Update mrcal-java (#2214)

## Description Updating to take advantage of the now independent mrcal-java (no longer need to install SuiteSparse and friends!) ## Meta Merge checklist: - [x] Pull Request title is [short, imperative summary](https://cbea.ms/git-commit/) of proposed changes - [x] The description documents the _what_ and _why_ - [ ] If this PR changes behavior or adds a feature, user documentation is updated - [ ] If this PR touches photon-serde, all messages have been regenerated and hashes have not changed unexpectedly - [ ] If this PR touches configuration, this is backwards compatible with settings back to v2025.3.2 - [ ] If this PR touches pipeline settings or anything related to data exchange, the frontend typing is updated - [ ] If this PR addresses a bug, a regression test for it is added --------- Co-authored-by: Matt Morley <matthew.morley.ca@gmail.com>
2026-06-19 00:41:41 +00:00 · 2025-12-06 13:10:47 -05:00
parent 16751e9ecd
commit 5e830fae57
11 changed files with 40 additions and 115 deletions
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -50,15 +50,24 @@ jobs:
          distribution: temurin
      - name: Install RoboRIO Toolchain
        run: ./gradlew installRoboRioToolchain
+      - name: Delete duplicate toolchains
+        run: |
+          find ~/.gradle/cache/ -name *roborio-academic* -exec rm -rf {} +
+          du -h . | sort -h
+        if: matrix.os == 'ubuntu-22.04'
      # Need to publish to maven local first, so that C++ sim can pick it up
      - name: Publish photonlib to maven local
        run: ./gradlew photon-targeting:publishtomavenlocal photon-lib:publishtomavenlocal -x check
      - name: Build Java examples
        working-directory: photonlib-java-examples
-        run: ./gradlew build
+        run: |
+          ./gradlew build
+          ./gradlew clean
      - name: Build C++ examples
        working-directory: photonlib-cpp-examples
-        run: ./gradlew build
+        run: |
+          ./gradlew build
+          ./gradlew clean
  playwright-tests:
    name: "Playwright E2E tests"
    runs-on: ubuntu-22.04
@@ -84,8 +93,6 @@ jobs:
        uses: actions/setup-node@v4
        with:
          node-version: 22
-      - name: Install mrcal deps
-        run: sudo apt-get update && sudo apt-get install -y libcholmod3 liblapack3 libsuitesparseconfig5
      - name: Setup tests
        working-directory: photon-client
        run: |
@@ -127,8 +134,6 @@ jobs:
        uses: actions/setup-node@v4
        with:
          node-version: 22
-      - name: Install mrcal deps
-        run: sudo apt-get update && sudo apt-get install -y libcholmod3 liblapack3 libsuitesparseconfig5
      - name: Gradle Build
        run: ./gradlew photon-targeting:build photon-core:build photon-server:build -x check
      - name: Gradle Tests and Coverage
@@ -399,12 +404,6 @@ jobs:
      - uses: actions/download-artifact@v4
        with:
          name: ${{ matrix.artifact-name }}
-      # On linux, install mrcal packages
-      - run: |
-          sudo apt-get update
-          sudo apt-get install --yes libcholmod3 liblapack3 libsuitesparseconfig5
-        if: ${{ (matrix.os) == 'ubuntu-24.04' }}
-      # and actually run the jar
      - run: java -jar ${{ matrix.extraOpts }} *.jar --smoketest
        if: ${{ (matrix.os) != 'windows-latest' }}
      - run: ls *.jar | %{ Write-Host "Running $($_.Name)"; Start-Process "java" -ArgumentList "-jar `"$($_.FullName)`" --smoketest" -NoNewWindow -Wait; break }
--- a/README.md
+++ b/README.md
@@ -58,14 +58,6 @@ PhotonVision uses the following additional out-of-source repositories for buildi
 - Custom build of OpenCV with GStreamer/Protobuf/other custom flags: https://github.com/PhotonVision/thirdparty-opencv
 - JNI code for aruco-nano: https://github.com/PhotonVision/aruconano-jni

-## Additional packages
-
-For now, using mrcal requires installing these additional packages on Linux systems:
-
-```
-sudo apt install libcholmod3 liblapack3 libsuitesparseconfig5
-```
-
 ## Acknowledgments

