Merge branch 'master' into 2023-10-20_protobuf

PhotonVision · Nov 25, 2023 · 778cf3c · 778cf3c
2 parents cadbb09 + 16f63e4
commit 778cf3c
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Showing 3 changed files with 9 additions and 6 deletions.
diff --git 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
@@ -94,8 +94,9 @@ 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
@@ -132,8 +132,10 @@ 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; }