Format

PhotonVision · May 6, 2024 · 63f8dcb · 63f8dcb
1 parent 640407f
commit 63f8dcb
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Showing 4 changed files with 13 additions and 18 deletions.
diff --git a/photon-client/src/components/cameras/CameraCalibrationCard.vue b/photon-client/src/components/cameras/CameraCalibrationCard.vue
@@ -23,8 +23,7 @@ const getUniqueVideoFormatsByResolution = (): VideoFormat[] => {
     const calib = useCameraSettingsStore().getCalibrationCoeffs(format.resolution);
     if (calib !== undefined) {
       // For each error, square it, sum the squares, and divide by total points N
-      if (calib.meanErrors.length)
-        format.mean = calib.meanErrors.reduce((a, b) => a + b, 0) / calib.meanErrors.length;
+      if (calib.meanErrors.length) format.mean = calib.meanErrors.reduce((a, b) => a + b, 0) / calib.meanErrors.length;
       else format.mean = NaN;
 
       format.horizontalFOV =
@@ -43,20 +42,19 @@ const getUniqueVideoFormatsByResolution = (): VideoFormat[] => {
         (180 / Math.PI);
     }
     uniqueResolutions.push(format);
-    
   });
   uniqueResolutions.sort(
     (a, b) => b.resolution.width + b.resolution.height - (a.resolution.width + a.resolution.height)
   );
 
-  useStateStore().calibrationData.videoFormatIndex = uniqueResolutions[uniqueResolutions.length-1].index;
+  useStateStore().calibrationData.videoFormatIndex = uniqueResolutions[uniqueResolutions.length - 1].index;
 
   return uniqueResolutions;
 };
 const getUniqueVideoResolutionStrings = (): { name: string; value: number }[] =>
   getUniqueVideoFormatsByResolution().map<{ name: string; value: number }>((f) => ({
     name: `${getResolutionString(f.resolution)}`,
-    value: f.index || 0    // Index won't ever be undefined
+    value: f.index || 0 // Index won't ever be undefined
   }));
 const calibrationDivisors = computed(() =>
   [1, 2, 4].filter((v) => {

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
@@ -188,9 +188,8 @@ protected CameraCalibrationCoefficients calibrateMrcal(
         List<MatOfPoint2f> corner_locations =
                 in.stream().map(it -> it.imagePoints).map(MatOfPoint2f::new).collect(Collectors.toList());
 
-        List<MatOfFloat> levels = in.stream().map(it -> it.levels).map(MatOfFloat::new)
-                .collect(Collectors.toList());
-
+        List<MatOfFloat> levels =
+                in.stream().map(it -> it.levels).map(MatOfFloat::new).collect(Collectors.toList());
 
         int imageWidth = (int) in.get(0).size.width;
         int imageHeight = (int) in.get(0).size.height;

diff --git a/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java b/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
@@ -547,8 +547,8 @@ public PhotonConfiguration.UICameraConfiguration toUICameraConfig() {
             internalMap.put(
                     "pixelFormat",
                     ((uniqueVideoModes.get(k) instanceof LibcameraGpuSource.FPSRatedVideoMode)
-                            ? "kPicam"
-                            : uniqueVideoModes.get(k).pixelFormat.toString())
+                                    ? "kPicam"
+                                    : uniqueVideoModes.get(k).pixelFormat.toString())
                             .substring(1)); // Remove the k prefix
             uniqueMap.put(k, internalMap);
         }

diff --git a/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceSettables.java b/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceSettables.java
@@ -20,7 +20,6 @@
 import edu.wpi.first.cscore.VideoMode;
 import java.util.HashMap;
 import java.util.Map;
-
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
@@ -88,28 +87,27 @@ public void setVideoModeIndex(int index) {
 
     public abstract HashMap<Integer, VideoMode> getAllVideoModes();
 
-    public HashMap<Integer, VideoMode> getUniqueVideoModes()
-    {
+    public HashMap<Integer, VideoMode> getUniqueVideoModes() {
         HashMap<Integer, VideoMode> output = new HashMap<Integer, VideoMode>();
         HashMap<Integer, VideoMode> map = getAllVideoModes();
         for (Map.Entry<Integer, VideoMode> mode : map.entrySet()) {
             boolean added = false;
             for (Map.Entry<Integer, VideoMode> otherMode : output.entrySet()) {
-                if(otherMode.getValue().height == mode.getValue().height && otherMode.getValue().width == mode.getValue().width){
-                    if(mode.getValue().fps>otherMode.getValue().fps)
-                    {
+                if (otherMode.getValue().height == mode.getValue().height
+                        && otherMode.getValue().width == mode.getValue().width) {
+                    if (mode.getValue().fps > otherMode.getValue().fps) {
                         output.remove(otherMode.getKey());
                         output.put(mode.getKey(), mode.getValue());
                         added = true;
                         break;
                     }
-                } 
+                }
             }
             if (!added) {
                 output.put(mode.getKey(), mode.getValue());
             }
         }
-    return output;
+        return output;
     }
 
     public double getFOV() {