From 59630a0c8bc4328e654c1a4962d70d065962d13d Mon Sep 17 00:00:00 2001
From: Declan Freeman-Gleason <declanfreemangleason@gmail.com>
Date: Mon, 13 Jul 2020 19:09:14 -0700
Subject: [PATCH] Run spotless

---
 .../vision/pipeline/CVPipelineSettings.java   |   2 -
 .../vision/pipeline/ReflectivePipeline.java   | 114 +++++++++---------
 .../pipeline/result/CVPipelineResult.java     |   6 +-
 .../vision/processes/VisionModule.java        |  15 +--
 4 files changed, 66 insertions(+), 71 deletions(-)

diff --git a/photon-server/src/main/java/org/photonvision/vision/pipeline/CVPipelineSettings.java b/photon-server/src/main/java/org/photonvision/vision/pipeline/CVPipelineSettings.java
index f5c51bb7e7..b8c1629c94 100644
--- a/photon-server/src/main/java/org/photonvision/vision/pipeline/CVPipelineSettings.java
+++ b/photon-server/src/main/java/org/photonvision/vision/pipeline/CVPipelineSettings.java
@@ -19,8 +19,6 @@
 
 import com.fasterxml.jackson.annotation.JsonSubTypes;
 import com.fasterxml.jackson.annotation.JsonTypeInfo;
-
-import java.util.List;
 import java.util.Objects;
 import org.photonvision.vision.frame.FrameDivisor;
 import org.photonvision.vision.opencv.ImageFlipMode;
diff --git a/photon-server/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java b/photon-server/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java
index 3fcbedc39c..3631788f50 100644
--- a/photon-server/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java
+++ b/photon-server/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java
@@ -18,10 +18,8 @@
 package org.photonvision.vision.pipeline;
 
 import java.util.List;
-
 import org.apache.commons.lang3.tuple.Pair;
 import org.opencv.core.Mat;
-import org.opencv.imgcodecs.Imgcodecs;
 import org.opencv.imgproc.Imgproc;
 import org.photonvision.common.util.math.MathUtils;
 import org.photonvision.vision.frame.Frame;
@@ -49,9 +47,7 @@
 import org.photonvision.vision.target.PotentialTarget;
 import org.photonvision.vision.target.TrackedTarget;
 
-/**
- * Represents a pipeline for tracking retro-reflective targets.
- */
+/** Represents a pipeline for tracking retro-reflective targets. */
 public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectivePipelineSettings> {
 
     private final RotateImagePipe rotateImagePipe = new RotateImagePipe();
@@ -83,82 +79,82 @@ public ReflectivePipeline(ReflectivePipelineSettings settings) {
 
     @Override
     protected void setPipeParams(
-        FrameStaticProperties frameStaticProperties, ReflectivePipelineSettings settings) {
+            FrameStaticProperties frameStaticProperties, ReflectivePipelineSettings settings) {
         RotateImagePipe.RotateImageParams rotateImageParams =
-            new RotateImagePipe.RotateImageParams(settings.inputImageRotationMode);
+                new RotateImagePipe.RotateImageParams(settings.inputImageRotationMode);
         rotateImagePipe.setParams(rotateImageParams);
 
         ErodeDilatePipe.ErodeDilateParams erodeDilateParams =
-            new ErodeDilatePipe.ErodeDilateParams(settings.erode, settings.dilate, 5);
+                new ErodeDilatePipe.ErodeDilateParams(settings.erode, settings.dilate, 5);
         // TODO: add kernel size to pipeline settings
         erodeDilatePipe.setParams(erodeDilateParams);
 
         HSVPipe.HSVParams hsvParams =
-            new HSVPipe.HSVParams(settings.hsvHue, settings.hsvSaturation, settings.hsvValue);
+                new HSVPipe.HSVParams(settings.hsvHue, settings.hsvSaturation, settings.hsvValue);
         hsvPipe.setParams(hsvParams);
 
         FindContoursPipe.FindContoursParams findContoursParams =
-            new FindContoursPipe.FindContoursParams();
+                new FindContoursPipe.FindContoursParams();
         findContoursPipe.setParams(findContoursParams);
 
         SpeckleRejectPipe.SpeckleRejectParams speckleRejectParams =
-            new SpeckleRejectPipe.SpeckleRejectParams(settings.contourSpecklePercentage);
+                new SpeckleRejectPipe.SpeckleRejectParams(settings.contourSpecklePercentage);
         speckleRejectPipe.setParams(speckleRejectParams);
 
