From da4893048c01068c42dc23df667d0bebb1fab97f Mon Sep 17 00:00:00 2001
From: Matt <matthew.morley.ca@gmail.com>
Date: Sat, 30 Dec 2023 21:48:52 -0800
Subject: [PATCH] Swap to PNG and serialize insolution

---
 photon-client/src/types/SettingTypes.ts                    | 1 +
 .../photonvision/vision/calibration/BoardObservation.java  | 7 ++++++-
 .../org/photonvision/vision/pipe/impl/Calibrate3dPipe.java | 2 +-
 .../photonvision/vision/pipeline/Calibrate3dPipeline.java  | 2 +-
 .../main/java/org/photonvision/server/RequestHandler.java  | 2 +-
 5 files changed, 10 insertions(+), 4 deletions(-)

diff --git a/photon-client/src/types/SettingTypes.ts b/photon-client/src/types/SettingTypes.ts
index da035cafeb..cc134268ce 100644
--- a/photon-client/src/types/SettingTypes.ts
+++ b/photon-client/src/types/SettingTypes.ts
@@ -113,6 +113,7 @@ export interface BoardObservation {
   locationInImageSpace: CvPoint[];
   reprojectionErrors: CvPoint[];
   optimisedCameraToObject: Pose3d;
+  includeObservationInCalibration: boolean;
 }
 
 export interface CameraCalibrationResult {
diff --git a/photon-core/src/main/java/org/photonvision/vision/calibration/BoardObservation.java b/photon-core/src/main/java/org/photonvision/vision/calibration/BoardObservation.java
index a052016151..3c31cebd19 100644
--- a/photon-core/src/main/java/org/photonvision/vision/calibration/BoardObservation.java
+++ b/photon-core/src/main/java/org/photonvision/vision/calibration/BoardObservation.java
@@ -40,15 +40,20 @@ public final class BoardObservation {
     // Solver optimized board poses
     public Pose3d optimisedCameraToObject;
 
+    // If we should use this observation when re-calculating camera calibration
+    public boolean includeObservationInCalibration;
+
     @JsonCreator
     public BoardObservation(
             @JsonProperty("locationInObjectSpace") List<Point3> locationInObjectSpace,
             @JsonProperty("locationInImageSpace") List<Point> locationInImageSpace,
             @JsonProperty("reprojectionErrors") List<Point> reprojectionErrors,
-            @JsonProperty("optimisedCameraToObject") Pose3d optimisedCameraToObject) {
+            @JsonProperty("optimisedCameraToObject") Pose3d optimisedCameraToObject,
+            @JsonProperty("includeObservationInCalibration") boolean includeObservationInCalibration) {
         this.locationInObjectSpace = locationInObjectSpace;
         this.locationInImageSpace = locationInImageSpace;
         this.reprojectionErrors = reprojectionErrors;
         this.optimisedCameraToObject = optimisedCameraToObject;
+        this.includeObservationInCalibration = includeObservationInCalibration;
     }
 }
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
index 398e5f9608..1f82085758 100644
--- 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
@@ -152,7 +152,7 @@ protected CameraCalibrationCoefficients process(List<Triple<Size, Mat, Mat>> in)
 
             var camToBoard = MathUtils.opencvRTtoPose3d(rvecs.get(i), tvecs.get(i));
 
-            observations.add(new BoardObservation(i_objPts, i_imgPts, reprojectionError, camToBoard));
+            observations.add(new BoardObservation(i_objPts, i_imgPts, reprojectionError, camToBoard, true));
         }
         jac_temp.release();
 
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 b11afaef41..4f3caef569 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
@@ -161,7 +161,7 @@ private void saveCalImage(Mat img) {
             logger.error("Could not create save folder! " + folder);
         }
         Imgcodecs.imwrite(
-                Path.of(folder.toAbsolutePath().toString(), "img" + foundCornersList.size() + ".jpg")
+                Path.of(folder.toAbsolutePath().toString(), "img" + foundCornersList.size() + ".png")
                         .toString(),
                 img);
     }
diff --git a/photon-server/src/main/java/org/photonvision/server/RequestHandler.java b/photon-server/src/main/java/org/photonvision/server/RequestHandler.java
index 283429e971..d93fd58f34 100644
--- a/photon-server/src/main/java/org/photonvision/server/RequestHandler.java
+++ b/photon-server/src/main/java/org/photonvision/server/RequestHandler.java
@@ -615,7 +615,7 @@ public static void onCameraCalibImagesRequest(Context ctx) {
 
                             var bufferedImage = ImageIO.read(calibImg);
                             var buffer = new ByteArrayOutputStream();
-                            ImageIO.write(bufferedImage, "jpg", buffer);
+                            ImageIO.write(bufferedImage, "png", buffer);
                             byte[] data = buffer.toByteArray();
 
                             snapshotData.put("snapshotData", data);