Make various refactors to clean up codebase #1830
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Do we wanna hold off until champs on this one? |
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I’d be fine with that. I think there are other places I could do refactors as well. |
mcm001
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Mar 21, 2025
photon-core/src/main/java/org/photonvision/common/configuration/HardwareConfig.java
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mcm001
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Mar 26, 2025
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| public static record AprilTagDetectionPipeParams( | ||
| AprilTagFamily family, | ||
| AprilTagDetector.Config detectorParams, | ||
| AprilTagDetector.QuadThresholdParameters quadParams) {} |
mcm001
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Mar 26, 2025
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| public static record AprilTagPoseEstimatorPipeParams( | ||
| Config config, CameraCalibrationCoefficients calibration, int nIters) {} |
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Equals and hashcode used to only check config. It looks like this behavior was exploited by setParams, since we only need to update m_poseEstimator if config changes? I think this is silly though, and i dont see a reason to preserve the old behavior so long as m_poseEstimator.setConfig still is only called when it needs to be.
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…used because we use libcamera now)
…efinitely never modified
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Description
Classes that were unused have been removed to tidy up the codebase.
The creation of arrays was also tidied up, using initializers when possible and just
new Type[0]for zero length arrays.Text blocks were used to increase readability.
VideoSimUtil was refactored to reduce copies when generating 36h11 tag images.
FileSaveFrameConsumer was refactored to let Java handle paths instead of us doing it manually.
Finally, HardwareConfig was made into a record. This change I'm iffy about because of how wide the changes are and it can be reverted if desired. But it does reduce the amount of code in the HardwareConfig file itself.
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