         FilterContoursPipe.FilterContoursParams filterContoursParams =
-            new FilterContoursPipe.FilterContoursParams(
-                settings.contourArea,
-                settings.contourRatio,
-                settings.contourExtent,
-                frameStaticProperties);
+                new FilterContoursPipe.FilterContoursParams(
+                        settings.contourArea,
+                        settings.contourRatio,
+                        settings.contourExtent,
+                        frameStaticProperties);
         filterContoursPipe.setParams(filterContoursParams);
 
         GroupContoursPipe.GroupContoursParams groupContoursParams =
-            new GroupContoursPipe.GroupContoursParams(
-                settings.contourGroupingMode, settings.contourIntersection);
+                new GroupContoursPipe.GroupContoursParams(
+                        settings.contourGroupingMode, settings.contourIntersection);
         groupContoursPipe.setParams(groupContoursParams);
 
         SortContoursPipe.SortContoursParams sortContoursParams =
-            new SortContoursPipe.SortContoursParams(settings.contourSortMode, frameStaticProperties, 5);
+                new SortContoursPipe.SortContoursParams(settings.contourSortMode, frameStaticProperties, 5);
         sortContoursPipe.setParams(sortContoursParams);
 
         Collect2dTargetsPipe.Collect2dTargetsParams collect2dTargetsParams =
-            new Collect2dTargetsPipe.Collect2dTargetsParams(
-                frameStaticProperties,
-                settings.offsetRobotOffsetMode,
-                settings.offsetDualLineM,
-                settings.offsetDualLineB,
-                settings.offsetCalibrationPoint.toPoint(),
-                settings.contourTargetOffsetPointEdge,
-                settings.contourTargetOrientation);
+                new Collect2dTargetsPipe.Collect2dTargetsParams(
+                        frameStaticProperties,
+                        settings.offsetRobotOffsetMode,
+                        settings.offsetDualLineM,
+                        settings.offsetDualLineB,
+                        settings.offsetCalibrationPoint.toPoint(),
+                        settings.contourTargetOffsetPointEdge,
+                        settings.contourTargetOrientation);
         collect2dTargetsPipe.setParams(collect2dTargetsParams);
 
         var params =
-            new CornerDetectionPipe.CornerDetectionPipeParameters(
-                settings.cornerDetectionStrategy,
-                settings.cornerDetectionUseConvexHulls,
-                settings.cornerDetectionExactSideCount,
-                settings.cornerDetectionSideCount,
-                settings.cornerDetectionAccuracyPercentage);
+                new CornerDetectionPipe.CornerDetectionPipeParameters(
+                        settings.cornerDetectionStrategy,
+                        settings.cornerDetectionUseConvexHulls,
+                        settings.cornerDetectionExactSideCount,
+                        settings.cornerDetectionSideCount,
+                        settings.cornerDetectionAccuracyPercentage);
         cornerDetectionPipe.setParams(params);
 
         Draw2dTargetsPipe.Draw2dContoursParams draw2dContoursParams =
-            new Draw2dTargetsPipe.Draw2dContoursParams(settings.outputShowMultipleTargets);
+                new Draw2dTargetsPipe.Draw2dContoursParams(settings.outputShowMultipleTargets);
         draw2DTargetsPipe.setParams(draw2dContoursParams);
 
         Draw2dCrosshairPipe.Draw2dCrosshairParams draw2dCrosshairParams =
-            new Draw2dCrosshairPipe.Draw2dCrosshairParams(
-                settings.offsetRobotOffsetMode, settings.offsetCalibrationPoint);
+                new Draw2dCrosshairPipe.Draw2dCrosshairParams(
+                        settings.offsetRobotOffsetMode, settings.offsetCalibrationPoint);
         draw2dCrosshairPipe.setParams(draw2dCrosshairParams);
 
         var draw3dContoursParams =
-            new Draw3dTargetsPipe.Draw3dContoursParams(
-                settings.cameraCalibration, settings.targetModel);
+                new Draw3dTargetsPipe.Draw3dContoursParams(
+                        settings.cameraCalibration, settings.targetModel);
         draw3dTargetsPipe.setParams(draw3dContoursParams);
 
         var solvePNPParams =
-            new SolvePNPPipe.SolvePNPPipeParams(
-                settings.cameraCalibration, settings.cameraPitch, settings.targetModel);
+                new SolvePNPPipe.SolvePNPPipeParams(
+                        settings.cameraCalibration, settings.cameraPitch, settings.targetModel);
         solvePNPPipe.setParams(solvePNPParams);
     }
 
