Formatting fixes

PhotonVision · Oct 9, 2023 · fa930b8 · fa930b8
1 parent 724149f
commit fa930b8
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Showing 4 changed files with 33 additions and 20 deletions.
diff --git a/photon-client/src/components/dashboard/tabs/ArucoTab.vue b/photon-client/src/components/dashboard/tabs/ArucoTab.vue
@@ -128,7 +128,9 @@ const interactiveCols = computed(
       :min="0"
       :max="3"
       :step="1"
-      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ cornerRefinementStrategy: value }, false)"
+      @input="
+        (value) => useCameraSettingsStore().changeCurrentPipelineSetting({ cornerRefinementStrategy: value }, false)
+      "
     />
     <cv-switch
       v-model="currentPipelineSettings.useAruco3"
@@ -146,7 +148,9 @@ const interactiveCols = computed(
       :min="0"
       :max="0.1"
       :step="0.001"
-      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ aruco3MinMarkerSideRatio: value }, false)"
+      @input="
+        (value) => useCameraSettingsStore().changeCurrentPipelineSetting({ aruco3MinMarkerSideRatio: value }, false)
+      "
     />
     <cv-slider
       v-model="currentPipelineSettings.aruco3MinCanonicalImgSide"
@@ -157,7 +161,9 @@ const interactiveCols = computed(
       :min="16"
       :max="128"
       :step="1"
-      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ aruco3MinCanonicalImgSide: value }, false)"
+      @input="
+        (value) => useCameraSettingsStore().changeCurrentPipelineSetting({ aruco3MinCanonicalImgSide: value }, false)
+      "
     />
   </div>
 </template>
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/ArucoDetectionPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/ArucoDetectionPipe.java
@@ -18,8 +18,6 @@
 package org.photonvision.vision.pipe.impl;
 
 import java.util.List;
-
-import org.opencv.aruco.Aruco;
 import org.opencv.aruco.Dictionary;
 import org.photonvision.vision.aruco.ArucoDetectionResult;
 import org.photonvision.vision.aruco.PhotonArucoDetector;
@@ -41,23 +39,24 @@ public void setParams(ArucoDetectionPipeParams newParams) {
         if (this.params == null || !this.params.equals(newParams)) {
             photonDetector.getDetector().set_dictionary(Dictionary.get(newParams.tagFamily));
             var detectParams = photonDetector.getParams();
-            
+
             detectParams.set_adaptiveThreshWinSizeMin(newParams.threshMinSize);
             detectParams.set_adaptiveThreshWinSizeStep(newParams.threshStepSize);
             detectParams.set_adaptiveThreshWinSizeMax(newParams.threshMaxSize);
             detectParams.set_adaptiveThreshConstant(newParams.threshConstant);
 
             detectParams.set_errorCorrectionRate(newParams.errorCorrectionRate);
 
-            // detectParams.set_cornerRefinementMethod(newParams.useCornerRefinement ? Aruco.CORNER_REFINE_SUBPIX : Aruco.CORNER_REFINE_NONE);
+            // detectParams.set_cornerRefinementMethod(newParams.useCornerRefinement ?
+            // Aruco.CORNER_REFINE_SUBPIX : Aruco.CORNER_REFINE_NONE);
             detectParams.set_cornerRefinementMethod(newParams.cornerRefinementStrategy);
             detectParams.set_cornerRefinementMaxIterations(newParams.refinementMaxIterations);
             detectParams.set_cornerRefinementMinAccuracy(newParams.refinementMinErrorPx);
             detectParams.set_cornerRefinementWinSize(newParams.refinementWindowSize);
 
             detectParams.set_useAruco3Detection(newParams.useAruco3);
             detectParams.set_minSideLengthCanonicalImg(newParams.aruco3MinCanonicalImgSide);
-            detectParams.set_minMarkerLengthRatioOriginalImg((float)newParams.aruco3MinMarkerSideRatio);
+            detectParams.set_minMarkerLengthRatioOriginalImg((float) newParams.aruco3MinMarkerSideRatio);
         }
 
         super.setParams(newParams);

diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/ArucoDetectionPipeParams.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/ArucoDetectionPipeParams.java
@@ -32,12 +32,14 @@ public class ArucoDetectionPipeParams {
 
     /**
      * Bits allowed to be corrected, expressed as a ratio of the tag families theoretical maximum.
-     * 
+     *
      * <p>E.g. 36h11 -> 11 * errorCorrectionRate = Max error bits
      */
     public double errorCorrectionRate = 0.5;
 
-    /** If obtained corners should be iteratively refined. This should always be on for 3D estimation. */
+    /**
+     * If obtained corners should be iteratively refined. This should always be on for 3D estimation.
+     */
     public boolean useCornerRefinement = true;
 
     /** Maximum corner refinement iterations. */
@@ -51,19 +53,19 @@ public class ArucoDetectionPipeParams {
 
     /**
      * The corner refinement window size. This is actually half the window side length.
-     * 
-     * <p> Refinement window side length = (1 + refinementWindowSize * 2).
+     *
+     * <p>Refinement window side length = (1 + refinementWindowSize * 2).
      */
     public int refinementWindowSize = 5;
 
     public int cornerRefinementStrategy = Aruco.CORNER_REFINE_SUBPIX;
 
     /**
-     * If the 'Aruco3' speedup should be used. This is similar to AprilTag's 'decimate' value,
-     * but automatically determined with the given parameters.
-     * 
+     * If the 'Aruco3' speedup should be used. This is similar to AprilTag's 'decimate' value, but
+     * automatically determined with the given parameters.
+     *
      * <p>T_i = aruco3MinMarkerSideRatio, and T_c = aruco3MinCanonicalImgSide
-     * 
+     *
      * <p>Scale factor = T_c / (T_c + T_i * max(img_width, img_height))
      */
     public boolean useAruco3 = false;
@@ -98,8 +100,15 @@ public boolean equals(Object o) {
     @Override
     public int hashCode() {
         return Objects.hash(
-                tagFamily, errorCorrectionRate, useCornerRefinement, refinementMaxIterations,
-                refinementMinErrorPx, refinementWindowSize, cornerRefinementStrategy, useAruco3,
-                aruco3MinMarkerSideRatio, aruco3MinCanonicalImgSide);
+                tagFamily,
+                errorCorrectionRate,
+                useCornerRefinement,
+                refinementMaxIterations,
+                refinementMinErrorPx,
+                refinementWindowSize,
+                cornerRefinementStrategy,
+                useAruco3,
+                aruco3MinMarkerSideRatio,
+                aruco3MinCanonicalImgSide);
     }
 }
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipelineSettings.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipelineSettings.java
@@ -18,7 +18,6 @@
 package org.photonvision.vision.pipeline;
 
 import com.fasterxml.jackson.annotation.JsonTypeName;
-
 import org.opencv.aruco.Aruco;
 import org.photonvision.vision.target.TargetModel;