From 3506d8f61cb52ced29a099846b939d5f980c5ed5 Mon Sep 17 00:00:00 2001
From: Matt <matthew.morley.ca@gmail.com>
Date: Wed, 3 Jan 2024 12:52:26 -0700
Subject: [PATCH] Remove extra legacy calibration things

---
 .../common/util/math/MathUtils.java           |  8 +++++
 .../vision/pipeline/Calibrate3dPipeline.java  | 30 -------------------
 .../vision/processes/VisionModule.java        |  1 -
 3 files changed, 8 insertions(+), 31 deletions(-)

diff --git a/photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java b/photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java
index 85e5121957..11d234c025 100644
--- a/photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java
@@ -201,6 +201,14 @@ public static void rotationToOpencvRvec(Rotation3d rotation, Mat rvecOutput) {
         rvecOutput.put(0, 0, axis.getData());
     }
 
+    /**
+     * Convert an Opencv rvec+tvec pair to a Pose3d.
+     *
+     * @param rVec Axis-angle rotation vector, where norm(rVec) is the angle about a unit vector in
+     *     the direction of rVec
+     * @param tVec 3D translation
+     * @return Pose3d representing the same rigid transform
+     */
     public static Pose3d opencvRTtoPose3d(Mat rVec, Mat tVec) {
         Translation3d translation =
                 new Translation3d(tVec.get(0, 0)[0], tVec.get(1, 0)[0], tVec.get(2, 0)[0]);
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java
index d922c510a5..ecc931f5ed 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java
@@ -18,7 +18,6 @@
 package org.photonvision.vision.pipeline;
 
 import edu.wpi.first.math.util.Units;
-import java.nio.file.Path;
 import java.util.ArrayList;
 import java.util.List;
 import java.util.stream.Collectors;
@@ -26,14 +25,11 @@
 import org.opencv.core.Mat;
 import org.opencv.core.Point;
 import org.opencv.core.Size;
-import org.opencv.imgcodecs.Imgcodecs;
-import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.dataflow.DataChangeService;
 import org.photonvision.common.dataflow.events.OutgoingUIEvent;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.SerializationUtils;
-import org.photonvision.common.util.file.FileUtils;
 import org.photonvision.vision.calibration.BoardObservation;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
 import org.photonvision.vision.frame.Frame;
@@ -71,9 +67,6 @@ public class Calibrate3dPipeline
 
     private boolean calibrating = false;
 
-    // Path to save images
-    private final Path imageDir;
-
     private static final FrameThresholdType PROCESSING_TYPE = FrameThresholdType.NONE;
 
     public Calibrate3dPipeline(String uniqueName) {
@@ -85,8 +78,6 @@ public Calibrate3dPipeline(int minSnapshots, String uniqueName) {
         this.settings = new Calibration3dPipelineSettings();
         this.foundCornersList = new ArrayList<>();
         this.minSnapshots = minSnapshots;
-        this.imageDir =
-                Path.of(ConfigManager.getInstance().getCalibDir().toAbsolutePath().toString(), uniqueName);
     }
 
     @Override
@@ -144,7 +135,6 @@ protected CVPipelineResult process(Frame frame, Calibration3dPipelineSettings se
                 findBoardResult.inputImage = inputColorMat.clone();
 
                 foundCornersList.add(findBoardResult);
-                saveCalImage(inputColorMat);
 
                 // update the UI
                 broadcastState();
@@ -162,32 +152,12 @@ protected CVPipelineResult process(Frame frame, Calibration3dPipelineSettings se
                 getCornersList());
     }
 
-    private void saveCalImage(Mat img) {
-        var folder = Path.of(imageDir.toString(), img.size().toString());
-        if (!folder.toFile().exists()) {
-            folder.toFile().mkdirs();
-        }
-        if (!folder.toFile().exists()) {
-            logger.error("Could not create save folder! " + folder);
-        }
-        Imgcodecs.imwrite(
-                Path.of(folder.toAbsolutePath().toString(), "img" + foundCornersList.size() + ".png")
-                        .toString(),
-                img);
-    }
-
     List<List<Point>> getCornersList() {
         return foundCornersList.stream()
                 .map(it -> it.imagePoints.toList())
                 .collect(Collectors.toList());
     }
 
-    public void deleteSavedImages(Size resolution) {
-        var folder = Path.of(imageDir.toString(), resolution.toString());
-        folder.toFile().mkdirs();
-        FileUtils.deleteDirectory(folder);
-    }
-
     public boolean hasEnough() {
         return foundCornersList.size() >= minSnapshots;
     }
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
index c8c1325ef7..da596f70bc 100644
--- a/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
@@ -340,7 +340,6 @@ public void startCalibration(UICalibrationData data) {
         var videoMode = visionSource.getSettables().getAllVideoModes().get(data.videoModeIndex);
         var resolution = new Size(videoMode.width, videoMode.height);
 
-        pipelineManager.calibration3dPipeline.deleteSavedImages(resolution);
         settings.cameraVideoModeIndex = data.videoModeIndex;
         visionSource.getSettables().setVideoModeIndex(data.videoModeIndex);
         logger.info(