From 960e02bd7291bdbc922c4807577b769278852272 Mon Sep 17 00:00:00 2001 From: "Cameron (3539)" Date: Sat, 12 Oct 2024 14:10:50 -0400 Subject: [PATCH] comment, lint, and format --- .../common/configuration/ConfigManager.java | 5 +++-- .../networktables/NTDataPublisher.java | 6 +++++- .../vision/calibration/BoardObservation.java | 1 - .../vision/pipe/impl/Calibrate3dPipe.java | 18 +++++++++++------- 4 files changed, 19 insertions(+), 11 deletions(-) diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java b/photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java index 71d5e1043..a32ab9dfd 100644 --- a/photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java +++ b/photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java @@ -30,7 +30,6 @@ import java.time.temporal.TemporalAccessor; import java.util.Date; import java.util.List; - import org.opencv.core.Size; import org.photonvision.common.logging.LogGroup; import org.photonvision.common.logging.Logger; @@ -252,7 +251,9 @@ public Path getImageSavePath() { } public Path getCalibrationImageSavePath(Size frameSize) { - var imgFilePath = Path.of(configDirectoryFile.toString(), "calibration","imgs",frameSize.toString()).toFile(); + var imgFilePath = + Path.of(configDirectoryFile.toString(), "calibration", "imgs", frameSize.toString()) + .toFile(); if (!imgFilePath.exists()) imgFilePath.mkdirs(); return imgFilePath.toPath(); } diff --git a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java index 74f4fdb18..719b0f296 100644 --- a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java +++ b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java @@ -133,7 +133,11 @@ public void updateCameraNickname(String newCameraNickname) { @Override public void accept(CVPipelineResult result) { CVPipelineResult acceptedResult; - if (result instanceof CalibrationPipelineResult) + if (result + instanceof + CalibrationPipelineResult) // If the data is from a calibration pipeline, override the list + // of targets to be null to prevent the data from being sent and + // continue to post blank/zero data to the network tables acceptedResult = new CVPipelineResult( result.sequenceID, diff --git a/photon-core/src/main/java/org/photonvision/vision/calibration/BoardObservation.java b/photon-core/src/main/java/org/photonvision/vision/calibration/BoardObservation.java index 509a36c8a..2af0f7a1b 100644 --- a/photon-core/src/main/java/org/photonvision/vision/calibration/BoardObservation.java +++ b/photon-core/src/main/java/org/photonvision/vision/calibration/BoardObservation.java @@ -20,7 +20,6 @@ import com.fasterxml.jackson.annotation.JsonCreator; import com.fasterxml.jackson.annotation.JsonProperty; import edu.wpi.first.math.geometry.Pose3d; - import java.nio.file.Path; import java.util.List; import org.opencv.core.Point; diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Calibrate3dPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Calibrate3dPipe.java index 7545319d3..3e71cb973 100644 --- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Calibrate3dPipe.java +++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Calibrate3dPipe.java @@ -23,7 +23,6 @@ import java.util.Arrays; import java.util.List; import java.util.stream.Collectors; - import org.apache.commons.io.FileUtils; import org.opencv.calib3d.Calib3d; import org.opencv.core.*; @@ -38,7 +37,6 @@ import org.photonvision.vision.calibration.BoardObservation; import org.photonvision.vision.calibration.CameraCalibrationCoefficients; import org.photonvision.vision.calibration.CameraLensModel; -import org.photonvision.vision.calibration.JsonImageMat; import org.photonvision.vision.calibration.JsonMatOfDouble; import org.photonvision.vision.frame.FrameStaticProperties; import org.photonvision.vision.pipe.CVPipe; @@ -297,8 +295,6 @@ protected CameraCalibrationCoefficients calibrateMrcal( tvecs.add(tvec); } - - List observations = createObservations( in, @@ -333,9 +329,12 @@ private List createObservations( List imgPts = in.stream().map(it -> it.imagePoints).collect(Collectors.toList()); // Clear the calibration image folder of any old images before we save the new ones. - + try { - FileUtils.cleanDirectory(ConfigManager.getInstance().getCalibrationImageSavePath(in.get(0).inputImage.size()).toFile()); + FileUtils.cleanDirectory( + ConfigManager.getInstance() + .getCalibrationImageSavePath(in.get(0).inputImage.size()) + .toFile()); } catch (Exception e) { logger.error("Failed to clean calibration image directory", e); } @@ -404,7 +403,12 @@ private List createObservations( Path image_path = null; String snapshotName = "img" + i + ".png"; if (inputImage != null) { - image_path = Paths.get(ConfigManager.getInstance().getCalibrationImageSavePath(inputImage.size()).toString(), snapshotName); + image_path = + Paths.get( + ConfigManager.getInstance() + .getCalibrationImageSavePath(inputImage.size()) + .toString(), + snapshotName); Imgcodecs.imwrite(image_path.toString(), inputImage); }