Clean up C++ headers (#2402)

photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp

@@ -35,11 +35,10 @@
 #include <hal/FRCUsageReporting.h>
 #include <net/TimeSyncServer.h>
 #include <opencv2/core.hpp>
-#include <opencv2/core/mat.hpp>
+#include <opencv2/core/utility.hpp>
 #include <wpi/json.h>
 
 #include "PhotonVersion.h"
-#include "opencv2/core/utility.hpp"
 #include "photon/dataflow/structures/Packet.h"
 
 static constexpr units::second_t WARN_DEBOUNCE_SEC = 5_s;

photon-lib/src/main/native/cpp/photon/PhotonPoseEstimator.cpp

@@ -26,7 +26,6 @@
 
 #include <limits>
 #include <optional>
-#include <span>
 #include <utility>
 #include <vector>
 

photon-lib/src/main/native/cpp/photon/simulation/PhotonCameraSim.cpp

@@ -32,6 +32,11 @@
 #include <frc/apriltag/AprilTagFieldLayout.h>
 #include <frc/apriltag/AprilTagFields.h>
 
+#include "photon/estimation/CameraTargetRelation.h"
+#include "photon/estimation/RotTrlTransform3d.h"
+#include "photon/estimation/VisionEstimation.h"
+#include "photon/simulation/VideoSimUtil.h"
+
 namespace photon {
 PhotonCameraSim::PhotonCameraSim(PhotonCamera* camera)
     : PhotonCameraSim(camera, photon::SimCameraProperties::PERFECT_90DEG(),

photon-lib/src/main/native/cpp/photon/simulation/SimCameraProperties.cpp

@@ -28,6 +28,8 @@
 #include <utility>
 #include <vector>
 
+#include <frc/Errors.h>
+
 using namespace photon;
 
 void SimCameraProperties::SetCalibration(int width, int height,

photon-lib/src/main/native/include/photon/PhotonCamera.h

@@ -31,7 +31,6 @@
 #include <frc/Alert.h>
 #include <networktables/BooleanTopic.h>
 #include <networktables/DoubleArrayTopic.h>
-#include <networktables/DoubleTopic.h>
 #include <networktables/IntegerTopic.h>
 #include <networktables/MultiSubscriber.h>
 #include <networktables/NetworkTable.h>

photon-lib/src/main/native/include/photon/PhotonPoseEstimator.h

@@ -29,7 +29,7 @@
 #include <frc/geometry/Rotation3d.h>
 #include <frc/geometry/Transform3d.h>
 #include <frc/interpolation/TimeInterpolatableBuffer.h>
-#include <opencv2/core/mat.hpp>
+#include <wpi/SmallVector.h>
 
 #include "photon/PhotonCamera.h"
 #include "photon/targeting/PhotonPipelineResult.h"

photon-lib/src/main/native/include/photon/PhotonTargetSortMode.h

@@ -26,11 +26,7 @@
 
 #include <cmath>
 
-#include "photon/dataflow/structures/Packet.h"
-#include "photon/targeting/MultiTargetPNPResult.h"
-#include "photon/targeting/PhotonPipelineResult.h"
 #include "photon/targeting/PhotonTrackedTarget.h"
-#include "photon/targeting/PnpResult.h"
 
 namespace photon {
 

photon-lib/src/main/native/include/photon/PhotonUtils.h

@@ -32,12 +32,6 @@
 #include <units/length.h>
 #include <units/math.h>
 
-#include "photon/dataflow/structures/Packet.h"
-#include "photon/targeting/MultiTargetPNPResult.h"
-#include "photon/targeting/PhotonPipelineResult.h"
-#include "photon/targeting/PhotonTrackedTarget.h"
-#include "photon/targeting/PnpResult.h"
-
 namespace photon {
 class PhotonUtils {
  public:

photon-lib/src/main/native/include/photon/simulation/PhotonCameraSim.h

@@ -24,23 +24,15 @@
 
 #pragma once
 
-#include <algorithm>
 #include <limits>
-#include <string>
-#include <utility>
 #include <vector>
 
 #include <cameraserver/CameraServer.h>
-#include <frc/Timer.h>
 #include <frc/apriltag/AprilTagFieldLayout.h>
 #include <frc/apriltag/AprilTagFields.h>
 #include <photon/PhotonCamera.h>
-#include <photon/PhotonTargetSortMode.h>
-#include <photon/estimation/CameraTargetRelation.h>
-#include <photon/estimation/VisionEstimation.h>
 #include <photon/networktables/NTTopicSet.h>
 #include <photon/simulation/SimCameraProperties.h>
-#include <photon/simulation/VideoSimUtil.h>
 #include <photon/simulation/VisionTargetSim.h>
 #include <units/math.h>
 #include <wpi/timestamp.h>

photon-lib/src/main/native/include/photon/simulation/SimCameraProperties.h

@@ -24,15 +24,12 @@
 
 #pragma once
 
-#include <algorithm>
 #include <random>
 #include <string>
 #include <utility>
 #include <vector>
 
 #include <Eigen/Core>
-#include <frc/Errors.h>
-#include <frc/MathUtil.h>
 #include <frc/geometry/Rotation2d.h>
 #include <frc/geometry/Translation3d.h>
 #include <photon/estimation/OpenCVHelp.h>

photon-lib/src/main/native/include/photon/simulation/VideoSimUtil.h

@@ -38,8 +38,7 @@
 #include <opencv2/objdetect.hpp>
 #include <units/length.h>
 
-#include "SimCameraProperties.h"
-#include "photon/estimation/RotTrlTransform3d.h"
+#include "photon/simulation/SimCameraProperties.h"
 
 namespace mathutil {
 template <typename T>

photon-lib/src/test/native/cpp/PhotonPoseEstimatorTest.cpp

@@ -24,7 +24,6 @@
 
 #include "photon/PhotonPoseEstimator.h"
 
-#include <map>
 #include <utility>
 #include <vector>
 

photon-lib/src/test/native/cpp/VersionTest.cpp

@@ -22,12 +22,11 @@
  * SOFTWARE.
  */
 
-#include <iostream>
-
 #include <gtest/gtest.h>
+#include <wpi/print.h>
 
 #include "PhotonVersion.h"
 
 TEST(VersionTest, PrintVersion) {
-  std::cout << photon::PhotonVersion::versionString << std::endl;
+  wpi::println("{}", photon::PhotonVersion::versionString);
 }

photon-lib/src/test/native/cpp/VisionSystemSimTest.cpp

@@ -24,8 +24,6 @@
 
 #include "photon/simulation/VisionSystemSim.h"
 
-#include <chrono>
-#include <thread>
 #include <tuple>
 #include <vector>
 
@@ -33,6 +31,7 @@
 #include <wpi/deprecated.h>
 
 #include "photon/PhotonUtils.h"
+#include "photon/estimation/VisionEstimation.h"
 
 // Ignore GetLatestResult warnings
 WPI_IGNORE_DEPRECATED