From f44aa7582da3a4565b3a5af833dca93dd77b2a4f Mon Sep 17 00:00:00 2001
From: Matthew Morley <matthew.morley.ca@gmail.com>
Date: Sun, 15 Oct 2023 14:00:39 -0400
Subject: [PATCH] Run lint and fix imports

---
 .../common/configuration/LegacyConfigProvider.java        | 3 ++-
 .../common/configuration/SqlConfigProvider.java           | 3 ++-
 .../photonvision/vision/pipeline/AprilTagPipeline.java    | 8 +++++---
 .../org/photonvision/vision/target/TrackedTarget.java     | 1 +
 4 files changed, 10 insertions(+), 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
index 4b7e5857cb..74d5d472fe 100644
--- 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
index d0960f3a14..8a0c755ad8 100644
--- 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
index e324437c07..d1837ff770 100644
--- 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
index 1b0dcb9a39..9be1e9162c 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
@@ -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;