Merge branch 'PhotonVision:master' into master

laviRZ · Mar 19, 2024 · 3ffbac3 · 3ffbac3
2 parents 3f095c6 + c89acea
commit 3ffbac3
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Showing 3 changed files with 50 additions and 6 deletions.
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/RknnDetectionPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/RknnDetectionPipe.java
@@ -81,6 +81,7 @@ protected List<NeuralNetworkPipeResult> process(CVMat in) {
             throw new RuntimeException("RGA bugged but still wrong size");
         }
         var ret = detector.detect(letterboxed, params.nms, params.confidence);
+        letterboxed.release();
 
         return resizeDetections(ret, scale);
     }

diff --git a/photon-core/src/main/java/org/photonvision/vision/processes/PipelineManager.java b/photon-core/src/main/java/org/photonvision/vision/processes/PipelineManager.java
@@ -238,6 +238,48 @@ private void updatePipelineFromRequested() {
                                 "fullsettings", ConfigManager.getInstance().getConfig().toHashMap()));
     }
 
+    /**
+     * Recreate the current user pipeline with the current pipeline index. Useful to force a
+     * recreation after changing pipeline type
+     */
+    private void recreateUserPipeline() {
+        // Cleanup potential old native resources before swapping over from a user pipeline
+        if (currentUserPipeline != null && !(currentPipelineIndex < 0)) {
+            currentUserPipeline.release();
+        }
+
+        var desiredPipelineSettings = userPipelineSettings.get(currentPipelineIndex);
+        switch (desiredPipelineSettings.pipelineType) {
+            case Reflective:
+                logger.debug("Creating Reflective pipeline");
+                currentUserPipeline =
+                        new ReflectivePipeline((ReflectivePipelineSettings) desiredPipelineSettings);
+                break;
+            case ColoredShape:
+                logger.debug("Creating ColoredShape pipeline");
+                currentUserPipeline =
+                        new ColoredShapePipeline((ColoredShapePipelineSettings) desiredPipelineSettings);
+                break;
+            case AprilTag:
+                logger.debug("Creating AprilTag pipeline");
+                currentUserPipeline =
+                        new AprilTagPipeline((AprilTagPipelineSettings) desiredPipelineSettings);
+                break;
+
+            case Aruco:
+                logger.debug("Creating Aruco Pipeline");
+                currentUserPipeline = new ArucoPipeline((ArucoPipelineSettings) desiredPipelineSettings);
+                break;
+            case ObjectDetection:
+                logger.debug("Creating ObjectDetection Pipeline");
+                currentUserPipeline =
+                        new ObjectDetectionPipeline((ObjectDetectionPipelineSettings) desiredPipelineSettings);
+            default:
+                // Can be calib3d or drivermode, both of which are special cases
+                break;
+        }
+    }
+
     /**
      * Enters or exits calibration mode based on the parameter. <br>
      * <br>
@@ -521,5 +563,6 @@ public void changePipelineType(int newType) {
         userPipelineSettings.set(idx, newSettings);
         setPipelineInternal(idx);
         reassignIndexes();
+        recreateUserPipeline();
     }
 }
diff --git a/photon-lib/src/main/native/include/photon/simulation/SimCameraProperties.h b/photon-lib/src/main/native/include/photon/simulation/SimCameraProperties.h
@@ -96,12 +96,12 @@ class SimCameraProperties {
                                       units::radian_t{std::numbers::pi / 2.0}})
                                      .Radians()}},
         frc::Translation3d{
-            1_m, frc::Rotation3d{0_rad,
-                                 (GetPixelPitch(0) +
-                                  frc::Rotation2d{
-                                      units::radian_t{std::numbers::pi / 2.0}})
-                                     .Radians(),
-                                 0_rad}},
+            1_m,
+            frc::Rotation3d{0_rad,
+                            (GetPixelPitch(0) + frc::Rotation2d{units::radian_t{
+                                                    std::numbers::pi / 2.0}})
+                                .Radians(),
+                            0_rad}},
         frc::Translation3d{
             1_m, frc::Rotation3d{0_rad,
                                  (GetPixelPitch(height) +