Use nicer array syntax

2026-06-24 01:31:44 +00:00 · 2025-03-16 23:41:35 -04:00
parent a42aed1e7f
commit 4ffd1fc600
10 changed files with 72 additions and 87 deletions
--- 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
@@ -205,8 +205,8 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
            ts.cameraIntrinsicsPublisher.accept(fsp.cameraCalibration.getIntrinsicsArr());
            ts.cameraDistortionPublisher.accept(fsp.cameraCalibration.getDistCoeffsArr());
        } else {
-            ts.cameraIntrinsicsPublisher.accept(new double[] {});
-            ts.cameraDistortionPublisher.accept(new double[] {});
+            ts.cameraIntrinsicsPublisher.accept(new double[0]);
+            ts.cameraDistortionPublisher.accept(new double[0]);
        }

        ts.heartbeatPublisher.set(acceptedResult.sequenceID);
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/ArucoDetectionPipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/ArucoDetectionPipe.java
@@ -59,13 +59,12 @@ public class ArucoDetectionPipe
            for (var detection : detections) {
                double[] xCorners = detection.getXCorners();
                double[] yCorners = detection.getYCorners();
-                Point[] cornerPoints =
-                        new Point[] {
-                            new Point(xCorners[0], yCorners[0]),
-                            new Point(xCorners[1], yCorners[1]),
-                            new Point(xCorners[2], yCorners[2]),
-                            new Point(xCorners[3], yCorners[3])
-                        };
+                Point[] cornerPoints = {
+                    new Point(xCorners[0], yCorners[0]),
+                    new Point(xCorners[1], yCorners[1]),
+                    new Point(xCorners[2], yCorners[2]),
+                    new Point(xCorners[3], yCorners[3])
+                };
                double bltr =
                        Math.hypot(
                                cornerPoints[2].x - cornerPoints[0].x, cornerPoints[2].y - cornerPoints[0].y);
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/DrawCalibrationPipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/DrawCalibrationPipe.java
@@ -32,14 +32,13 @@ import org.photonvision.vision.target.TrackedTarget;
 public class DrawCalibrationPipe
        extends MutatingPipe<
                Pair<Mat, List<TrackedTarget>>, DrawCalibrationPipe.DrawCalibrationPipeParams> {
-    Scalar[] chessboardColors =
-            new Scalar[] {
-                ColorHelper.colorToScalar(Color.RED, 0.4),
-                ColorHelper.colorToScalar(Color.ORANGE, 0.4),
-                ColorHelper.colorToScalar(Color.GREEN, 0.4),
-                ColorHelper.colorToScalar(Color.BLUE, 0.4),
-                ColorHelper.colorToScalar(Color.MAGENTA, 0.4),
-            };
+    Scalar[] chessboardColors = {
+        ColorHelper.colorToScalar(Color.RED, 0.4),
+        ColorHelper.colorToScalar(Color.ORANGE, 0.4),
+        ColorHelper.colorToScalar(Color.GREEN, 0.4),
+        ColorHelper.colorToScalar(Color.BLUE, 0.4),
+        ColorHelper.colorToScalar(Color.MAGENTA, 0.4),
+    };

    @Override
    protected Void process(Pair<Mat, List<TrackedTarget>> in) {
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/PipelineProfiler.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/PipelineProfiler.java
@@ -37,19 +37,18 @@ public class PipelineProfiler {
     * output) 14 - draw2dTargetsPipe (on input) 15 - draw2dTargetsPipe (on output) 16 -
     * draw3dTargetsPipe (OPTIONAL, on input) 17 - draw3dTargetsPipe (OPTIONAL, on output)
     */
-    private static final String[] ReflectivePipeNames =
-            new String[] {
-                "RotateImage",
-                "HSV",
-                "FindContours",
-                "SpeckleReject",
-                "FilterContours",
-                "GroupContours",
-                "SortContours",
-                "Collect2dTargets",
-                "CornerDetection",
-                "SolvePNP",
-            };
+    private static final String[] ReflectivePipeNames = {
+        "RotateImage",
+        "HSV",
+        "FindContours",
+        "SpeckleReject",
+        "FilterContours",
+        "GroupContours",
+        "SortContours",
+        "Collect2dTargets",
+        "CornerDetection",
+        "SolvePNP",
+    };

    public static final int ReflectivePipeCount = ReflectivePipeNames.length;