@@ -190,23 +186,23 @@ public CVPipelineResult process(Frame frame, ReflectivePipelineSettings settings
         sumPipeNanosElapsed += findContoursResult.nanosElapsed;
 
         CVPipeResult<List<Contour>> speckleRejectResult =
-            speckleRejectPipe.apply(findContoursResult.result);
+                speckleRejectPipe.apply(findContoursResult.result);
         sumPipeNanosElapsed += speckleRejectResult.nanosElapsed;
 
         CVPipeResult<List<Contour>> filterContoursResult =
-            filterContoursPipe.apply(speckleRejectResult.result);
+                filterContoursPipe.apply(speckleRejectResult.result);
         sumPipeNanosElapsed += filterContoursResult.nanosElapsed;
 
         CVPipeResult<List<PotentialTarget>> groupContoursResult =
-            groupContoursPipe.apply(filterContoursResult.result);
+                groupContoursPipe.apply(filterContoursResult.result);
         sumPipeNanosElapsed += groupContoursResult.nanosElapsed;
 
         CVPipeResult<List<PotentialTarget>> sortContoursResult =
-            sortContoursPipe.apply(groupContoursResult.result);
+                sortContoursPipe.apply(groupContoursResult.result);
         sumPipeNanosElapsed += sortContoursResult.nanosElapsed;
 
         CVPipeResult<List<TrackedTarget>> collect2dTargetsResult =
-            collect2dTargetsPipe.apply(sortContoursResult.result);
+                collect2dTargetsPipe.apply(sortContoursResult.result);
         sumPipeNanosElapsed += collect2dTargetsResult.nanosElapsed;
 
         CVPipeResult<List<TrackedTarget>> targetList;
@@ -230,18 +226,18 @@ public CVPipelineResult process(Frame frame, ReflectivePipelineSettings settings
         // Draw on input
 
         CVPipeResult<Mat> draw2dCrosshairResultOnInput =
-            draw2dCrosshairPipe.apply(Pair.of(outputMats.first, targetList.result));
+                draw2dCrosshairPipe.apply(Pair.of(outputMats.first, targetList.result));
         sumPipeNanosElapsed += draw2dCrosshairResultOnInput.nanosElapsed;
 
         CVPipeResult<Mat> draw2dContoursResultOnInput =
-            draw2DTargetsPipe.apply(
-                Pair.of(draw2dCrosshairResultOnInput.result, collect2dTargetsResult.result));
+                draw2DTargetsPipe.apply(
+                        Pair.of(draw2dCrosshairResultOnInput.result, collect2dTargetsResult.result));
         sumPipeNanosElapsed += draw2dCrosshairResultOnInput.nanosElapsed;
 
         if (settings.solvePNPEnabled) {
             drawOnInputResult =
-                draw3dTargetsPipe.apply(
-                    Pair.of(draw2dContoursResultOnInput.result, collect2dTargetsResult.result));
+                    draw3dTargetsPipe.apply(
+                            Pair.of(draw2dContoursResultOnInput.result, collect2dTargetsResult.result));
             sumPipeNanosElapsed += drawOnInputResult.nanosElapsed;
         } else {
             drawOnInputResult = draw2dContoursResultOnInput;
@@ -251,27 +247,27 @@ public CVPipelineResult process(Frame frame, ReflectivePipelineSettings settings
 
         Imgproc.cvtColor(outputMats.second, outputMats.second, Imgproc.COLOR_GRAY2BGR, 3);
         CVPipeResult<Mat> draw2dCrosshairResultOnOutput =
-            draw2dCrosshairPipe.apply(Pair.of(outputMats.second, targetList.result));
+                draw2dCrosshairPipe.apply(Pair.of(outputMats.second, targetList.result));
         sumPipeNanosElapsed += draw2dCrosshairResultOnOutput.nanosElapsed;
 
