grammar

photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java

@@ -117,7 +117,7 @@ private void translateLegacyIfPresent(Path folderPath) {
                 }
 
                 // So we can't save the old config, and we couldn't copy the folder
-                // But we've loaded the config. So just try to delete the directory so we don't try to load
+                // But we've loaded the config. So just try to delete the directory, so we don't try to load
                 // form it next time. That does mean we have no backup recourse, tho
                 if (maybeCams.exists()) FileUtils.deleteDirectory(maybeCams.toPath());
             }

photon-core/src/main/java/org/photonvision/common/configuration/NetworkConfig.java

@@ -30,7 +30,7 @@
 import org.photonvision.common.util.file.JacksonUtils;
 
 public class NetworkConfig {
-    // Can be a integer team number, or a IP address
+    // Can be an integer team number, or an IP address
     public String ntServerAddress = "0";
     public NetworkMode connectionType = NetworkMode.DHCP;
     public String staticIp = "";
@@ -58,7 +58,7 @@ public NetworkConfig() {
                             .orElse("Wired connection 1");
         }
 
-        // We can (usually) manage networking on Linux devices, and if we can we should try to. Command
+        // We can (usually) manage networking on Linux devices, and if we can, we should try to. Command
         // line inhibitions happen at a level above this class
         setShouldManage(deviceCanManageNetwork());
     }

photon-core/src/main/java/org/photonvision/common/configuration/SqlConfigProvider.java

@@ -281,7 +281,7 @@ private void saveCameras(Connection conn) {
                 statement.setString(2, JacksonUtils.serializeToString(config));
                 statement.setString(3, JacksonUtils.serializeToString(config.driveModeSettings));
 
-                // Serializing a list of abstract classes sucks. Instead, make it into a array
+                // Serializing a list of abstract classes sucks. Instead, make it into an array
                 // of strings, which we can later unpack back into individual settings
                 List<String> settings =
                         config.pipelineSettings.stream()

photon-core/src/main/java/org/photonvision/common/networking/NetworkManager.java

@@ -116,7 +116,7 @@ public void initialize(boolean shouldManage) {
                                         .replace(NetworkConfig.NM_IP_STRING, config.staticIp));
 
                         if (Platform.isRaspberryPi()) {
-                            // Pi's need to manually have their interface adjusted?? and the 5 second sleep is
+                            // Pi's need to manually have their interface adjusted?? and the 5-second sleep is
                             // integral in my testing (Matt)
                             shell.executeBashCommand(
                                     "sh -c 'nmcli con down "
@@ -125,7 +125,7 @@ public void initialize(boolean shouldManage) {
                                             + config.getEscapedInterfaceName()
                                             + "'");
                         } else {
-                            // for now just bring down /up -- more testing needed on beelink et al
+                            // for now just bring down /up -- more testing needed on beelink et al.
                             shell.executeBashCommand(
                                     "sh -c 'nmcli con down "
                                             + config.getEscapedInterfaceName()

photon-core/src/main/java/org/photonvision/common/networking/NetworkUtils.java

@@ -59,7 +59,7 @@ public NMDeviceInfo(String c, String d, String type) {
             nmType = NMType.typeForString(type);
         }
 
-        public final String connName; // Human readable name used by "nmcli con"
+        public final String connName; // Human-readable name used by "nmcli con"
         public final String devName; // underlying device, used by dhclient
         public final NMType nmType;
 
@@ -115,7 +115,7 @@ public static List<NMDeviceInfo> getAllInterfaces() {
     }
 
     public static List<NMDeviceInfo> getAllActiveInterfaces() {
-        // Seems like if a interface exists but isn't actually connected, the connection name will be an
+        // Seems like if an interface exists but isn't actually connected, the connection name will be an
         // empty string. Check here and only return connections with non-empty names
         return getAllInterfaces().stream()
                 .filter(it -> !it.connName.trim().isEmpty())

photon-core/src/main/java/org/photonvision/common/util/ShellExec.java

@@ -56,7 +56,7 @@ public int executeBashCommand(String command, boolean wait) throws IOException {
 
         boolean success = false;
         Runtime r = Runtime.getRuntime();
-        // Use bash -c so we can handle things like multi commands separated by ; and
+        // Use bash -c, so we can handle things like multi commands separated by ; and
         // things like quotes, $, |, and \. My tests show that command comes as
         // one argument to bash, so we do not need to quote it to make it one thing.
         // Also, exec may object if it does not have an executable file as the first thing,

photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java

@@ -202,7 +202,7 @@ public static Pose3d convertOpenCVtoPhotonPose(Transform3d cameraToTarget3d) {
             new Rotation3d(VecBuilder.fill(1, 0, 0), Units.degreesToRadians(180));
 