--- a/photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java
+++ b/photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java
@@ -122,11 +122,9 @@ public class TrackedTarget implements Releasable {
            tvec.put(
                    0,
                    0,
-                    new double[] {
-                        bestPose.getTranslation().getX(),
-                        bestPose.getTranslation().getY(),
-                        bestPose.getTranslation().getZ()
-                    });
+                    bestPose.getTranslation().getX(),
+                    bestPose.getTranslation().getY(),
+                    bestPose.getTranslation().getZ());
            setCameraRelativeTvec(tvec);

            // Opencv expects a 3d vector with norm = angle and direction = axis
@@ -136,13 +134,12 @@ public class TrackedTarget implements Releasable {
        }

        double[] corners = tagDetection.getCorners();
-        Point[] cornerPoints =
-                new Point[] {
-                    new Point(corners[0], corners[1]),
-                    new Point(corners[2], corners[3]),
-                    new Point(corners[4], corners[5]),
-                    new Point(corners[6], corners[7])
-                };
+        Point[] cornerPoints = {
+            new Point(corners[0], corners[1]),
+            new Point(corners[2], corners[3]),
+            new Point(corners[4], corners[5]),
+            new Point(corners[6], corners[7])
+        };
        m_targetCorners = List.of(cornerPoints);
        MatOfPoint contourMat = new MatOfPoint(cornerPoints);
        m_approximateBoundingPolygon = new MatOfPoint2f(cornerPoints);
@@ -198,13 +195,12 @@ public class TrackedTarget implements Releasable {
        double[] xCorners = result.getXCorners();
        double[] yCorners = result.getYCorners();

-        Point[] cornerPoints =
-                new Point[] {
-                    new Point(xCorners[0], yCorners[0]),
-                    new Point(xCorners[1], yCorners[1]),
-                    new Point(xCorners[2], yCorners[2]),
-                    new Point(xCorners[3], yCorners[3])
-                };
+        Point[] cornerPoints = {
+            new Point(xCorners[0], yCorners[0]),
+            new Point(xCorners[1], yCorners[1]),
+            new Point(xCorners[2], yCorners[2]),
+            new Point(xCorners[3], yCorners[3])
+        };
        m_targetCorners = List.of(cornerPoints);
        MatOfPoint contourMat = new MatOfPoint(cornerPoints);
        m_approximateBoundingPolygon = new MatOfPoint2f(cornerPoints);
@@ -236,11 +232,9 @@ public class TrackedTarget implements Releasable {
            tvec.put(
                    0,
                    0,
-                    new double[] {
-                        bestPose.getTranslation().getX(),
-                        bestPose.getTranslation().getY(),
-                        bestPose.getTranslation().getZ()
-                    });
+                    bestPose.getTranslation().getX(),
+                    bestPose.getTranslation().getY(),
+                    bestPose.getTranslation().getZ());
            setCameraRelativeTvec(tvec);

            var rvec = new Mat(3, 1, CvType.CV_64FC1);
--- a/photon-core/src/test/java/org/photonvision/vision/pipeline/CalibrationRotationPipeTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/pipeline/CalibrationRotationPipeTest.java
@@ -123,7 +123,7 @@ public class CalibrationRotationPipeTest {
                                    0.09625562194891251,
                                    -0.1860797479660746
                                }),
-                        new double[] {},
+                        new double[0],
                        List.of(),
                        new Size(),
                        1,
@@ -288,7 +288,7 @@ public class CalibrationRotationPipeTest {
                                    0.04625562194891251,
                                    -0.0860797479660746
                                }),
-                        new double[] {},
+                        new double[0],
                        List.of(),
                        new Size(),
                        1,
--- a/photon-lib/src/main/java/org/photonvision/PhotonCamera.java
+++ b/photon-lib/src/main/java/org/photonvision/PhotonCamera.java
@@ -138,7 +138,7 @@ public class PhotonCamera implements AutoCloseable {
                        .getRawTopic("rawBytes")
                        .subscribe(
                                PhotonPipelineResult.photonStruct.getTypeString(),
-                                new byte[] {},
+                                new byte[0],
                                PubSubOption.periodic(0.01),
                                PubSubOption.sendAll(true),
                                PubSubOption.pollStorage(20));
--- a/photon-lib/src/main/java/org/photonvision/simulation/SimCameraProperties.java
+++ b/photon-lib/src/main/java/org/photonvision/simulation/SimCameraProperties.java
@@ -202,24 +202,20 @@ public class SimCameraProperties {
        this.distCoeffs = distCoeffs;

