Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Fix OpenCV load in simuated robot projects #1001

Merged
merged 4 commits into from
Nov 5, 2023
Merged

Fix OpenCV load in simuated robot projects #1001

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
370384a
asdf
mcm001 Nov 5, 2023
b0dd422
asdf
mcm001 Nov 5, 2023
82a59d6
asdf
mcm001 Nov 5, 2023
2a35aa2
a;sdf
mcm001 Nov 5, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
8 changes: 1 addition & 7 deletions photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -33,13 +33,11 @@
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.Pair;
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.util.CombinedRuntimeLoader;
import edu.wpi.first.util.WPIUtilJNI;
import java.util.ArrayList;
import java.util.List;
import java.util.Optional;
import java.util.stream.Collectors;
import org.opencv.core.Core;
import org.opencv.core.CvType;
import org.opencv.core.Mat;
import org.opencv.core.Point;
Expand Down Expand Up @@ -95,11 +93,7 @@ public class PhotonCameraSim implements AutoCloseable {
private boolean videoSimProcEnabled = true;

static {
try {
CombinedRuntimeLoader.loadLibraries(OpenCVHelp.class, Core.NATIVE_LIBRARY_NAME, "cscorejni");
} catch (Exception e) {
throw new RuntimeException("Failed to load native libraries!", e);
}
OpenCVHelp.forceLoadOpenCV();
}

@Override
Expand Down
7 changes: 1 addition & 6 deletions photon-lib/src/main/java/org/photonvision/simulation/VideoSimUtil.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -28,7 +28,6 @@
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.util.CombinedRuntimeLoader;
import java.awt.image.BufferedImage;
import java.io.IOException;
import java.util.ArrayList;
Expand Down Expand Up @@ -67,11 +66,7 @@ public class VideoSimUtil {
private static double fieldWidth = 8.0137;

static {
try {
CombinedRuntimeLoader.loadLibraries(OpenCVHelp.class, Core.NATIVE_LIBRARY_NAME, "cscorejni");
} catch (Exception e) {
throw new RuntimeException("Failed to load native libraries!", e);
}
OpenCVHelp.forceLoadOpenCV();

// create Mats of 8x8 apriltag images
for (int i = 0; i < VideoSimUtil.kNumTags16h5; i++) {
Expand Down
1 change: 1 addition & 0 deletions photon-targeting/build.gradle
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,7 @@ apply from: "${rootDir}/shared/common.gradle"
dependencies {
implementation wpilibTools.deps.wpilibJava("wpimath")
implementation wpilibTools.deps.wpilibJava("apriltag")
implementation wpilibTools.deps.wpilibJava("cscore")
implementation wpilibTools.deps.wpilibOpenCvJava("frc" + wpi.frcYear.get(), wpi.versions.opencvVersion.get())

implementation group: "org.ejml", name: "ejml-simple", version: wpi.versions.ejmlVersion.get()
Expand Down
18 changes: 11 additions & 7 deletions photon-targeting/src/main/java/org/photonvision/estimation/OpenCVHelp.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,7 @@

package org.photonvision.estimation;

import edu.wpi.first.cscore.CvSink;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.Num;
Expand All @@ -26,7 +27,6 @@
import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.math.numbers.*;
import edu.wpi.first.util.CombinedRuntimeLoader;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;
Expand All @@ -52,13 +52,17 @@ public final class OpenCVHelp {
private static Rotation3d NWU_TO_EDN;
private static Rotation3d EDN_TO_NWU;

static {
try {
CombinedRuntimeLoader.loadLibraries(OpenCVHelp.class, Core.NATIVE_LIBRARY_NAME, "cscorejni");
} catch (Exception e) {
throw new RuntimeException("Failed to load native libraries!", e);
}
// Creating a cscore object is sufficient to load opencv, per
// https://www.chiefdelphi.com/t/unsatisfied-link-error-when-simulating-java-robot-code-using-opencv/426731/4
private static CvSink dummySink = null;

public static void forceLoadOpenCV() {
if (dummySink != null) return;
dummySink = new CvSink("ignored");
dummySink.close();
}

static {
NWU_TO_EDN = new Rotation3d(Matrix.mat(Nat.N3(), Nat.N3()).fill(0, -1, 0, 0, 0, -1, 1, 0, 0));
EDN_TO_NWU = new Rotation3d(Matrix.mat(Nat.N3(), Nat.N3()).fill(0, 0, 1, -1, 0, 0, 0, -1, 0));
}
Expand Down