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Upgrade spotless and shadow (#385)

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Fixes Log4J vulnerability
This commit is contained in:
Tyler Veness
2022-01-10 11:56:45 -08:00
committed by GitHub
parent 43c35286f3
commit 46fa17dfd8
62 changed files with 978 additions and 978 deletions
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84
photon-lib/src/main/java/org/photonvision/SimVisionSystem.java
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@@ -38,28 +38,28 @@ public class SimVisionSystem {
ArrayList<SimVisionTarget> tgtList;
/**
* Create a simulated vision system involving a camera and coprocessor mounted on a mobile robot
* running PhotonVision, detecting one or more targets scattered around the field. This assumes a
* fairly simple and distortion-less pinhole camera model.
*
* @param camName Name of the PhotonVision camera to create. Align it with the settings you use in
* the PhotonVision GUI.
* @param camDiagFOVDegrees Diagonal Field of View of the camera used. Align it with the
* manufacturer specifications, and/or whatever is configured in the PhotonVision Setting
* page.
* @param camPitchDegrees pitch of the camera's view axis back from horizontal. Make this the same
* as whatever is configured in the PhotonVision Setting page.
* @param cameraToRobot Pose Transform to move from the camera's mount position to the robot's
* position
* @param cameraHeightOffGroundMeters Height of the camera off the ground in meters
* @param maxLEDRangeMeters Maximum distance at which your camera can illuminate the target and
* make it visible. Set to 9000 or more if your vision system does not rely on LED's.
* @param cameraResWidth Width of your camera's image sensor in pixels
* @param cameraResHeight Height of your camera's image sensor in pixels
* @param minTargetArea Minimum area that that the target should be before it's recognized as a
* target by the camera. Match this with your contour filtering settings in the PhotonVision
* GUI.
*/
* Create a simulated vision system involving a camera and coprocessor mounted on a mobile robot
* running PhotonVision, detecting one or more targets scattered around the field. This assumes a
* fairly simple and distortion-less pinhole camera model.
*
* @param camName Name of the PhotonVision camera to create. Align it with the settings you use in
* the PhotonVision GUI.
* @param camDiagFOVDegrees Diagonal Field of View of the camera used. Align it with the
* manufacturer specifications, and/or whatever is configured in the PhotonVision Setting
* page.
* @param camPitchDegrees pitch of the camera's view axis back from horizontal. Make this the same
* as whatever is configured in the PhotonVision Setting page.
* @param cameraToRobot Pose Transform to move from the camera's mount position to the robot's
* position
* @param cameraHeightOffGroundMeters Height of the camera off the ground in meters
* @param maxLEDRangeMeters Maximum distance at which your camera can illuminate the target and
* make it visible. Set to 9000 or more if your vision system does not rely on LED's.
* @param cameraResWidth Width of your camera's image sensor in pixels
* @param cameraResHeight Height of your camera's image sensor in pixels
* @param minTargetArea Minimum area that that the target should be before it's recognized as a
* target by the camera. Match this with your contour filtering settings in the PhotonVision
* GUI.
*/
public SimVisionSystem(
String camName,
double camDiagFOVDegrees,
@@ -88,24 +88,24 @@ public class SimVisionSystem {
}
/**
* Add a target on the field which your vision system is designed to detect. The PhotonCamera from
* this system will report the location of the robot relative to the subset of these targets which
* are visible from the given robot position.
*
* @param target Target to add to the simulated field
*/
* Add a target on the field which your vision system is designed to detect. The PhotonCamera from
* this system will report the location of the robot relative to the subset of these targets which
* are visible from the given robot position.
*
* @param target Target to add to the simulated field
*/
public void addSimVisionTarget(SimVisionTarget target) {
tgtList.add(target);
}
/**
* Adjust the camera position relative to the robot. Use this if your camera is on a gimbal or
* turret or some other mobile platform.
*
* @param newCameraToRobot New Transform from the robot to the camera
* @param newCamHeightMeters New height of the camera off the floor
* @param newCamPitchDegrees New pitch of the camera axis back from horizontal
*/
* Adjust the camera position relative to the robot. Use this if your camera is on a gimbal or
* turret or some other mobile platform.
*
* @param newCameraToRobot New Transform from the robot to the camera
* @param newCamHeightMeters New height of the camera off the floor
* @param newCamPitchDegrees New pitch of the camera axis back from horizontal
*/
public void moveCamera(
Transform2d newCameraToRobot, double newCamHeightMeters, double newCamPitchDegrees) {
this.cameraToRobot = newCameraToRobot;
@@ -114,13 +114,13 @@ public class SimVisionSystem {
}
/**
* Periodic update. Call this once per frame of image data you wish to process and send to
* NetworkTables
*
* @param robotPoseMeters current pose of the robot on the field. Will be used to calculate which
* targets are actually in view, where they are at relative to the robot, and relevant
* PhotonVision parameters.
*/
* Periodic update. Call this once per frame of image data you wish to process and send to
* NetworkTables
*
* @param robotPoseMeters current pose of the robot on the field. Will be used to calculate which
* targets are actually in view, where they are at relative to the robot, and relevant
* PhotonVision parameters.
*/
public void processFrame(Pose2d robotPoseMeters) {
Pose2d cameraPos = robotPoseMeters.transformBy(cameraToRobot.inverse());