Return partial used corners for calibration - #31
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I'm not a big fan of the extra int array for storing ids, |
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) ## Description **What changed?** This updates to a fixed version of mrcal-java that returns a list of corners used corresponding to the same subset of corners it was provided. Additionally, this persists the corner ids so that further processing of the board knows which subset of corners it is working with, and updates one of the test calibrations with the ids. The storage space could probably be optimized slightly by dropping the list of ids if all corners are detected, but that gets slightly complicated if the ids are unsorted so it wasn't implemented yet. **Why?** #2344 depends on the stored calibration point information being accurate. It wasn't before. ## Testing - [x] I have tested this change locally - [ ] Test evidence (screenshots, videos, or test results): ## Related Issues Blocked on PhotonVision/mrcal-java#31. ## AI Disclosure - [x] This PR was authored entirely by me - [ ] This PR includes AI-generated code (e.g., from GitHub Copilot, ChatGPT) - [ ] If yes, I have reviewed all AI-generated code for correctness - [ ] If yes, please describe which parts were AI-assisted: Describe AI involvement here if applicable --- ## Merge Checklist - [x] PR title is a [short, imperative summary](https://cbea.ms/git-commit/) of changes - [x] PR description documents the *what* and *why* ### Additional Checks (if applicable) - [ ] **User-facing changes?** User documentation is updated - [ ] **Breaking changes?** Migration guide is included in description - [ ] **Bug fix?** Regression test is added - [ ] **New dependency?** License compatibility is verified and steps have been taken to follow it - [ ] **Serde changes?** All messages are regenerated with no unexpected hash changes - [ ] **Configuration changes?** Changes are backwards compatible with previous season's last release - [ ] **Pipeline/data exchange changes?** Frontend types are updated in `./photon-client/src/types` --------- Co-authored-by: Matt Morley <matthew.morley.ca@gmail.com>
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Previously,
calibrateCamerawould return used corner info for all corners of a board, including those that were not part of the observation. This corrects the problem by changing the input to a list to be able to map the skipped corner info back to the same subset and order that was provided in the parameters.AbstractListcan be used on the caller's side to perform on the fly conversion if needed.