If you are willing to use the eclipse IDE it'd offer a very handy feature for auto-formatting code:
It is pretty self-explanatory and straight-forward in my opinion.
Eclipse allows for regex based search and replace operations.
Just open Search > File... there enter the following regex for Containing text:
\b[p]([A-Z][a-z]+)\b
And tick both Case sensitive and Regular expression. Then press Replace...
In the newly popped up window enter
\1
in the With: field and tick Regular expression.
Edit: Sadly in its current version Eclipse does not support the \L flag for content groups so you are still stuck with an uppercase leading letter.
To answer your question about checkstyle: No, checkstyle is a tool used for analyzing code not for changing.
Using checkstyle to format code (Question from Oct'12)
Also did some research, here's another stackoverflow question aiming at the practically same. The solution offered there is similarly work intensive.
Can I automatically refactor an entire java project and rename uppercase method parameters to lowercase? (Question from Oct'10)