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Store calibration units in mm #2480

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Store calibration units in mm #2480

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50 changes: 28 additions & 22 deletions photon-client/src/components/cameras/CameraCalibrationCard.vue
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Original file line number Diff line number Diff line change
Expand Up @@ -110,32 +110,32 @@ watchEffect(() => {
uniqueVideoResolutionIndex.value = currentIndex;
});
const dimensionUnit = ref<"in" | "mm">("in");
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@thatcomputerguy0101 thatcomputerguy0101 May 11, 2026

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Which unit do we want to be the default?

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@auscompgeek auscompgeek May 11, 2026

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I only kept it as inches since that's the existing behaviour.

I reckon whatever the default is should match whatever's in the board PDF.

const squareSizeIn = ref(1);
const markerSizeIn = ref(0.75);
const squareSizeMm = ref(30);
const markerSizeMm = ref(22);
const patternWidth = ref(8);
const patternHeight = ref(8);
const boardType = ref<CalibrationBoardTypes>(CalibrationBoardTypes.Charuco);
const useOldPattern = ref(false);
const tagFamily = ref<CalibrationTagFamilies>(CalibrationTagFamilies.Dict_4X4_1000);
const requestedVideoFormatIndex = ref(0);

const convertInchesToDisplay = (valueInInches: number) =>
dimensionUnit.value === "mm" ? valueInInches * MM_PER_INCH : valueInInches;
const convertMetricToDisplay = (valueInMm: number) =>
dimensionUnit.value === "in" ? valueInMm / MM_PER_INCH : valueInMm;

const convertDisplayToInches = (displayValue: number) =>
dimensionUnit.value === "mm" ? displayValue / MM_PER_INCH : displayValue;
const convertDisplayToMetric = (displayValue: number) =>
dimensionUnit.value === "in" ? displayValue * MM_PER_INCH : displayValue;

const squareSize = computed({
get: () => convertInchesToDisplay(squareSizeIn.value),
get: () => convertMetricToDisplay(squareSizeMm.value),
set(value) {
squareSizeIn.value = convertDisplayToInches(value);
squareSizeMm.value = convertDisplayToMetric(value);
}
});

const markerSize = computed({
get: () => convertInchesToDisplay(markerSizeIn.value),
get: () => convertMetricToDisplay(markerSizeMm.value),
set(value) {
markerSizeIn.value = convertDisplayToInches(value);
markerSizeMm.value = convertDisplayToMetric(value);
}
});

Expand All @@ -149,7 +149,7 @@ const tooManyPoints = computed(
const downloadCalibBoard = async () => {
const { jsPDF } = await jspdf;
const { font } = await PromptRegular;
const doc = new jsPDF({ unit: "in", format: "letter" });
const doc = new jsPDF({ unit: "mm", format: "letter" });

doc.addFileToVFS("Prompt-Regular.tff", font);
doc.addFont("Prompt-Regular.tff", "Prompt-Regular", "normal");
Expand All @@ -161,28 +161,34 @@ const downloadCalibBoard = async () => {

switch (boardType.value) {
case CalibrationBoardTypes.Chessboard:
const chessboardStartX = (paperWidth - patternWidth.value * squareSizeIn.value) / 2;
const chessboardStartX = (paperWidth - patternWidth.value * squareSizeMm.value) / 2;

const chessboardStartY = (paperHeight - patternWidth.value * squareSizeIn.value) / 2;
const chessboardStartY = (paperHeight - patternWidth.value * squareSizeMm.value) / 2;

for (let squareY = 0; squareY < patternHeight.value; squareY++) {
for (let squareX = 0; squareX < patternWidth.value; squareX++) {
const xPos = chessboardStartX + squareX * squareSizeIn.value;
const yPos = chessboardStartY + squareY * squareSizeIn.value;
const xPos = chessboardStartX + squareX * squareSizeMm.value;
const yPos = chessboardStartY + squareY * squareSizeMm.value;

// Only draw the odd squares to create the chessboard pattern
if (squareY % 2 !== squareX % 2) {
doc.rect(xPos, yPos, squareSizeIn.value, squareSizeIn.value, "F");
doc.rect(xPos, yPos, squareSizeMm.value, squareSizeMm.value, "F");
}
}
}
doc.text(`${patternWidth.value} x ${patternHeight.value} | ${squareSizeIn.value}in`, paperWidth - 1, 1.0, {
maxWidth: (paperWidth - 2.0) / 2,
align: "right"
});
doc.text(
`${patternWidth.value} x ${patternHeight.value} | ${squareSize.value}${dimensionUnit.value}`,
paperWidth - 1,
1.0,
{
maxWidth: (paperWidth - 2.0) / 2,
align: "right"
}
);
break;

case CalibrationBoardTypes.Charuco:
// TODO: Dynamically generate ChArUco using opencv
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@thatcomputerguy0101 thatcomputerguy0101 May 11, 2026

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I forgot I left this TODO in here. Dynamic ChArUco generation might be the topic of another PR though.

