Add ignored cameras regex to command-line arguemnts (#849)

This adds a regex that ignores cameras if they match it, for if you have another piece of software running that needs a second camera, or if you have a webcam in your laptop that cscore hates.

photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java

@@ -233,7 +233,9 @@ public class PhotonPoseEstimator {
         setLastPose(new Pose3d(lastPose));
     }
 
-    /** @return The current transform from the center of the robot to the camera mount position */
+    /**
+     * @return The current transform from the center of the robot to the camera mount position
+     */
     public Transform3d getRobotToCameraTransform() {
         return robotToCamera;
     }

photon-lib/src/main/java/org/photonvision/RobotPoseEstimator.java

@@ -40,7 +40,9 @@ import java.util.Set;
 import org.photonvision.targeting.PhotonPipelineResult;
 import org.photonvision.targeting.PhotonTrackedTarget;
 
-/** @deprecated Use {@link PhotonPoseEstimator} */
+/**
+ * @deprecated Use {@link PhotonPoseEstimator}
+ */
 @Deprecated
 public class RobotPoseEstimator {
     /**
@@ -345,27 +347,37 @@ public class RobotPoseEstimator {
         return x.getTranslation().getDistance(y.getTranslation());
     }
 
-    /** @param aprilTags the aprilTags to set */
+    /**
+     * @param aprilTags the aprilTags to set
+     */
     public void setAprilTags(AprilTagFieldLayout aprilTags) {
         this.aprilTags = aprilTags;
     }
 
-    /** @return the aprilTags */
+    /**
+     * @return the aprilTags
+     */
     public AprilTagFieldLayout getAprilTags() {
         return aprilTags;
     }
 
-    /** @return the strategy */
+    /**
+     * @return the strategy
+     */
     public PoseStrategy getStrategy() {
         return strategy;
     }
 
-    /** @param strategy the strategy to set */
+    /**
+     * @param strategy the strategy to set
+     */
     public void setStrategy(PoseStrategy strategy) {
         this.strategy = strategy;
     }
 
-    /** @return the referencePose */
+    /**
+     * @return the referencePose
+     */
     public Pose3d getReferencePose() {
         return referencePose;
     }

photon-lib/src/main/java/org/photonvision/estimation/CameraTargetRelation.java

@@ -36,12 +36,14 @@ public class CameraTargetRelation {
     public final double camToTargDistXY;
     public final Rotation2d camToTargYaw;
     public final Rotation2d camToTargPitch;
+
     /** Angle from the camera's relative x-axis */
     public final Rotation2d camToTargAngle;
 
     public final Transform3d targToCam;
     public final Rotation2d targToCamYaw;
     public final Rotation2d targToCamPitch;
+
     /** Angle from the target's relative x-axis */
     public final Rotation2d targToCamAngle;
 

photon-lib/src/main/java/org/photonvision/estimation/OpenCVHelp.java

@@ -99,6 +99,7 @@ public final class OpenCVHelp {
         }
         return new MatOfPoint3f(points);
     }
+
     /**
      * Returns a new 3d translation from this {@link Mat}. The opencv tvec is a vector with three
      * elements representing {x, y, z} in the EDN coordinate system.
@@ -128,6 +129,7 @@ public final class OpenCVHelp {
         rotation = rotationNWUtoEDN(rotation);
         return new MatOfPoint3f(new Point3(rotation.getQuaternion().toRotationVector().getData()));
     }
+
     /**
      * Returns a 3d rotation from this {@link Mat}. The opencv rvec Mat is a vector with three
      * elements representing the axis scaled by the angle in the EDN coordinate system. (angle = norm,
@@ -228,6 +230,7 @@ public final class OpenCVHelp {
                         new Rotation3d(), CoordinateSystem.NWU(), CoordinateSystem.EDN())
                 .plus(CoordinateSystem.convert(rot, CoordinateSystem.EDN(), CoordinateSystem.NWU()));
     }
+
     /**
      * Convert a rotation from EDN to NWU. For example, if you have a rotation X,Y,Z {1, 0, 0} in EDN,
      * this would be XYZ {0, -1, 0} in NWU.
@@ -324,6 +327,7 @@ public final class OpenCVHelp {
         corn.release();
         return rect;
     }
+
     /**
      * Gets the rotated rectangle with minimum area which bounds this contour.
      *
@@ -338,6 +342,7 @@ public final class OpenCVHelp {
         corn.release();
         return rect;
     }
+
     /**
      * Get the area in pixels of this target's contour. It's important to note that this may be
      * different from the area of the bounding rectangle around the contour.
@@ -451,6 +456,7 @@ public final class OpenCVHelp {
         if (alt != null) return new PNPResults(best, alt, errors[0] / errors[1], errors[0], errors[1]);
         else return new PNPResults(best, errors[0]);
     }
+
     /**
      * Finds the transformation that maps the camera's pose to the target pose. The camera's pose
      * relative to the target is determined by the supplied 3d points of the target's model and their

photon-lib/src/main/java/org/photonvision/estimation/PNPResults.java

@@ -44,8 +44,10 @@ public class PNPResults {
      * to the best solution.
      */
     public final Transform3d alt;
+
     /** If no alternate solution is found, this is bestReprojErr */
     public final double altReprojErr;
+
     /** If no alternate solution is found, this is 0 */
     public final double ambiguity;
 

photon-lib/src/main/java/org/photonvision/estimation/RotTrlTransform3d.java

@@ -41,6 +41,7 @@ public class RotTrlTransform3d {
     public RotTrlTransform3d() {
         this(new Rotation3d(), new Translation3d());
     }
+
     /**
      * Creates a rotation-translation transformation from a Transform3d.
      *
@@ -52,6 +53,7 @@ public class RotTrlTransform3d {
     public RotTrlTransform3d(Transform3d trf) {
         this(trf.getRotation(), trf.getTranslation());
     }
+
     /**
      * A rotation-translation transformation.
      *
@@ -65,6 +67,7 @@ public class RotTrlTransform3d {
         this.rot = rot;
         this.trl = trl;
     }
+
     /**
      * The rotation-translation transformation that makes poses in the world consider this pose as the
      * new origin, or change the basis to this pose.
@@ -86,10 +89,12 @@ public class RotTrlTransform3d {
     public Transform3d getTransform() {
         return new Transform3d(trl, rot);
     }
+
     /** The translation component of this transformation */
     public Translation3d getTranslation() {
         return trl;
     }
+
     /** The rotation component of this transformation */
     public Rotation3d getRotation() {
         return rot;

photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java

@@ -153,6 +153,7 @@ public class VisionEstimation {
      */
     public static class SVDResults {
         public final RotTrlTransform3d trf;
+
         /** If the result is invalid, this value is -1 */
         public final double rmse;