         CVPipeResult<Mat> draw2dContoursResultOnOutput =
-            draw2DTargetsPipe.apply(
-                Pair.of(draw2dCrosshairResultOnOutput.result, collect2dTargetsResult.result));
+                draw2DTargetsPipe.apply(
+                        Pair.of(draw2dCrosshairResultOnOutput.result, collect2dTargetsResult.result));
         sumPipeNanosElapsed += draw2dContoursResultOnOutput.nanosElapsed;
 
         if (settings.solvePNPEnabled) {
             drawOnOutputResult =
-                draw3dTargetsPipe.apply(
-                    Pair.of(draw2dContoursResultOnOutput.result, collect2dTargetsResult.result));
+                    draw3dTargetsPipe.apply(
+                            Pair.of(draw2dContoursResultOnOutput.result, collect2dTargetsResult.result));
             sumPipeNanosElapsed += drawOnOutputResult.nanosElapsed;
         } else {
             drawOnOutputResult = draw2dContoursResultOnOutput;
         }
 
         return new CVPipelineResult(
-            MathUtils.nanosToMillis(sumPipeNanosElapsed),
-            collect2dTargetsResult.result,
-            new Frame(new CVMat(outputMats.second), frame.frameStaticProperties),
-            new Frame(new CVMat(outputMats.first), frame.frameStaticProperties));
+                MathUtils.nanosToMillis(sumPipeNanosElapsed),
+                collect2dTargetsResult.result,
+                new Frame(new CVMat(outputMats.second), frame.frameStaticProperties),
+                new Frame(new CVMat(outputMats.first), frame.frameStaticProperties));
     }
 }
diff --git a/photon-server/src/main/java/org/photonvision/vision/pipeline/result/CVPipelineResult.java b/photon-server/src/main/java/org/photonvision/vision/pipeline/result/CVPipelineResult.java
index a1a8be704c..238cb5eec3 100644
--- a/photon-server/src/main/java/org/photonvision/vision/pipeline/result/CVPipelineResult.java
+++ b/photon-server/src/main/java/org/photonvision/vision/pipeline/result/CVPipelineResult.java
@@ -18,7 +18,6 @@
 package org.photonvision.vision.pipeline.result;
 
 import java.util.List;
-
 import org.photonvision.vision.frame.Frame;
 import org.photonvision.vision.opencv.Releasable;
 import org.photonvision.vision.target.TrackedTarget;
@@ -30,7 +29,8 @@ public class CVPipelineResult implements Releasable {
     public final Frame outputFrame;
     public final Frame inputFrame;
 
-    public CVPipelineResult(double processingMillis, List<TrackedTarget> targets, Frame outputFrame, Frame inputFrame) {
+    public CVPipelineResult(
+            double processingMillis, List<TrackedTarget> targets, Frame outputFrame, Frame inputFrame) {
         this.processingMillis = processingMillis;
         this.targets = targets;
 
@@ -51,7 +51,7 @@ public void release() {
             tt.release();
         }
         outputFrame.release();
-        if(inputFrame != null) inputFrame.release();
+        if (inputFrame != null) inputFrame.release();
     }
 
     public double getLatencyMillis() {
diff --git a/photon-server/src/main/java/org/photonvision/vision/processes/VisionModule.java b/photon-server/src/main/java/org/photonvision/vision/processes/VisionModule.java
index 6a4c0a9ac9..120687ac1d 100644
--- a/photon-server/src/main/java/org/photonvision/vision/processes/VisionModule.java
+++ b/photon-server/src/main/java/org/photonvision/vision/processes/VisionModule.java
@@ -21,7 +21,6 @@
 import edu.wpi.first.wpilibj.MedianFilter;
 import java.util.*;
 import org.apache.commons.lang3.tuple.Pair;
-import org.opencv.imgcodecs.Imgcodecs;
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.configuration.PhotonConfiguration;
@@ -92,12 +91,14 @@ public VisionModule(PipelineManager pipelineManager, VisionSource visionSource,
         dashboardInputStreamer =
                 new MJPGFrameConsumer(visionSource.getSettables().getConfiguration().uniqueName + "-input");
 
-        addResultConsumer(result -> {
-            dashboardInputStreamer.accept(result.inputFrame);
-        });
-        addResultConsumer(result -> {
-            dashboardOutputStreamer.accept(result.outputFrame);
-        });
+        addResultConsumer(
+                result -> {
+                    dashboardInputStreamer.accept(result.inputFrame);
+                });
+        addResultConsumer(
+                result -> {
+                    dashboardOutputStreamer.accept(result.outputFrame);
+                });
 
         ntConsumer =
                 new NTDataPublisher(