPipelineSettings
                   useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled
                 "
               >
-                <td>{{ target.ambiguity >= 0 ? target.ambiguity?.toFixed(2) + "%" : "(In Multi-Target)" }}</td>
+                <td>{{ target.ambiguity >= 0 ? target.ambiguity?.toFixed(2) : "(In Multi-Target)" }}</td>
               </template>
             </tr>
           </tbody>
diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonTrackedTarget.java b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonTrackedTarget.java
index dc847ec5fc..392a429006 100644
--- a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonTrackedTarget.java
+++ b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonTrackedTarget.java
@@ -97,8 +97,9 @@ public int getFiducialId() {
     }
 
     /**
-     * Get the ratio of pose reprojection errors, called ambiguity. Numbers above 0.2 are likely to be
-     * ambiguous. -1 if invalid.
+     * Get the ratio of best:alternate pose reprojection errors, called ambiguity. This is betweeen 0
+     * and 1 (0 being no ambiguity, and 1 meaning both have the same reprojection error). Numbers
+     * above 0.2 are likely to be ambiguous. -1 if invalid.
      */
     public double getPoseAmbiguity() {
         return poseAmbiguity;
diff --git a/photon-targeting/src/main/native/include/photon/targeting/PhotonTrackedTarget.h b/photon-targeting/src/main/native/include/photon/targeting/PhotonTrackedTarget.h
index 7eb18d125f..feba565910 100644
--- a/photon-targeting/src/main/native/include/photon/targeting/PhotonTrackedTarget.h
+++ b/photon-targeting/src/main/native/include/photon/targeting/PhotonTrackedTarget.h
@@ -112,8 +112,10 @@ class PhotonTrackedTarget {
   }
 
   /**
-   * Get the ratio of pose reprojection errors, called ambiguity. Numbers above
-   * 0.2 are likely to be ambiguous. -1 if invalid.
+   * Get the ratio of best:alternate pose reprojection errors, called ambiguity.
+   * This is betweeen 0 and 1 (0 being no ambiguity, and 1 meaning both have the
+   * same reprojection error). Numbers above 0.2 are likely to be ambiguous. -1
+   * if invalid.
    */
   double GetPoseAmbiguity() const { return poseAmbiguity; }