     /**
-     * Apply a 180 degree rotation about X to the rotation component of a given Apriltag pose. This
+     * Apply a 180-degree rotation about X to the rotation component of a given Apriltag pose. This
      * aligns it with the OpenCV poses we use in other places.
      */
     public static Transform3d convertApriltagtoOpenCV(Transform3d pose) {

photon-core/src/main/java/org/photonvision/vision/apriltag/AprilTagFamily.java

@@ -28,7 +28,7 @@ public enum AprilTagFamily {
     kTagCustom48h11;
 
     public String getNativeName() {
-        // We wanna strip the leading kT and replace with "t"
+        // We want to strip the leading kT and replace with "t"
         return this.name().replaceFirst("kT", "t");
     }
 }

photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSettables.java

@@ -132,7 +132,7 @@ public void setExposure(double exposure) {
         // If we set exposure too low, libcamera crashes or slows down
         // Very weird and smelly
         // For now, band-aid this by just not setting it lower than the "it breaks" limit
-        // Limit is different depending on camera.
+        //  is different depending on camera.
         if (sensorModel == LibCameraJNI.SensorModel.OV9281) {
             if (exposure < 6.0) {
                 exposure = 6.0;

photon-core/src/main/java/org/photonvision/vision/frame/FrameProvider.java

@@ -24,7 +24,7 @@
 public interface FrameProvider extends Supplier<Frame> {
     String getName();
 
-    /** Ask the camera to produce a certain kind of processed image (eg HSV or greyscale) */
+    /** Ask the camera to produce a certain kind of processed image (e.g. HSV or greyscale) */
     void requestFrameThresholdType(FrameThresholdType type);
 
     /** Ask the camera to rotate frames it outputs */

photon-core/src/main/java/org/photonvision/vision/pipe/impl/Calibrate3dPipe.java

@@ -56,7 +56,7 @@ public class Calibrate3dPipe
     private final Mat stdDeviationsExtrinsics = new Mat();
 
     // Contains the re projection error of each snapshot by re projecting the corners we found and
-    // finding the euclidean distance between the actual corners.
+    // finding the Euclidean distance between the actual corners.
     private final Mat perViewErrors = new Mat();
 
     // RMS of the calibration

photon-core/src/main/java/org/photonvision/vision/pipe/impl/CornerDetectionPipe.java

@@ -126,7 +126,7 @@ private List<Point> detectExtremeCornersByApproxPolyDp(TrackedTarget target, boo
         we want a number between 0 and 0.16 out of a percentage from 0 to 100
         so take accuracy and divide by 600
 
-        Furthermore, we know that the contour is open if we haven't done convex hulls
+        Furthermore, we know that the contour is open if we haven't done convex hulls,
         and it has subcontours.
         */
         var isOpen = !convexHull && target.hasSubContours();

photon-core/src/main/java/org/photonvision/vision/pipe/impl/Draw3dTargetsPipe.java

@@ -91,7 +91,7 @@ protected Void process(Pair<Mat, List<TrackedTarget>> in) {
                         jac);
 
                 if (params.redistortPoints) {
-                    // Distort the points so they match the image they're being overlaid on
+                    // Distort the points, so they match the image they're being overlaid on
                     distortPoints(tempMat, tempMat);
                 }
 
@@ -107,7 +107,7 @@ protected Void process(Pair<Mat, List<TrackedTarget>> in) {
                         jac);
 
                 if (params.redistortPoints) {
-                    // Distort the points so they match the image they're being overlaid on
+                    // Distort the points, so they match the image they're being overlaid on
                     distortPoints(tempMat, tempMat);
                 }
                 var topPoints = tempMat.toList();

photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindBoardCornersPipe.java

@@ -39,8 +39,8 @@ public class FindBoardCornersPipe
     Size imageSize;
     Size patternSize;
 