        // left, right, up, and down view planes
-        var p =
-                new Translation3d[] {
-                    new Translation3d(
-                            1,
-                            new Rotation3d(0, 0, getPixelYaw(0).plus(new Rotation2d(-Math.PI / 2)).getRadians())),
-                    new Translation3d(
-                            1,
-                            new Rotation3d(
-                                    0, 0, getPixelYaw(resWidth).plus(new Rotation2d(Math.PI / 2)).getRadians())),
-                    new Translation3d(
-                            1,
-                            new Rotation3d(
-                                    0, getPixelPitch(0).plus(new Rotation2d(Math.PI / 2)).getRadians(), 0)),
-                    new Translation3d(
-                            1,
-                            new Rotation3d(
-                                    0, getPixelPitch(resHeight).plus(new Rotation2d(-Math.PI / 2)).getRadians(), 0))
-                };
+        Translation3d[] p = {
+            new Translation3d(
+                    1, new Rotation3d(0, 0, getPixelYaw(0).plus(new Rotation2d(-Math.PI / 2)).getRadians())),
+            new Translation3d(
+                    1,
+                    new Rotation3d(
+                            0, 0, getPixelYaw(resWidth).plus(new Rotation2d(Math.PI / 2)).getRadians())),
+            new Translation3d(
+                    1, new Rotation3d(0, getPixelPitch(0).plus(new Rotation2d(Math.PI / 2)).getRadians(), 0)),
+            new Translation3d(
+                    1,
+                    new Rotation3d(
+                            0, getPixelPitch(resHeight).plus(new Rotation2d(-Math.PI / 2)).getRadians(), 0))
+        };
        viewplanes.clear();
        for (Translation3d translation3d : p) {
            viewplanes.add(
--- a/photon-targeting/src/main/java/org/photonvision/estimation/VisionEstimation.java
+++ b/photon-targeting/src/main/java/org/photonvision/estimation/VisionEstimation.java
@@ -248,13 +248,12 @@ public class VisionEstimation {
        }

        // fx fy cx cy
-        double[] cameraCal =
-                new double[] {
-                    cameraMatrix.get(0, 0),
-                    cameraMatrix.get(1, 1),
-                    cameraMatrix.get(0, 2),
-                    cameraMatrix.get(1, 2),
-                };
+        double[] cameraCal = {
+            cameraMatrix.get(0, 0),
+            cameraMatrix.get(1, 1),
+            cameraMatrix.get(0, 2),
+            cameraMatrix.get(1, 2),
+        };

        var guess2 = robotPoseSeed.toPose2d();

--- a/photon-targeting/src/test/java/ConstrainedSolvepnpTest.java
+++ b/photon-targeting/src/test/java/ConstrainedSolvepnpTest.java
@@ -50,10 +50,9 @@ public class ConstrainedSolvepnpTest {

    @Test
    public void smoketest() {
-        double[] cameraCal =
-                new double[] {
-                    600, 600, 300, 150,
-                };
+        double[] cameraCal = {
+            600, 600, 300, 150,
+        };

        var field2points =
                MatBuilder.fill(
@@ -86,7 +85,7 @@ public class ConstrainedSolvepnpTest {
                MatBuilder.fill(Nat.N4(), Nat.N4(), 0, 0, 1, 0, -1, 0, 0, 0, 0, -1, 0, 0, 0, 0, 0, 1);

        // Initial guess for optimization
-        double[] x_guess = new double[] {0.2, 0.1, -.05};
+        double[] x_guess = {0.2, 0.1, -.05};

        var ret =
                ConstrainedSolvepnpJni.do_optimization(