Team2890/PhotonVision
4
0
Fork 0
mirror of https://github.com/PhotonVision/photonvision synced 2026-06-27 02:01:40 +00:00
Code Issues Packages Projects Releases Wiki Activity

Use toList instead of collect(Collectors.toList()) when the list is definitely never modified

Browse Source
This commit is contained in:
Gold856
2025-03-27 08:17:07 -04:00
committed by Matt Morley
parent 23d5e5b34f
commit 38ee450117
18 changed files with 47 additions and 73 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
photon-core/src/main/java/org/photonvision/common/configuration/LegacyConfigProvider.java
View File

@@ -32,7 +32,6 @@ import java.time.LocalDateTime;
import java.time.format.DateTimeFormatter;
import java.time.temporal.TemporalAccessor;
import java.util.*;
import java.util.stream.Collectors;
import org.photonvision.common.logging.LogGroup;
import org.photonvision.common.logging.Logger;
import org.photonvision.common.util.file.FileUtils;
@@ -280,9 +279,7 @@ class LegacyConfigProvider extends ConfigProvider {
HashMap<String, CameraConfiguration> loadedConfigurations = new HashMap<>();
try {
var subdirectories =
Files.list(camerasFolder.toPath())
.filter(f -> f.toFile().isDirectory())
.collect(Collectors.toList());
Files.list(camerasFolder.toPath()).filter(f -> f.toFile().isDirectory()).toList();
for (var subdir : subdirectories) {
var cameraConfigPath = Path.of(subdir.toString(), "config.json");
@@ -348,7 +345,7 @@ class LegacyConfigProvider extends ConfigProvider {
return null;
})
.filter(Objects::nonNull)
.collect(Collectors.toList())
.toList()
: Collections.emptyList();
loadedConfig.driveModeSettings = driverMode;

2
photon-core/src/main/java/org/photonvision/common/configuration/SqlConfigProvider.java
View File

@@ -398,7 +398,7 @@ public class SqlConfigProvider extends ConfigProvider {
}
})
.filter(Objects::nonNull)
.collect(Collectors.toList());
.toList();
statement.setString(4, JacksonUtils.serializeToString(settings));
statement.executeUpdate();

3
photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIPhotonConfiguration.java
View File

@@ -18,7 +18,6 @@
package org.photonvision.common.dataflow.websocket;
import java.util.List;
import java.util.stream.Collectors;
import org.photonvision.PhotonVersion;
import org.photonvision.common.configuration.NeuralNetworkModelManager;
import org.photonvision.common.configuration.PhotonConfiguration;
@@ -64,6 +63,6 @@ public class UIPhotonConfiguration {
c.getApriltagFieldLayout()),
VisionSourceManager.getInstance().getVisionModules().stream()
.map(VisionModule::toUICameraConfig)
.collect(Collectors.toList()));
.toList());
}
}

26
photon-core/src/main/java/org/photonvision/common/networking/NetworkUtils.java
View File

@@ -23,7 +23,6 @@ import java.util.ArrayList;
import java.util.List;
import java.util.regex.Matcher;
import java.util.regex.Pattern;
import java.util.stream.Collectors;
import org.photonvision.common.hardware.Platform;
import org.photonvision.common.logging.LogGroup;
import org.photonvision.common.logging.Logger;
@@ -108,24 +107,35 @@ public class NetworkUtils {
return ret;
}
/**
* Returns an immutable list of active network interfaces.
*
* @return The list.
*/
public static List<NMDeviceInfo> getAllActiveInterfaces() {
// 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())
.collect(Collectors.toList());
return getAllInterfaces().stream().filter(it -> !it.connName.trim().isEmpty()).toList();
}
/**
* Returns an immutable list of all wired network interfaces.
*
* @return The list.
*/
public static List<NMDeviceInfo> getAllWiredInterfaces() {
return getAllInterfaces().stream()
.filter(it -> it.nmType.equals(NMType.NMTYPE_ETHERNET))
.collect(Collectors.toList());
.toList();
}
/**
* Returns an immutable list of all wired and active network interfaces.
*
* @return The list.
*/
public static List<NMDeviceInfo> getAllActiveWiredInterfaces() {
return getAllWiredInterfaces().stream()
.filter(it -> !it.connName.isBlank())
.collect(Collectors.toList());
return getAllWiredInterfaces().stream().filter(it -> !it.connName.isBlank()).toList();
}
public static NMDeviceInfo getNMinfoForConnName(String connName) {

