spotless

PhotonVision · Jul 23, 2023 · 1f03b96 · 1f03b96
1 parent 4364ac2
commit 1f03b96
Show file tree

Hide file tree

Showing 5 changed files with 32 additions and 29 deletions.
diff --git a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
@@ -370,7 +370,7 @@ private Optional<EstimatedRobotPose> multiTagPNPStrategy(
 
         var pnpResults =
                 VisionEstimation.estimateCamPosePNP(
-                                cameraMatrixOpt.get(), distCoeffsOpt.get(), result.getTargets(), fieldTags);
+                        cameraMatrixOpt.get(), distCoeffsOpt.get(), result.getTargets(), fieldTags);
         // try fallback strategy if solvePNP fails for some reason
         if (!pnpResults.isPresent)
             return update(result, cameraMatrixOpt, distCoeffsOpt, this.multiTagFallbackStrategy);

diff --git a/photon-lib/src/main/java/org/photonvision/estimation/PNPResults.java b/photon-lib/src/main/java/org/photonvision/estimation/PNPResults.java
@@ -36,10 +36,18 @@
  * method.
  */
 public class PNPResults {
-    /** If this result is valid. A false value indicates there was an error in estimation, and this result should not be used. */
+    /**
+     * If this result is valid. A false value indicates there was an error in estimation, and this
+     * result should not be used.
+     */
     public final boolean isPresent;
-    /** The best-fit transform. The coordinate frame of this transform depends on the method which gave this result. */
+
+    /**
+     * The best-fit transform. The coordinate frame of this transform depends on the method which gave
+     * this result.
+     */
     public final Transform3d best;
+
     /** Reprojection error of the best solution, in pixels */
     public final double bestReprojErr;
 

diff --git a/photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java b/photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java
@@ -68,7 +68,8 @@ public static List<AprilTag> getVisibleLayoutTags(
      * @param distCoeffs The camera distortion matrix in standard opencv form
      * @param visTags The visible tags reported by PV
      * @param tagLayout The known tag layout on the field
-     * @return The transformation that maps the field origin to the camera pose. Ensure the {@link PNPResults} are present before utilizing them.
+     * @return The transformation that maps the field origin to the camera pose. Ensure the {@link
+     *     PNPResults} are present before utilizing them.
      */
     public static PNPResults estimateCamPosePNP(
             Matrix<N3, N3> cameraMatrix,
@@ -91,7 +92,9 @@ public static PNPResults estimateCamPosePNP(
 
         // single-tag pnp
         if (visTags.size() == 1) {
-            var camToTag = OpenCVHelp.solvePNP_SQUARE(cameraMatrix, distCoeffs, TargetModel.kTag16h5.vertices, corners);
+            var camToTag =
+                    OpenCVHelp.solvePNP_SQUARE(
+                            cameraMatrix, distCoeffs, TargetModel.kTag16h5.vertices, corners);
             if (!camToTag.isPresent) return new PNPResults();
             var bestPose = knownTags.get(0).pose.transformBy(camToTag.best.inverse());
             var altPose = new Pose3d();
@@ -100,12 +103,11 @@ public static PNPResults estimateCamPosePNP(
 
             var o = new Pose3d();
             return new PNPResults(
-                new Transform3d(o, bestPose),
-                new Transform3d(o, altPose),
-                camToTag.ambiguity,
-                camToTag.bestReprojErr,
-                camToTag.altReprojErr
-            );
+                    new Transform3d(o, bestPose),
+                    new Transform3d(o, altPose),
+                    camToTag.ambiguity,
+                    camToTag.bestReprojErr,
+                    camToTag.altReprojErr);
         }
         // multi-tag pnp
         else {
@@ -114,12 +116,11 @@ public static PNPResults estimateCamPosePNP(
             var camToOrigin = OpenCVHelp.solvePNP_SQPNP(cameraMatrix, distCoeffs, objectTrls, corners);
             if (!camToOrigin.isPresent) return new PNPResults();
             return new PNPResults(
-                camToOrigin.best.inverse(),
-                camToOrigin.alt.inverse(),
-                camToOrigin.ambiguity,
-                camToOrigin.bestReprojErr,
-                camToOrigin.altReprojErr
-            );
+                    camToOrigin.best.inverse(),
+                    camToOrigin.alt.inverse(),
+                    camToOrigin.ambiguity,
+                    camToOrigin.bestReprojErr,
+                    camToOrigin.altReprojErr);
         }
     }
 }
diff --git a/photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java b/photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java
@@ -352,10 +352,10 @@ public PhotonPipelineResult process(
             if (tgt.fiducialID >= 0 && tgt.getFieldVertices().size() == 4) { // single AprilTag solvePNP
                 pnpSim =
                         OpenCVHelp.solvePNP_SQUARE(
-                                        prop.getIntrinsics(),
-                                        prop.getDistCoeffs(),
-                                        tgt.getModel().vertices,
-                                        noisyTargetCorners);
+                                prop.getIntrinsics(),
+                                prop.getDistCoeffs(),
+                                tgt.getModel().vertices,
+                                noisyTargetCorners);
                 if (!pnpSim.isPresent) continue;
                 centerRot =
                         prop.getPixelRot(

diff --git a/photon-lib/src/test/java/org/photonvision/OpenCVTest.java b/photon-lib/src/test/java/org/photonvision/OpenCVTest.java
@@ -194,10 +194,7 @@ public void testSolvePNP_SQUARE() {
                         prop.getIntrinsics(), prop.getDistCoeffs(), cameraPose, target.getFieldVertices());
         var pnpSim =
                 OpenCVHelp.solvePNP_SQUARE(
-                                prop.getIntrinsics(),
-                                prop.getDistCoeffs(),
-                                target.getModel().vertices,
-                                targetCorners);
+                        prop.getIntrinsics(), prop.getDistCoeffs(), target.getModel().vertices, targetCorners);
         var estRelation = new CameraTargetRelation(cameraPose, cameraPose.plus(pnpSim.best));
         assertSame(actualRelation.camToTarg, estRelation.camToTarg);
     }
@@ -225,10 +222,7 @@ public void testSolvePNP_SQPNP() {
                         prop.getIntrinsics(), prop.getDistCoeffs(), cameraPose, target.getFieldVertices());
         var pnpSim =
                 OpenCVHelp.solvePNP_SQPNP(
-                                prop.getIntrinsics(),
-                                prop.getDistCoeffs(),
-                                target.getModel().vertices,
-                                targetCorners);
+                        prop.getIntrinsics(), prop.getDistCoeffs(), target.getModel().vertices, targetCorners);
         var estRelation = new CameraTargetRelation(cameraPose, cameraPose.plus(pnpSim.best));
         assertSame(actualRelation.camToTarg, estRelation.camToTarg);
     }