-    // Configure the optimizations used while using openCV's find corners algorithm
-    // Since we return results in real-time, we want ensure it goes as fast as possible
+    // Configure the optimizations used while using OpenCV's find corners algorithm
+    // Since we return results in real-time, we want to ensure it goes as fast as possible
     // and fails as fast as possible.
     final int findChessboardFlags =
             Calib3d.CALIB_CB_NORMALIZE_IMAGE
@@ -213,7 +213,7 @@ private Size getWindowSize(MatOfPoint2f inPoints) {
     }
 
     /**
-     * Find chessboard corners given a input mat and output mat to draw on
+     * Find chessboard corners given an input mat and output mat to draw on
      *
      * @return Frame resolution, object points, board corners
      */
@@ -223,7 +223,7 @@ private Triple<Size, Mat, Mat> findBoardCorners(Pair<Mat, Mat> in) {
         var inFrame = in.getLeft();
         var outFrame = in.getRight();
 
-        // Convert the inFrame to grayscale to increase contrast
+        // Convert the inFrame too grayscale to increase contrast
         Imgproc.cvtColor(inFrame, inFrame, Imgproc.COLOR_BGR2GRAY);
         boolean boardFound = false;
 

photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindCirclesPipe.java

@@ -70,7 +70,7 @@ protected List<CVShape> process(Pair<Mat, List<Contour>> in) {
                 Math.max(1.0, params.accuracy),
                 minRadius,
                 maxRadius);
-        // Great, we now found the center point of the circle and it's radius, but we have no idea what
+        // Great, we now found the center point of the circle, and it's radius, but we have no idea what
         // contour it corresponds to
         // Each contour can only match to one circle, so we keep a list of unmatched contours around and
         // only match against them

photon-core/src/main/java/org/photonvision/vision/pipe/impl/GPUAcceleratedHSVPipe.java

@@ -76,7 +76,7 @@ public class GPUAcceleratedHSVPipe extends CVPipe<Mat, Mat, HSVPipe.HSVParams> {
                     "",
                     "void main() {",
                     "  vec2 uv = gl_FragCoord.xy/resolution;",
-                    // Important! We do this .bgr swizzle because the image comes in as BGR but we pretend
+                    // Important! We do this .bgr swizzle because the image comes in as BGR, but we pretend
                     // it's RGB for convenience+speed
                     "  vec3 col = texture2D(texture0, uv).bgr;",
                     // Only the first value in the vec4 gets used for GL_RED, and only the last value gets
@@ -242,7 +242,7 @@ public GPUAcceleratedHSVPipe(PBOMode pboMode) {
         // index for the generic position input)
         gl.glBindAttribLocation(programId, 0, "position");
 
-        // Compile and setup our two shaders with our program
+        // Compile and set up our two shaders with our program
         final int vertexId = createShader(gl, programId, k_vertexShader, GL_VERTEX_SHADER);
         final int fragmentId = createShader(gl, programId, k_fragmentShader, GL_FRAGMENT_SHADER);
 
@@ -465,7 +465,7 @@ protected Mat process(Mat in) {
                     GLES3.GL_PIXEL_UNPACK_BUFFER,
                     (long) in.width() * in.height() * 3, null, GLES3.GL_STREAM_DRAW);
 
-            // Map the a buffer of GPU memory into a place that's accessible by us
+            // Map the buffer of GPU memory into a place that's accessible by us
             var buf =
                     gl.glMapBufferRange(
                             GLES3.GL_PIXEL_UNPACK_BUFFER,

photon-core/src/main/java/org/photonvision/vision/pipeline/CVPipelineSettings.java

@@ -40,7 +40,7 @@ public class CVPipelineSettings implements Cloneable {
     public ImageRotationMode inputImageRotationMode = ImageRotationMode.DEG_0;
     public String pipelineNickname = "New Pipeline";
     public boolean cameraAutoExposure = false;
-    // manual exposure only used if cameraAutoExposure if false
+    // manual exposure only used if cameraAutoExposure is false
     public double cameraExposure = 20;
     public int cameraBrightness = 50;
     // Currently only used by a few cameras (notably the zero-copy Pi Camera driver) with the Gain

photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java

@@ -150,7 +150,7 @@ public CVPipelineResult process(
 
             if (!(settings instanceof AprilTagPipelineSettings)
                     && !(settings instanceof ArucoPipelineSettings)) {
-                // If we're processing anything other than Apriltags..
+                // If we're processing anything other than Apriltags...
                 var draw2dCrosshairResultOnOutput = draw2dCrosshairPipe.run(Pair.of(outMat, targetsToDraw));
                 sumPipeNanosElapsed += pipeProfileNanos[4] = draw2dCrosshairResultOnOutput.nanosElapsed;
 

photon-core/src/main/java/org/photonvision/vision/processes/PipelineManager.java

@@ -246,9 +246,9 @@ public void setDriverMode(boolean state) {
     }
 
     /**
-     * Returns whether or not driver mode is active.
+     * Returns whether driver mode is active.
      *
-     * @return Whether or not driver mode is active.
+     * @return Whether driver mode is active.
      */
     public boolean getDriverMode() {
         return currentPipelineIndex == DRIVERMODE_INDEX;
@@ -260,7 +260,7 @@ public boolean getDriverMode() {
     /**
      * Sorts the pipeline list by index, and reassigns their indexes to match the new order. <br>
      * <br>
-     * I don't like this but I have no other ideas, and it works so
+     * I don't like this, but I have no other ideas, and it works so
      */
     private void reassignIndexes() {
         userPipelineSettings.sort(PipelineSettingsIndexComparator);

photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java

@@ -297,7 +297,7 @@ public void setFov(double fov) {
         var settables = visionSource.getSettables();
         logger.trace(() -> "Setting " + settables.getConfiguration().nickname + ") FOV (" + fov + ")");
 
-        // Only set FOV if we have no vendor JSON and we aren't using a PiCAM
+        // Only set FOV if we have no vendor JSON, and we aren't using a PiCAM
         if (isVendorCamera()) {
             logger.info("Cannot set FOV on a vendor device! Ignoring...");
         } else {

photon-core/src/main/java/org/photonvision/vision/processes/VisionModuleManager.java

@@ -73,7 +73,7 @@ public List<VisionModule> addSources(List<VisionSource> visionSources) {
 
     private void assignCameraIndex(List<VisionSource> config) {
         // We won't necessarily have already added all the cameras we need to at this point
-        // But by operating on the list, we have a fairly good idea of which we need to change
+        // But by operating on the list, we have a fairly good idea of which we need to change,
         // but it's not guaranteed that we change the correct one
         // The best we can do is try to avoid a case where the stream index runs away to infinity
         // since we can only stream 5 cameras at once

photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java

@@ -257,7 +257,7 @@ public void calculateValues(TargetCalculationParameters params) {
                         params.dualOffsetValues,
                         params.robotOffsetPointMode);
 
-        // order of this stuff doesnt matter though
+        // order of this stuff doesn't matter though
         m_pitch =
                 TargetCalculations.calculatePitch(
                         m_targetOffsetPoint.y, m_robotOffsetPoint.y, params.verticalFocalLength);

photon-core/src/test/java/org/photonvision/vision/pipeline/AprilTagTest.java

@@ -60,7 +60,7 @@ public void testApriltagFacingCamera() {
             pipelineResult = pipeline.run(frameProvider.get(), QuirkyCamera.DefaultCamera);
             printTestResults(pipelineResult);
         } catch (RuntimeException e) {
-            // For now, will throw coz rotation3d ctor
+            // For now, will throw because of the Rotation3d ctor
             return;
         }
 
@@ -116,7 +116,7 @@ public void testApriltagDistorted() {
             pipelineResult = pipeline.run(frameProvider.get(), QuirkyCamera.DefaultCamera);
             printTestResults(pipelineResult);
         } catch (RuntimeException e) {
-            // For now, will throw coz rotation3d ctor
+            // For now, will throw because of the Rotation3d ctor
             return;
         }
 

photon-core/src/test/java/org/photonvision/vision/pipeline/ArucoPipelineTest.java

@@ -59,7 +59,7 @@ public void testApriltagFacingCameraAruco() {
             pipelineResult = pipeline.run(frameProvider.get(), QuirkyCamera.DefaultCamera);
             printTestResults(pipelineResult);
         } catch (RuntimeException e) {
-            // For now, will throw coz rotation3d ctor
+            // For now, will throw because of the Rotation3d ctor
             return;
         }