From 24308043efadf0b1f18034ee1f85a40485bd5936 Mon Sep 17 00:00:00 2001
From: Matt M <matthew.morley.ca@gmail.com>
Date: Tue, 29 Apr 2025 15:19:30 -0700
Subject: [PATCH 1/4] UI flicker MRE

---
 .../pipe/impl/AprilTagDetectionPipe.java      | 21 ++++++++++++++-----
 1 file changed, 16 insertions(+), 5 deletions(-)

diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/AprilTagDetectionPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/AprilTagDetectionPipe.java
index 01e237c410..4b32d65b05 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/AprilTagDetectionPipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/AprilTagDetectionPipe.java
@@ -20,14 +20,15 @@
 import edu.wpi.first.apriltag.AprilTagDetection;
 import edu.wpi.first.apriltag.AprilTagDetector;
 import java.util.List;
+import java.util.Random;
+
 import org.photonvision.vision.apriltag.AprilTagFamily;
 import org.photonvision.vision.opencv.CVMat;
 import org.photonvision.vision.opencv.Releasable;
 import org.photonvision.vision.pipe.CVPipe;
 
 public class AprilTagDetectionPipe
-        extends CVPipe<
-                CVMat, List<AprilTagDetection>, AprilTagDetectionPipe.AprilTagDetectionPipeParams>
+        extends CVPipe<CVMat, List<AprilTagDetection>, AprilTagDetectionPipe.AprilTagDetectionPipeParams>
         implements Releasable {
     private AprilTagDetector m_detector = new AprilTagDetector();
 
@@ -48,13 +49,22 @@ protected List<AprilTagDetection> process(CVMat in) {
             throw new RuntimeException("Apriltag detector was released!");
         }
 
-        var ret = m_detector.detect(in.getMat());
+        AprilTagDetection[] ret = m_detector.detect(in.getMat());
 
         if (ret == null) {
             return List.of();
         }
 
-        return List.of(ret);
+        var lret = List.of(ret);
+        Random rand = new Random();
+        if (rand.nextInt(3) == 0) {
+            if (ret.length > 1) {
+                // Can just delete the first one
+                lret = List.of(lret.get(0));
+            }
+        }
+
+        return lret;
     }
 
     @Override
@@ -79,5 +89,6 @@ public void release() {
     public static record AprilTagDetectionPipeParams(
             AprilTagFamily family,
             AprilTagDetector.Config detectorParams,
-            AprilTagDetector.QuadThresholdParameters quadParams) {}
+            AprilTagDetector.QuadThresholdParameters quadParams) {
+    }
 }

From 12bfa516d976a6b40455f6b38b38b6bfafbbcbc2 Mon Sep 17 00:00:00 2001
From: Matt M <matthew.morley.ca@gmail.com>
Date: Tue, 29 Apr 2025 15:53:53 -0700
Subject: [PATCH 2/4] Fix table width at 45em forever

---
 .../components/dashboard/tabs/TargetsTab.vue  | 26 +++++++++++++------
 1 file changed, 18 insertions(+), 8 deletions(-)

diff --git a/photon-client/src/components/dashboard/tabs/TargetsTab.vue b/photon-client/src/components/dashboard/tabs/TargetsTab.vue
index 22e29bfeed..bf31a621f5 100644
--- a/photon-client/src/components/dashboard/tabs/TargetsTab.vue
+++ b/photon-client/src/components/dashboard/tabs/TargetsTab.vue
@@ -35,7 +35,7 @@ const resetCurrentBuffer = () => {
 <template>
   <div>
     <v-row align="start" class="pb-4">
-      <v-simple-table dense class="pt-2 pb-12">
+      <v-simple-table dense class="pt-2 pb-12 fixed-width-table">
         <template #default>
           <thead>
             <tr>
@@ -141,7 +141,7 @@ const resetCurrentBuffer = () => {
         <v-card-subtitle class="ma-0 pa-0 pb-4" style="font-size: 16px"
           >Multi-tag pose, field-to-camera</v-card-subtitle
         >
-        <v-simple-table dense>
+        <v-simple-table dense class="fixed-width-table">
           <template #default>
             <thead>
               <tr class="white--text">
@@ -154,16 +154,22 @@ const resetCurrentBuffer = () => {
                 <th class="text-center white--text">Tags</th>
               </tr>
             </thead>
-            <tbody v-show="useStateStore().currentPipelineResults?.multitagResult">
+            <tbody>
               <tr>
                 <td class="text-center white--text">
-                  {{ useStateStore().currentPipelineResults?.multitagResult?.bestTransform.x.toFixed(3) }}&nbsp;m
+                  {{
+                    useStateStore().currentPipelineResults?.multitagResult?.bestTransform.x.toFixed(3) || "0.000"
+                  }}&nbsp;m
                 </td>
                 <td class="text-center white--text">
-                  {{ useStateStore().currentPipelineResults?.multitagResult?.bestTransform.y.toFixed(3) }}&nbsp;m
+                  {{
+                    useStateStore().currentPipelineResults?.multitagResult?.bestTransform.y.toFixed(3) || "0.000"
+                  }}&nbsp;m
                 </td>
                 <td class="text-center white--text">
-                  {{ useStateStore().currentPipelineResults?.multitagResult?.bestTransform.z.toFixed(3) }}&nbsp;m
+                  {{
+                    useStateStore().currentPipelineResults?.multitagResult?.bestTransform.y.toFixed(3) || "0.000"
+                  }}&nbsp;m
                 </td>
                 <td class="text-center white--text">
                   {{
@@ -187,7 +193,7 @@ const resetCurrentBuffer = () => {
                   }}&deg;
                 </td>
                 <td class="text-center white--text">
-                  {{ useStateStore().currentPipelineResults?.multitagResult?.fiducialIDsUsed }}
+                  {{ useStateStore().currentPipelineResults?.multitagResult?.fiducialIDsUsed.join(", ") || "None" }}
                 </td>
               </tr>
             </tbody>
@@ -202,7 +208,7 @@ const resetCurrentBuffer = () => {
         <v-btn color="secondary" class="mb-4 mt-1" style="width: min-content" depressed @click="resetCurrentBuffer"
           >Reset Samples</v-btn
         >
-        <v-simple-table dense>
+        <v-simple-table dense class="fixed-width-table">
           <template #default>
             <thead>
               <tr>
@@ -311,4 +317,8 @@ const resetCurrentBuffer = () => {
     border-radius: 10px;
   }
 }
+
+.fixed-width-table {
+  width: 45em;
+}
 </style>