5
photon-core/src/main/java/org/photonvision/common/util/TestUtils.java
View File

@@ -24,7 +24,6 @@ import java.awt.HeadlessException;
import java.io.File;
import java.io.IOException;
import java.nio.file.Path;
import java.util.stream.Collectors;
import org.opencv.core.Mat;
import org.opencv.highgui.HighGui;
import org.photonvision.jni.WpilibLoader;
@@ -386,9 +385,7 @@ public class TestUtils {
printTestResults(pipelineResult);
System.out.println(
"Found targets at "
+ pipelineResult.targets.stream()
.map(TrackedTarget::getBestCameraToTarget3d)
.collect(Collectors.toList()));
+ pipelineResult.targets.stream().map(TrackedTarget::getBestCameraToTarget3d).toList());
}
public static Path getTestMode2023ImagePath() {

5
photon-core/src/main/java/org/photonvision/vision/calibration/UICameraCalibrationCoefficients.java
View File

@@ -18,11 +18,12 @@
package org.photonvision.vision.calibration;
import java.util.List;
import java.util.stream.Collectors;
import org.opencv.core.Size;
public class UICameraCalibrationCoefficients extends CameraCalibrationCoefficients {
public int numSnapshots;
/** Immutable list of mean errors. */
public List<Double> meanErrors;
public UICameraCalibrationCoefficients(
@@ -54,6 +55,6 @@ public class UICameraCalibrationCoefficients extends CameraCalibrationCoefficien
.mapToDouble(it -> Math.sqrt(it.x * it.x + it.y * it.y))
.average()
.orElse(0))
.collect(Collectors.toList());
.toList();
}
}

7
photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java
View File

@@ -25,11 +25,9 @@ import edu.wpi.first.math.MathUtil;
import edu.wpi.first.util.PixelFormat;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.Collections;
import java.util.HashMap;
import java.util.List;
import java.util.Optional;
import java.util.stream.Collectors;
import org.photonvision.common.configuration.CameraConfiguration;
import org.photonvision.vision.camera.CameraQuirk;
import org.photonvision.vision.processes.VisionSourceSettables;
@@ -301,9 +299,8 @@ public class GenericUSBCameraSettables extends VisionSourceSettables {
var sortedList =
videoModesList.stream()
.distinct() // remove redundant video mode entries
.sorted(((a, b) -> (b.width + b.height) - (a.width + a.height)))
.collect(Collectors.toList());
Collections.reverse(sortedList);
.sorted(((a, b) -> (a.width + a.height) - (b.width + b.height)))
.toList();
for (VideoMode videoMode : sortedList) {
videoModes.put(sortedList.indexOf(videoMode), videoMode);

15
photon-core/src/main/java/org/photonvision/vision/pipe/impl/Calibrate3dPipe.java
View File

@@ -89,7 +89,7 @@ public class Calibrate3dPipe
&& it.imagePoints != null
&& it.objectPoints != null
&& it.size != null)
.collect(Collectors.toList());
.toList();
CameraCalibrationCoefficients ret;
var start = System.nanoTime();
@@ -134,11 +134,9 @@ public class Calibrate3dPipe
double fxGuess,
double fyGuess,
Path imageSavePath) {
List<MatOfPoint3f> objPointsIn =
in.stream().map(it -> it.objectPoints).collect(Collectors.toList());
List<MatOfPoint2f> imgPointsIn =
in.stream().map(it -> it.imagePoints).collect(Collectors.toList());
List<MatOfFloat> levelsArr = in.stream().map(it -> it.levels).collect(Collectors.toList());
List<MatOfPoint3f> objPointsIn = in.stream().map(it -> it.objectPoints).toList();
List<MatOfPoint2f> imgPointsIn = in.stream().map(it -> it.imagePoints).toList();
List<MatOfFloat> levelsArr = in.stream().map(it -> it.levels).toList();
if (objPointsIn.size() != imgPointsIn.size() || objPointsIn.size() != levelsArr.size()) {
logger.error("objpts.size != imgpts.size");
@@ -223,10 +221,9 @@ public class Calibrate3dPipe
double fyGuess,
Path imageSavePath) {
List<MatOfPoint2f> corner_locations =
in.stream().map(it -> it.imagePoints).map(MatOfPoint2f::new).collect(Collectors.toList());
in.stream().map(it -> it.imagePoints).map(MatOfPoint2f::new).toList();
List<MatOfFloat> levels =
in.stream().map(it -> it.levels).map(MatOfFloat::new).collect(Collectors.toList());
List<MatOfFloat> levels = in.stream().map(it -> it.levels).map(MatOfFloat::new).toList();
int imageWidth = (int) in.get(0).size.width;
int imageHeight = (int) in.get(0).size.height;

