more formatting fixes

PhotonVision · Nov 6, 2023 · 030f543 · 030f543
1 parent bfb84d4
commit 030f543
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Showing 5 changed files with 27 additions and 26 deletions.
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
@@ -113,11 +113,10 @@ public TrackedTarget(
             tvec.put(
                     0,
                     0,
-                    new double[] {
-                            bestPose.getTranslation().getX(),
-                            bestPose.getTranslation().getY(),
-                            bestPose.getTranslation().getZ()
-                    });
+                    bestPose.getTranslation().getX(),
+                    bestPose.getTranslation().getY(),
+                    bestPose.getTranslation().getZ()
+            );
             setCameraRelativeTvec(tvec);
 
             // Opencv expects a 3d vector with norm = angle and direction = axis
@@ -129,10 +128,10 @@ public TrackedTarget(
         double[] corners = tagDetection.getCorners();
         Point[] cornerPoints =
                 new Point[] {
-                        new Point(corners[0], corners[1]),
-                        new Point(corners[2], corners[3]),
-                        new Point(corners[4], corners[5]),
-                        new Point(corners[6], corners[7])
+                    new Point(corners[0], corners[1]),
+                    new Point(corners[2], corners[3]),
+                    new Point(corners[4], corners[5]),
+                    new Point(corners[6], corners[7])
                 };
         m_targetCorners = List.of(cornerPoints);
         MatOfPoint contourMat = new MatOfPoint(cornerPoints);
@@ -168,10 +167,10 @@ public TrackedTarget(
 
         Point[] cornerPoints =
                 new Point[] {
-                        new Point(xCorners[0], yCorners[0]),
-                        new Point(xCorners[1], yCorners[1]),
-                        new Point(xCorners[2], yCorners[2]),
-                        new Point(xCorners[3], yCorners[3])
+                    new Point(xCorners[0], yCorners[0]),
+                    new Point(xCorners[1], yCorners[1]),
+                    new Point(xCorners[2], yCorners[2]),
+                    new Point(xCorners[3], yCorners[3])
                 };
         m_targetCorners = List.of(cornerPoints);
         MatOfPoint contourMat = new MatOfPoint(cornerPoints);
@@ -204,11 +203,10 @@ public TrackedTarget(
             tvec.put(
                     0,
                     0,
-                    new double[] {
-                            bestPose.getTranslation().getX(),
-                            bestPose.getTranslation().getY(),
-                            bestPose.getTranslation().getZ()
-                    });
+                    bestPose.getTranslation().getX(),
+                    bestPose.getTranslation().getY(),
+                    bestPose.getTranslation().getZ()
+            );
             setCameraRelativeTvec(tvec);
 
             var rvec = new Mat(3, 1, CvType.CV_64FC1);

diff --git a/photon-lib/src/main/java/org/photonvision/EstimatedRobotPose.java b/photon-lib/src/main/java/org/photonvision/EstimatedRobotPose.java
@@ -27,7 +27,7 @@
 import edu.wpi.first.math.geometry.Pose3d;
 import java.util.List;
 import org.photonvision.PhotonPoseEstimator.PoseStrategy;
-import org.photonvision.proto.PhotonTypes.PhotonPipelineResult.PhotonTrackedTarget;
+import org.photonvision.targeting.PhotonTrackedTarget;
 
 /** An estimated pose based on pipeline result */
 public class EstimatedRobotPose {

diff --git a/photon-lib/src/main/java/org/photonvision/PhotonCamera.java b/photon-lib/src/main/java/org/photonvision/PhotonCamera.java
@@ -47,13 +47,12 @@
 import edu.wpi.first.networktables.StringSubscriber;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.Timer;
-import us.hebi.quickbuf.InvalidProtocolBufferException;
-
 import java.util.Optional;
 import java.util.Set;
 import org.photonvision.common.dataflow.structures.Packet;
 import org.photonvision.common.hardware.VisionLEDMode;
 import org.photonvision.proto.PhotonTypes.PhotonPipelineResult;
+import us.hebi.quickbuf.InvalidProtocolBufferException;
 
 /** Represents a camera that is connected to PhotonVision. */
 public class PhotonCamera implements AutoCloseable {
@@ -144,7 +143,10 @@ public PhotonCamera(NetworkTableInstance instance, String cameraName) {
                 cameraTable
                         .getRawTopic("result_proto")
                         .subscribe(
-                                "proto:" + PhotonPipelineResult.getDescriptor().getFullName(), new byte[] {}, PubSubOption.periodic(0.01), PubSubOption.sendAll(true));
+                                "proto:" + PhotonPipelineResult.getDescriptor().getFullName(),
+                                new byte[] {},
+                                PubSubOption.periodic(0.01),
+                                PubSubOption.sendAll(true));
         driverModePublisher = cameraTable.getBooleanTopic("driverModeRequest").publish();
         driverModeSubscriber = cameraTable.getBooleanTopic("driverMode").subscribe(false);
         inputSaveImgEntry = cameraTable.getIntegerTopic("inputSaveImgCmd").getEntry(0);

diff --git a/photon-lib/src/main/native/cpp/photonlib/PhotonCamera.cpp b/photon-lib/src/main/native/cpp/photonlib/PhotonCamera.cpp
@@ -40,9 +40,9 @@ PhotonCamera::PhotonCamera(nt::NetworkTableInstance instance,
                            const std::string_view cameraName)
     : mainTable(instance.GetTable("photonvision")),
       rootTable(mainTable->GetSubTable(cameraName)),
-      rawBytesEntry(
-          rootTable->GetRawTopic("result_proto")
-              .Subscribe("asdfasdfasdf", {}, {.periodic = 0.01, .sendAll = true})),
+      rawBytesEntry(rootTable->GetRawTopic("result_proto")
+                        .Subscribe("asdfasdfasdf", {},
+                                   {.periodic = 0.01, .sendAll = true})),
       inputSaveImgEntry(
           rootTable->GetIntegerTopic("inputSaveImgCmd").Publish()),
       inputSaveImgSubscriber(

diff --git a/photon-lib/src/main/native/include/photonlib/SimPhotonCamera.h b/photon-lib/src/main/native/include/photonlib/SimPhotonCamera.h
@@ -48,7 +48,8 @@ class SimPhotonCamera : public PhotonCamera {
     targetAreaEntry = rootTable->GetEntry("targetAreaEntry");
     targetSkewEntry = rootTable->GetEntry("targetSkewEntry");
     targetPoseEntry = rootTable->GetEntry("targetPoseEntry");
-    rawBytesPublisher = rootTable->GetRawTopic("result_proto").Publish("asdfasdfasdf");
+    rawBytesPublisher =
+        rootTable->GetRawTopic("result_proto").Publish("asdfasdfasdf");
     versionEntry = instance.GetTable("photonvision")->GetEntry("version");
     // versionEntry.SetString(PhotonVersion.versionString);
   }