// Add pregenerated ChArUco
const charucoImage = new Image();
charucoImage.src = CharucoImage;
Expand Down Expand Up @@ -220,8 +226,8 @@ const isCalibrating = computed(

const startCalibration = () => {
useCameraSettingsStore().startPnPCalibration({
squareSizeIn: squareSizeIn.value,
markerSizeIn: markerSizeIn.value,
squareSizeMm: squareSizeMm.value,
markerSizeMm: markerSizeMm.value,
patternHeight: patternHeight.value,
patternWidth: patternWidth.value,
boardType: boardType.value,
Expand Down
4 changes: 2 additions & 2 deletions photon-client/src/stores/settings/CameraSettingsStore.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -367,8 +367,8 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
*/
startPnPCalibration(
calibrationInitData: {
squareSizeIn: number;
markerSizeIn: number;
squareSizeMm: number;
markerSizeMm: number;
patternWidth: number;
patternHeight: number;
boardType: CalibrationBoardTypes;
Expand Down
4 changes: 2 additions & 2 deletions photon-client/src/types/WebsocketDataTypes.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -89,8 +89,8 @@ export interface WebsocketCalibrationData {
minCount: number;
videoModeIndex: number;
patternHeight: number;
squareSizeIn: number;
markerSizeIn: number;
squareSizeMm: number;
markerSizeMm: number;
}

export interface IncomingWebsocketData {
Expand Down
20 changes: 10 additions & 10 deletions photon-core/src/main/java/org/photonvision/vision/pipeline/UICalibrationData.java
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Expand Up @@ -24,11 +24,11 @@ public class UICalibrationData {
public int count;
public int minCount;
public boolean hasEnough;
public double squareSizeIn;
public double squareSizeMm;
public int patternWidth;
public int patternHeight;
public BoardType boardType;
public double markerSizeIn;
public double markerSizeMm;
public boolean useOldPattern;
public TagFamily tagFamily;

Expand All @@ -39,8 +39,8 @@ public UICalibrationData(
int videoModeIndex,
int minCount,
boolean hasEnough,
double squareSizeIn,
double markerSizeIn,
double squareSizeMm,
double markerSizeMm,
int patternWidth,
int patternHeight,
BoardType boardType,
Expand All @@ -50,8 +50,8 @@ public UICalibrationData(
this.minCount = minCount;
this.videoModeIndex = videoModeIndex;
this.hasEnough = hasEnough;
this.squareSizeIn = squareSizeIn;
this.markerSizeIn = markerSizeIn;
this.squareSizeMm = squareSizeMm;
this.markerSizeMm = markerSizeMm;
this.patternWidth = patternWidth;
this.patternHeight = patternHeight;
this.boardType = boardType;
Expand Down Expand Up @@ -94,10 +94,10 @@ public String toString() {
+ minCount
+ ", hasEnough="
+ hasEnough
+ ", squareSizeIn="
+ squareSizeIn
+ ", markerSizeIn="
+ markerSizeIn
+ ", squareSizeMm="
+ squareSizeMm
+ ", markerSizeMm="
+ markerSizeMm
+ ", patternWidth="
+ patternWidth
+ ", patternHeight="
Expand Down
5 changes: 2 additions & 3 deletions photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
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Original file line number Diff line number Diff line change
Expand Up @@ -54,7 +54,6 @@
import org.photonvision.vision.pipeline.result.CVPipelineResult;
import org.photonvision.vision.target.TargetModel;
import org.photonvision.vision.target.TrackedTarget;
import org.wpilib.math.util.Units;
import org.wpilib.vision.camera.CameraServerJNI;
import org.wpilib.vision.camera.VideoException;

Expand Down Expand Up @@ -383,8 +382,8 @@ public void startCalibration(UICalibrationData data) {
+ data.videoModeIndex
+ " and settings "
+ data);
settings.gridSize = Units.inchesToMeters(data.squareSizeIn);
settings.markerSize = Units.inchesToMeters(data.markerSizeIn);
settings.gridSize = data.squareSizeMm / 1000;
settings.markerSize = data.markerSizeMm / 1000;
settings.boardHeight = data.patternHeight;
settings.boardWidth = data.patternWidth;
settings.boardType = data.boardType;
Expand Down
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