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Fix OpenCV load in simuated robot projects (#1001)

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This commit is contained in:
Matt
2023-11-05 18:13:00 -05:00
committed by GitHub
parent 623b4e5b84
commit 524b135142
4 changed files with 14 additions and 20 deletions
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8
photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java
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@@ -33,13 +33,11 @@ import edu.wpi.first.cscore.VideoSource.ConnectionStrategy;
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;
@@ -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

7
photon-lib/src/main/java/org/photonvision/simulation/VideoSimUtil.java
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@@ -28,7 +28,6 @@ import edu.wpi.first.cscore.CvSource;
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;
@@ -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++) {

1
photon-targeting/build.gradle
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@@ -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()

18
photon-targeting/src/main/java/org/photonvision/estimation/OpenCVHelp.java
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@@ -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;
@@ -26,7 +27,6 @@ import edu.wpi.first.math.geometry.Rotation3d;
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;
@@ -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));
}