3
photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindContoursPipe.java
View File

@@ -19,7 +19,6 @@ package org.photonvision.vision.pipe.impl;
import java.util.ArrayList;
import java.util.List;
import java.util.stream.Collectors;
import org.opencv.core.Mat;
import org.opencv.core.MatOfPoint;
import org.opencv.imgproc.Imgproc;
@@ -40,7 +39,7 @@ public class FindContoursPipe
Imgproc.findContours(
in, m_foundContours, new Mat(), Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_TC89_KCOS);
return m_foundContours.stream().map(Contour::new).collect(Collectors.toList());
return m_foundContours.stream().map(Contour::new).toList();
}
public static class FindContoursParams {}

5
photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java
View File

@@ -22,7 +22,6 @@ import edu.wpi.first.math.util.Units;
import java.nio.file.Path;
import java.util.ArrayList;
import java.util.List;
import java.util.stream.Collectors;
import org.opencv.core.Mat;
import org.opencv.core.Point;
import org.photonvision.common.dataflow.DataChangeService;
@@ -166,9 +165,7 @@ public class Calibrate3dPipeline
}
List<List<Point>> getCornersList() {
return foundCornersList.stream()
.map(it -> it.imagePoints.toList())
.collect(Collectors.toList());
return foundCornersList.stream().map(it -> it.imagePoints.toList()).toList();
}
public boolean hasEnough() {

3
photon-core/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipeline.java
View File

@@ -20,7 +20,6 @@ package org.photonvision.vision.pipeline;
import edu.wpi.first.math.Pair;
import java.util.Arrays;
import java.util.List;
import java.util.stream.Collectors;
import org.opencv.core.Point;
import org.photonvision.vision.frame.Frame;
import org.photonvision.vision.frame.FrameThresholdType;
@@ -199,7 +198,7 @@ public class ColoredShapePipeline
sortContoursPipe.run(
filterShapeResult.output.stream()
.map(shape -> new PotentialTarget(shape.getContour(), shape))
.collect(Collectors.toList()));
.toList());
sumPipeNanosElapsed += sortContoursResult.nanosElapsed;
CVPipeResult<List<TrackedTarget>> collect2dTargetsResult =

5
photon-core/src/main/java/org/photonvision/vision/pipeline/ObjectDetectionPipeline.java
View File

@@ -19,7 +19,6 @@ package org.photonvision.vision.pipeline;
import java.util.List;
import java.util.Optional;
import java.util.stream.Collectors;
import org.photonvision.common.configuration.NeuralNetworkModelManager;
import org.photonvision.vision.frame.Frame;
import org.photonvision.vision.frame.FrameThresholdType;
@@ -127,9 +126,7 @@ public class ObjectDetectionPipeline
CVPipeResult<List<PotentialTarget>> sortContoursResult =
sortContoursPipe.run(
filterContoursResult.output.stream()
.map(shape -> new PotentialTarget(shape))
.collect(Collectors.toList()));
filterContoursResult.output.stream().map(shape -> new PotentialTarget(shape)).toList());
sumPipeNanosElapsed += sortContoursResult.nanosElapsed;
CVPipeResult<List<TrackedTarget>> collect2dTargetsResult =

3
photon-core/src/main/java/org/photonvision/vision/pipeline/result/CalibrationPipelineResult.java
View File

@@ -18,14 +18,13 @@
package org.photonvision.vision.pipeline.result;
import java.util.List;
import java.util.stream.Collectors;
import org.opencv.core.Point;
import org.photonvision.vision.frame.Frame;
import org.photonvision.vision.target.TrackedTarget;
public class CalibrationPipelineResult extends CVPipelineResult {
private static List<TrackedTarget> cornersToTarget(List<List<Point>> corners) {
return corners.stream().map(TrackedTarget::new).collect(Collectors.toList());
return corners.stream().map(TrackedTarget::new).toList();
}
public CalibrationPipelineResult(

5
photon-core/src/main/java/org/photonvision/vision/processes/VisionModuleManager.java
View File