From 38b746f48a1ce8c174ea551810da395b24996173 Mon Sep 17 00:00:00 2001
From: Matt M <matthew.morley.ca@gmail.com>
Date: Tue, 29 Apr 2025 16:13:13 -0700
Subject: [PATCH 3/4] Make things a fixed height too

---
 photon-client/src/components/dashboard/tabs/TargetsTab.vue | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/photon-client/src/components/dashboard/tabs/TargetsTab.vue b/photon-client/src/components/dashboard/tabs/TargetsTab.vue
index bf31a621f5..614cd6da96 100644
--- a/photon-client/src/components/dashboard/tabs/TargetsTab.vue
+++ b/photon-client/src/components/dashboard/tabs/TargetsTab.vue
@@ -35,7 +35,7 @@ const resetCurrentBuffer = () => {
 <template>
   <div>
     <v-row align="start" class="pb-4">
-      <v-simple-table dense class="pt-2 pb-12 fixed-width-table">
+      <v-simple-table dense class="pt-2 pb-12 fixed-width-table" fixed-header height="16em" style="overflow-y: scroll">
         <template #default>
           <thead>
             <tr>
@@ -141,7 +141,7 @@ const resetCurrentBuffer = () => {
         <v-card-subtitle class="ma-0 pa-0 pb-4" style="font-size: 16px"
           >Multi-tag pose, field-to-camera</v-card-subtitle
         >
-        <v-simple-table dense class="fixed-width-table">
+        <v-simple-table dense fixed-header class="fixed-width-table" height="12em">
           <template #default>
             <thead>
               <tr class="white--text">
@@ -208,7 +208,7 @@ const resetCurrentBuffer = () => {
         <v-btn color="secondary" class="mb-4 mt-1" style="width: min-content" depressed @click="resetCurrentBuffer"
           >Reset Samples</v-btn
         >
-        <v-simple-table dense class="fixed-width-table">
+        <v-simple-table dense fixed-header class="fixed-width-table" height="12em">
           <template #default>
             <thead>
               <tr>
@@ -284,6 +284,7 @@ const resetCurrentBuffer = () => {
       th {
         font-size: 1rem !important;
         color: white !important;
+        background-color: #006492 !important;
       }
     }
   }

From bcc29d55035df0da504989fb23d83e7e2555d4ee Mon Sep 17 00:00:00 2001
From: Matt M <matthew.morley.ca@gmail.com>
Date: Tue, 29 Apr 2025 16:13:45 -0700
Subject: [PATCH 4/4] Revert "UI flicker MRE"

This reverts commit 24308043efadf0b1f18034ee1f85a40485bd5936.
---
 .../pipe/impl/AprilTagDetectionPipe.java      | 21 +++++--------------
 1 file changed, 5 insertions(+), 16 deletions(-)

diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/AprilTagDetectionPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/AprilTagDetectionPipe.java
index 4b32d65b05..01e237c410 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/AprilTagDetectionPipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/AprilTagDetectionPipe.java
@@ -20,15 +20,14 @@
 import edu.wpi.first.apriltag.AprilTagDetection;
 import edu.wpi.first.apriltag.AprilTagDetector;
 import java.util.List;
-import java.util.Random;
-
 import org.photonvision.vision.apriltag.AprilTagFamily;
 import org.photonvision.vision.opencv.CVMat;
 import org.photonvision.vision.opencv.Releasable;
 import org.photonvision.vision.pipe.CVPipe;
 
 public class AprilTagDetectionPipe
-        extends CVPipe<CVMat, List<AprilTagDetection>, AprilTagDetectionPipe.AprilTagDetectionPipeParams>
+        extends CVPipe<
+                CVMat, List<AprilTagDetection>, AprilTagDetectionPipe.AprilTagDetectionPipeParams>
         implements Releasable {
     private AprilTagDetector m_detector = new AprilTagDetector();
 
@@ -49,22 +48,13 @@ protected List<AprilTagDetection> process(CVMat in) {
             throw new RuntimeException("Apriltag detector was released!");
         }
 
-        AprilTagDetection[] ret = m_detector.detect(in.getMat());
+        var ret = m_detector.detect(in.getMat());
 
         if (ret == null) {
             return List.of();
         }
 
-        var lret = List.of(ret);
-        Random rand = new Random();
-        if (rand.nextInt(3) == 0) {
-            if (ret.length > 1) {
-                // Can just delete the first one
-                lret = List.of(lret.get(0));
-            }
-        }
-
-        return lret;
+        return List.of(ret);
     }
 
     @Override
@@ -89,6 +79,5 @@ public void release() {
     public static record AprilTagDetectionPipeParams(
             AprilTagFamily family,
             AprilTagDetector.Config detectorParams,
-            AprilTagDetector.QuadThresholdParameters quadParams) {
-    }
+            AprilTagDetector.QuadThresholdParameters quadParams) {}
 }