Merge branch 'master' into dev

chameleon-server/src/main/java/com/chameleonvision/vision/VisionProcess.java

@@ -25,7 +25,6 @@ import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpiutil.CircularBuffer;
 import org.apache.commons.lang3.tuple.Pair;
 import org.opencv.core.Mat;
-
 import java.util.ArrayList;
 import java.util.HashMap;
 import java.util.List;
@@ -212,9 +211,8 @@ public class VisionProcess {
                             }
                             center.add(bestTarget.minAreaRect.center.x);
                             center.add(bestTarget.minAreaRect.center.y);
-
                         } catch (ClassCastException ignored) {
-
+                          
                         }
                     } else {
                         pointMap.put("pitch", null);

chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/SolvePNPPipe.java

@@ -48,6 +48,7 @@ public class SolvePNPPipe implements Pipe<Pair<List<StandardCVPipeline.TrackedTa
         if(isHighGoal) {
             // tl, bl, br, tr is the order
             List<Point3> corners = List.of(
+
                 new Point3(-19.625, 0, 0),
                 new Point3(-9.819867, -17, 0),
                 new Point3(9.819867, -17, 0),
@@ -176,6 +177,7 @@ public class SolvePNPPipe implements Pipe<Pair<List<StandardCVPipeline.TrackedTa
         tempMat2f.fromArray(hullPoints);
 
         Imgproc.approxPolyDP(tempMat2f, polyOutput, 5, true);
+
         var polyList = polyOutput.toList();
 
         polyOutput.copyTo(target.approxPoly);
@@ -347,7 +349,6 @@ public class SolvePNPPipe implements Pipe<Pair<List<StandardCVPipeline.TrackedTa
         var boundingBr = new Point (
             xList.get(2), yList.get(2)
         );
-
         System.out.println("tl/br:\n" + boundingTl.toString() + "\n" + boundingBr.toString());
 
         var slightlyBiggerTl = new Point(