From 70001b10cd3d76b38281a95615bcc61d5fe1f07d Mon Sep 17 00:00:00 2001
From: Matt M <matthew.morley.ca@gmail.com>
Date: Thu, 29 Sep 2022 09:48:29 -0400
Subject: [PATCH 1/3] Start addressing things

---
 .../src/views/PipelineViews/AprilTagTab.vue         |  2 +-
 .../src/views/PipelineViews/TargetsTab.vue          | 13 +------------
 2 files changed, 2 insertions(+), 13 deletions(-)

diff --git a/photon-client/src/views/PipelineViews/AprilTagTab.vue b/photon-client/src/views/PipelineViews/AprilTagTab.vue
index 8fecdc37e2..48ce0fd036 100644
--- a/photon-client/src/views/PipelineViews/AprilTagTab.vue
+++ b/photon-client/src/views/PipelineViews/AprilTagTab.vue
@@ -16,7 +16,7 @@
       name="Decimate"
       min="0"
       max="3"
-      step=".01"
+      step=".5"
       @input="handlePipelineData('decimate')"
     />
     <CVslider
diff --git a/photon-client/src/views/PipelineViews/TargetsTab.vue b/photon-client/src/views/PipelineViews/TargetsTab.vue
index 021fe14ae4..8d9bedfef0 100644
--- a/photon-client/src/views/PipelineViews/TargetsTab.vue
+++ b/photon-client/src/views/PipelineViews/TargetsTab.vue
@@ -35,18 +35,7 @@
                   Area, %
                 </th>
               </template>
-              <template v-else-if="$store.getters.pipelineType === 4 && $store.getters.currentPipelineSettings.solvePNPEnabled">
-                <th class="text-center">
-                  X,&nbsp;m
-                </th>
-                <th class="text-center">
-                  Y,&nbsp;m
-                </th>
-                <th class="text-center">
-                  Z Angle,&nbsp;&deg;
-                </th>
-              </template>
-              <template v-else-if="$store.getters.currentPipelineSettings.solvePNPEnabled">
+              <template v-else>
                 <th class="text-center">
                   X,&nbsp;m
                 </th>

From fa7c26b8b03412c3ec89ea73e7b53d58a95b991e Mon Sep 17 00:00:00 2001
From: Matt M <matthew.morley.ca@gmail.com>
Date: Thu, 29 Sep 2022 10:07:29 -0400
Subject: [PATCH 2/3] Fix target tab table

---
 photon-client/src/components/pipeline/3D/MiniMap.vue | 12 ++++++------
 photon-client/src/views/PipelineViews/TargetsTab.vue |  1 -
 .../photonvision/vision/target/TrackedTarget.java    |  8 ++++++--
 3 files changed, 12 insertions(+), 9 deletions(-)

diff --git a/photon-client/src/components/pipeline/3D/MiniMap.vue b/photon-client/src/components/pipeline/3D/MiniMap.vue
index 41fdf7c572..1ea0829582 100644
--- a/photon-client/src/components/pipeline/3D/MiniMap.vue
+++ b/photon-client/src/components/pipeline/3D/MiniMap.vue
@@ -81,8 +81,8 @@ export default {
         let arrow = (new ArrowHelper(new Vector3(1, 0, 0).normalize(), new Vector3(0, 0, 0),
             1, // length
             0xff0000,
-            0.2,
-            0.2,
+            0.1,
+            0.1,
         ));
         arrow.rotation.setFromQuaternion(quat)
         arrow.rotateZ(-Math.PI / 2)
@@ -92,8 +92,8 @@ export default {
         arrow = (new ArrowHelper(new Vector3(1, 0, 0).normalize(), new Vector3(0, 0, 0),
             1, // length
             0x00ff00,
-            0.2,
-            0.2,
+            0.1,
+            0.1,
         ));
         arrow.rotation.setFromQuaternion(quat)
         // arrow.rotateX(Math.PI / 2)
@@ -102,8 +102,8 @@ export default {
         arrow = (new ArrowHelper(new Vector3(1, 0, 0).normalize(), new Vector3(0, 0, 0),
             1, // length
             0x0000ff,
-            0.2,
-            0.2,
+            0.1,
+            0.1,
         ));
         arrow.setRotationFromQuaternion(quat)
         arrow.rotateX(Math.PI / 2)
diff --git a/photon-client/src/views/PipelineViews/TargetsTab.vue b/photon-client/src/views/PipelineViews/TargetsTab.vue
index 8d9bedfef0..acc16666aa 100644
--- a/photon-client/src/views/PipelineViews/TargetsTab.vue
+++ b/photon-client/src/views/PipelineViews/TargetsTab.vue
@@ -64,7 +64,6 @@
                 <td>{{ parseFloat(value.area).toFixed(2) }}</td>
               </template>
               <template v-else-if="$store.getters.currentPipelineSettings.solvePNPEnabled && $store.getters.pipelineType === 4">
-                <td>{{ parseInt(value.fiducialId) }} </td>
                 <td>{{ parseFloat(value.pose.x).toFixed(2) }}&nbsp;m</td>
                 <td>{{ parseFloat(value.pose.y).toFixed(2) }}&nbsp;m</td>
                 <td>{{ (parseFloat(value.pose.angle_z) * 180 / Math.PI).toFixed(2) }}&deg;</td>
diff --git a/photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java b/photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java
index c274c4756f..91bd4112b2 100644
--- a/photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java
+++ b/photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java
@@ -196,8 +196,12 @@ public void calculateValues(TargetCalculationParameters params) {
     @Override
     public void release() {
         m_mainContour.release();
-        for (var sc : m_subContours) {
-            sc.release();
+        
+        // TODO how can this check fail?
+        if (m_subContours != null) {
+            for (var sc : m_subContours) {
+                sc.release();
+            }
         }
 
         if (m_cameraRelativeTvec != null) m_cameraRelativeTvec.release();

From 0b694fec98ed8c90c395b4cb64086f5e7f0858b1 Mon Sep 17 00:00:00 2001
From: Matt M <matthew.morley.ca@gmail.com>
Date: Thu, 29 Sep 2022 10:07:53 -0400
Subject: [PATCH 3/3] Update TrackedTarget.java

---
 .../main/java/org/photonvision/vision/target/TrackedTarget.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java b/photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java
index 91bd4112b2..87934b682d 100644
--- a/photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java
+++ b/photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java
@@ -196,7 +196,7 @@ public void calculateValues(TargetCalculationParameters params) {
     @Override
     public void release() {
         m_mainContour.release();
-        
+
         // TODO how can this check fail?
         if (m_subContours != null) {
             for (var sc : m_subContours) {