Run lint and fix imports

PhotonVision · Oct 15, 2023 · f44aa75 · f44aa75
1 parent cd351f6
commit f44aa75
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Showing 4 changed files with 10 additions and 5 deletions.
diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/LegacyConfigProvider.java b/photon-core/src/main/java/org/photonvision/common/configuration/LegacyConfigProvider.java
@@ -22,6 +22,7 @@
 import edu.wpi.first.apriltag.AprilTagFields;
 import java.io.File;
 import java.io.IOException;
+import java.io.UncheckedIOException;
 import java.nio.file.Files;
 import java.nio.file.Path;
 import java.text.DateFormat;
@@ -198,7 +199,7 @@ public void load() {
             logger.info("Loading default apriltags for 2023 field...");
             try {
                 atfl = AprilTagFields.kDefaultField.loadAprilTagLayoutField();
-            } catch (IOException e) {
+            } catch (UncheckedIOException e) {
                 logger.error("Error loading WPILib field", e);
                 atfl = null;
             }

diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/SqlConfigProvider.java b/photon-core/src/main/java/org/photonvision/common/configuration/SqlConfigProvider.java
@@ -21,6 +21,7 @@
 import edu.wpi.first.apriltag.AprilTagFields;
 import java.io.File;
 import java.io.IOException;
+import java.io.UncheckedIOException;
 import java.nio.file.Files;
 import java.nio.file.Path;
 import java.sql.*;
@@ -241,7 +242,7 @@ public void load() {
                 logger.error("Could not deserialize apriltag layout! Loading defaults");
                 try {
                     atfl = AprilTagFields.kDefaultField.loadAprilTagLayoutField();
-                } catch (IOException e2) {
+                } catch (UncheckedIOException e2) {
                     logger.error("Error loading WPILib field", e);
                     atfl = null;
                 }

diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java
@@ -38,8 +38,9 @@
 import org.photonvision.vision.pipe.impl.AprilTagDetectionPipeParams;
 import org.photonvision.vision.pipe.impl.AprilTagPoseEstimatorPipe;
 import org.photonvision.vision.pipe.impl.AprilTagPoseEstimatorPipe.AprilTagPoseEstimatorPipeParams;
-import org.photonvision.vision.pipe.impl.MultiTargetPNPPipe.MultiTargetPNPPipeParams;
 import org.photonvision.vision.pipe.impl.CalculateFPSPipe;
+import org.photonvision.vision.pipe.impl.MultiTargetPNPPipe;
+import org.photonvision.vision.pipe.impl.MultiTargetPNPPipe.MultiTargetPNPPipeParams;
 import org.photonvision.vision.pipeline.result.CVPipelineResult;
 import org.photonvision.vision.target.TrackedTarget;
 import org.photonvision.vision.target.TrackedTarget.TargetCalculationParameters;
@@ -220,8 +221,9 @@ protected CVPipelineResult process(Frame frame, AprilTagPipelineSettings setting
                                         false, null, null, null, null, frameStaticProperties));
 
                 var correctedBestPose =
-                        MathUtils.convertOpenCVtoPhotonPose(target.getBestCameraToTarget3d());
-                var correctedAltPose = MathUtils.convertOpenCVtoPhotonPose(target.getAltCameraToTarget3d());
+                        MathUtils.convertOpenCVtoPhotonTransform(target.getBestCameraToTarget3d());
+                var correctedAltPose =
+                        MathUtils.convertOpenCVtoPhotonTransform(target.getAltCameraToTarget3d());
 
                 target.setBestCameraToTarget3d(
                         new Transform3d(correctedBestPose.getTranslation(), correctedBestPose.getRotation()));

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
@@ -31,6 +31,7 @@
 import org.opencv.core.MatOfPoint2f;
 import org.opencv.core.Point;
 import org.opencv.core.RotatedRect;
+import org.photonvision.common.util.SerializationUtils;
 import org.photonvision.common.util.math.MathUtils;
 import org.photonvision.targeting.PhotonTrackedTarget;
 import org.photonvision.targeting.TargetCorner;