Add support for removing calibrations

Author: samfreund

photon-client/src/components/cameras/CameraCalibrationInfoCard.vue

@@ -5,13 +5,47 @@ import { useStateStore } from "@/stores/StateStore";
 import { computed, inject, ref } from "vue";
 import { getResolutionString, parseJsonFile } from "@/lib/PhotonUtils";
 import { useTheme } from "vuetify";
+import axios from "axios";
 
 const theme = useTheme();
 
 const props = defineProps<{
   videoFormat: VideoFormat;
 }>();
 
+const removeCalibration = () => {
+  axios
+    .post("/calibration/remove", {
+      cameraUniqueName: useCameraSettingsStore().currentCameraSettings.uniqueName,
+      width: props.videoFormat.resolution.width,
+      height: props.videoFormat.resolution.height
+    })
+    .then((response) => {
+      useStateStore().showSnackbarMessage({
+        message: response.data.text || response.data,
+        color: "success"
+      });
+    })
+    .catch((error) => {
+      if (error.response) {
+        useStateStore().showSnackbarMessage({
+          color: "error",
+          message: error.response.data.text || error.response.data
+        });
+      } else if (error.request) {
+        useStateStore().showSnackbarMessage({
+          color: "error",
+          message: "Error while trying to process the request! The backend didn't respond."
+        });
+      } else {
+        useStateStore().showSnackbarMessage({
+          color: "error",
+          message: "An error occurred while trying to process the request."
+        });
+      }
+    });
+};
+
 const exportCalibration = ref();
 const openExportCalibrationPrompt = () => {
   exportCalibration.value.click();
@@ -97,6 +131,18 @@ const calibrationImageURL = (index: number) =>
       <v-col cols="12" md="6">
         <v-card-title class="pa-0"> Calibration Details </v-card-title>
       </v-col>
+      <v-col cols="6" md="3" class="d-flex align-center pt-0 pt-md-3 pr-6 pr-md-3">
+        <v-btn
+          color="error"
+          :disabled="!currentCalibrationCoeffs"
+          style="width: 100%"
+          :variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
+          @click="removeCalibration"
+        >
+          <v-icon start size="large">mdi-delete</v-icon>
+          <span>Delete</span>
+        </v-btn>
+      </v-col>
       <v-col cols="6" md="3" class="d-flex align-center pt-0 pt-md-3 pl-6 pl-md-3">
         <v-btn
           color="buttonPassive"

photon-core/src/main/java/org/photonvision/common/configuration/CameraConfiguration.java

@@ -24,6 +24,7 @@
 import java.util.ArrayList;
 import java.util.List;
 import java.util.UUID;
+import org.opencv.core.Size;
 import org.photonvision.common.dataflow.websocket.UICameraConfiguration;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
@@ -189,6 +190,23 @@ public void addCalibration(CameraCalibrationCoefficients calibration) {
         calibrations.add(calibration);
     }
 
+    /**
+     * Remove a calibration from our list.
+     *
+     * @param calibration The calibration to remove
+     */
+    public void removeCalibration(Size unrotatedImageSize) {
+        logger.info("deleting calibration " + unrotatedImageSize);
+        calibrations.stream()
+                .filter(it -> it.unrotatedImageSize.equals(unrotatedImageSize))
+                .findAny()
+                .ifPresent(
+                        (it) -> {
+                            it.release();
+                            calibrations.remove(it);
+                        });
+    }
+
     /**
      * cscore will auto-reconnect to the camera path we give it. v4l does not guarantee that if i swap
      * cameras around, the same /dev/videoN ID will be assigned to that camera. So instead default to

photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java

@@ -680,6 +680,16 @@ public void addCalibrationToConfig(CameraCalibrationCoefficients newCalibration)
         saveAndBroadcastAll();
     }
 
+    public void removeCalibrationFromConfig(Size unrotatedImageSize) {
+        if (unrotatedImageSize != null) {
+            visionSource.getSettables().removeCalibration(unrotatedImageSize);
+        } else {
+            logger.error("Got null size?");
+        }
+
+        saveAndBroadcastAll();
+    }
+
     /**
      * Add/remove quirks from the camera we're controlling
      *

photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceSettables.java

@@ -19,6 +19,7 @@
 
 import edu.wpi.first.cscore.VideoMode;
 import java.util.HashMap;
+import org.opencv.core.Size;
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
@@ -120,6 +121,11 @@ public void addCalibration(CameraCalibrationCoefficients calibrationCoefficients
         calculateFrameStaticProps();
     }
 
+    public void removeCalibration(Size unrotatedImageSize) {
+        configuration.removeCalibration(unrotatedImageSize);
+        calculateFrameStaticProps();
+    }
+
     protected void calculateFrameStaticProps() {
         var videoMode = getCurrentVideoMode();
         this.frameStaticProperties =

photon-server/src/main/java/org/photonvision/server/RequestHandler.java

@@ -35,6 +35,7 @@
 import org.opencv.core.Mat;
 import org.opencv.core.MatOfByte;
 import org.opencv.core.MatOfInt;
+import org.opencv.core.Size;
 import org.opencv.imgcodecs.Imgcodecs;
 import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.configuration.NetworkConfig;
@@ -1001,6 +1002,46 @@ public static void onMetricsPublishRequest(Context ctx) {
         ctx.status(204);
     }
 
+    private record CalibrationRemoveRequest(int width, int height, String cameraUniqueName) {}
+
+    public static void onCalibrationRemoveRequest(Context ctx) {
+        try {
+            CalibrationRemoveRequest request =
+                    kObjectMapper.readValue(ctx.body(), CalibrationRemoveRequest.class);
+
+            logger.info(
+                    "Attempting to remove calibration for camera: "
+                            + request.cameraUniqueName
+                            + " with a resolution of "
+                            + request.width
+                            + "x"
+                            + request.height);
+
+            VisionSourceManager.getInstance()
+                    .vmm
+                    .getModule(request.cameraUniqueName)
+                    .removeCalibrationFromConfig(new Size(request.width, request.height));
+
+            ctx.status(200);
+            ctx.result(
+                    "Successfully removed calibration for resolution: "
+                            + request.width
+                            + "x"
+                            + request.height);
+            logger.info(
+                    "Successfully removed calibration for resolution: "
+                            + request.width
+                            + "x"
+                            + request.height);
+        } catch (JsonProcessingException e) {
+            ctx.status(400).result("Invalid JSON format");
+            logger.error("Failed to process calibration removed request", e);
+        } catch (Exception e) {
+            ctx.status(500).result("Failed to removed calibration");
+            logger.error("Unexpected error while attempting to remove calibration", e);
+        }
+    }
+
     public static void onCalibrationSnapshotRequest(Context ctx) {
         String cameraUniqueName = ctx.queryParam("cameraUniqueName");
         var width = Integer.parseInt(ctx.queryParam("width"));

photon-server/src/main/java/org/photonvision/server/Server.java

@@ -148,6 +148,7 @@ private static void start(int port) {
         // Calibration
         app.post("/api/calibration/end", RequestHandler::onCalibrationEndRequest);
         app.post("/api/calibration/importFromData", RequestHandler::onDataCalibrationImportRequest);
+        app.post("/api/calibration/remove", RequestHandler::onCalibrationRemoveRequest);
 
         // Object detection
         app.post("/api/objectdetection/import", RequestHandler::onImportObjectDetectionModelRequest);