@@ -18,7 +18,6 @@
package org.photonvision.vision.processes;
import java.util.*;
import java.util.stream.Collectors;
import org.photonvision.common.logging.LogGroup;
import org.photonvision.common.logging.Logger;
@@ -67,9 +66,7 @@ public class VisionModuleManager {
// Big list, which should contain every vision source (currently loaded plus the new ones being
// added)
List<Integer> bigList =
this.getModules().stream()
.map(it -> it.getCameraConfiguration().streamIndex)
.collect(Collectors.toList());
this.getModules().stream().map(it -> it.getCameraConfiguration().streamIndex).toList();
int idx = 0;
while (bigList.contains(idx)) {

9
photon-core/src/test/java/org/photonvision/vision/pipeline/CalibrationRotationPipeTest.java
View File

@@ -23,7 +23,6 @@ import static org.junit.jupiter.api.Assertions.assertEquals;
import java.io.IOException;
import java.util.Arrays;
import java.util.List;
import java.util.stream.Collectors;
import org.junit.jupiter.api.Assertions;
import org.junit.jupiter.api.BeforeAll;
import org.junit.jupiter.api.Test;
@@ -151,13 +150,13 @@ public class CalibrationRotationPipeTest {
var rotatedDistortedPoints =
distortedOriginalPoints.stream()
.map(it -> rot.rotatePoint(it, frameProps.imageWidth, frameProps.imageHeight))
.collect(Collectors.toList());
.toList();
// Now let's instead rotate then distort
var rotatedOriginalPoints =
Arrays.stream(originalPoints)
.map(it -> rot.rotatePoint(it, frameProps.imageWidth, frameProps.imageHeight))
.collect(Collectors.toList());
.toList();
var distortedRotatedPoints =
OpenCVHelp.distortPoints(
@@ -310,9 +309,7 @@ public class CalibrationRotationPipeTest {
// rotate and try again
var rotAngle = ImageRotationMode.DEG_90_CCW;
var rotatedDistortedPoints =
distortedCorners.stream()
.map(it -> rotAngle.rotatePoint(it, 1280, 720))
.collect(Collectors.toList());
distortedCorners.stream().map(it -> rotAngle.rotatePoint(it, 1280, 720)).toList();
pipe.setParams(
new SolvePNPPipeParams(
coeffs.rotateCoefficients(rotAngle), TargetModel.kAprilTag6p5in_36h11));

8
photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java
View File

@@ -25,7 +25,6 @@ import java.io.IOException;
import java.util.Arrays;
import java.util.HashMap;
import java.util.List;
import java.util.stream.Collectors;
import org.junit.jupiter.api.Assertions;
import org.junit.jupiter.api.BeforeAll;
import org.junit.jupiter.api.Test;
@@ -233,15 +232,12 @@ public class VisionModuleManagerTest {
var modules =
List.of(testSource, testSource2, testSource3, usbSimulation, usbSimulation2).stream()
.map(vmm::addSource)
.collect(Collectors.toList());
.toList();
System.out.println(
Arrays.toString(
modules.stream().map(it -> it.getCameraConfiguration().streamIndex).toArray()));
var idxs =
modules.stream()
.map(it -> it.getCameraConfiguration().streamIndex)
.collect(Collectors.toList());
var idxs = modules.stream().map(it -> it.getCameraConfiguration().streamIndex).toList();
assertTrue(usbSimulation.equals(usbSimulation));
assertTrue(!usbSimulation.equals(usbSimulation2));

3
photon-lib/src/main/java/org/photonvision/PhotonCamera.java
View File

@@ -50,7 +50,6 @@ import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;
import java.util.Optional;
import java.util.stream.Collectors;
import org.opencv.core.Core;
import org.photonvision.common.hardware.VisionLEDMode;
import org.photonvision.common.networktables.PacketSubscriber;
@@ -594,6 +593,6 @@ public class PhotonCamera implements AutoCloseable {
it -> {
return rootPhotonTable.getSubTable(it).getEntry("rawBytes").exists();
})
.collect(Collectors.toList());
.toList();
}
}

6
photon-lib/src/main/java/org/photonvision/simulation/VisionSystemSim.java
View File

@@ -41,7 +41,6 @@ import java.util.List;
import java.util.Map;
import java.util.Optional;
import java.util.Set;
import java.util.stream.Collectors;
import org.photonvision.PhotonCamera;
import org.photonvision.estimation.TargetModel;
@@ -357,10 +356,7 @@ public class VisionSystemSim {
entry ->
dbgField
.getObject(entry.getKey())
.setPoses(
entry.getValue().stream()
.map(t -> t.getPose().toPose2d())
.collect(Collectors.toList())));
.setPoses(entry.getValue().stream().map(t -> t.getPose().toPose2d()).toList()));
if (robotPoseMeters == null) return;