 PhotonVision was forked from [Chameleon Vision](https://github.com/Chameleon-Vision/chameleon-vision/). Thank you to everyone who worked on the original project.
--- a/build.gradle
+++ b/build.gradle
@@ -41,7 +41,7 @@ ext {
    rknnVersion = "dev-v2025.0.0-5-g666c0c6"
    rubikVersion = "dev-v2025.1.0-6-g4a5e508"
    frcYear = "2025"
-    mrcalVersion = "v2025.0.0";
+    mrcalVersion = "dev-v2025.0.0-2-g2adb187";


    pubVersion = versionString
--- a/photon-core/build.gradle
+++ b/photon-core/build.gradle
@@ -56,7 +56,7 @@ dependencies {
                "osxx86-64",
                "osxarm64"
            ])) {
-        implementation("org.photonvision:photon-mrcal-jni:$mrcalVersion:$wpilibNativeName") {
+        wpilibNatives("org.photonvision:photon-mrcal-jni:$mrcalVersion:$wpilibNativeName") {
            transitive = false
        }
    }
--- a/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIPhotonConfiguration.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIPhotonConfiguration.java
@@ -25,7 +25,7 @@ import org.photonvision.common.dataflow.networktables.NetworkTablesManager;
 import org.photonvision.common.hardware.Platform;
 import org.photonvision.common.networking.NetworkManager;
 import org.photonvision.common.networking.NetworkUtils;
-import org.photonvision.mrcal.MrCalJNILoader;
+import org.photonvision.common.util.TestUtils;
 import org.photonvision.raspi.LibCameraJNILoader;
 import org.photonvision.vision.processes.VisionModule;
 import org.photonvision.vision.processes.VisionSourceManager;
@@ -54,7 +54,7 @@ public class UIPhotonConfiguration {
                                PhotonVersion.versionString,
                                // TODO add support for other types of GPU accel
                                LibCameraJNILoader.getInstance().isSupported() ? "Zerocopy Libcamera Working" : "",
-                                MrCalJNILoader.getInstance().isLoaded(),
+                                TestUtils.isMrcalLoaded(),
                                c.neuralNetworkPropertyManager().getModels(),
                                NeuralNetworkModelManager.getInstance().getSupportedBackends(),
                                c.getHardwareConfig().deviceName.isEmpty()
--- a/photon-core/src/main/java/org/photonvision/common/util/TestUtils.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/TestUtils.java
@@ -20,6 +20,7 @@ package org.photonvision.common.util;
 import com.fasterxml.jackson.databind.ObjectMapper;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.util.Units;
+import edu.wpi.first.util.CombinedRuntimeLoader;
 import java.awt.HeadlessException;
 import java.io.File;
 import java.io.IOException;
@@ -32,10 +33,28 @@ import org.photonvision.vision.pipeline.result.CVPipelineResult;
 import org.photonvision.vision.target.TrackedTarget;

 public class TestUtils {
+    private static boolean hasMrcalLoaded = false;
+
    public static boolean loadLibraries() {
        return LibraryLoader.loadWpiLibraries() && LibraryLoader.loadTargeting();
    }

+    public static boolean loadMrcal() {
+        if (hasMrcalLoaded) return true;
+        try {
+            CombinedRuntimeLoader.loadLibraries(TestUtils.class, "mrcal_jni");
+            hasMrcalLoaded = true;
+        } catch (IOException e) {
+            e.printStackTrace();
+            hasMrcalLoaded = false;
+        }
+        return hasMrcalLoaded;
+    }
+
+    public static boolean isMrcalLoaded() {
+        return hasMrcalLoaded;
+    }
+
    @SuppressWarnings("unused")
    public enum WPI2019Image {
        kCargoAngledDark48in(1.2192),
--- a/photon-core/src/main/java/org/photonvision/mrcal/MrCalJNILoader.java
+++ b/photon-core/src/main/java/org/photonvision/mrcal/MrCalJNILoader.java
@@ -1,82 +0,0 @@
-/*
- * Copyright (C) Photon Vision.
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <https://www.gnu.org/licenses/>.
- */
-
-package org.photonvision.mrcal;
-
-import java.io.IOException;
-import java.util.List;
-import org.photonvision.common.hardware.Platform;
-import org.photonvision.common.util.TestUtils;
-import org.photonvision.jni.PhotonJNICommon;
-
-public class MrCalJNILoader extends PhotonJNICommon {
-    private boolean isLoaded;
-    private static MrCalJNILoader instance = null;
-
-    private MrCalJNILoader() {
-        isLoaded = false;
-    }
-
-    public static synchronized MrCalJNILoader getInstance() {
-        if (instance == null) instance = new MrCalJNILoader();
-
-        return instance;
-    }
-
-    public static synchronized void forceLoad() throws IOException {
-        // Force load opencv
-        TestUtils.loadLibraries();
-
-        // Library naming is dumb and has "lib" appended for Windows when it ought not to
-        if (Platform.isWindows()) {
-            // Order is correct to match dependencies of libraries
-            forceLoad(
-                    MrCalJNILoader.getInstance(),
-                    MrCalJNILoader.class,
-                    List.of(
-                            "libamd",
-                            "libcamd",
-                            "libcolamd",
-                            "libccolamd",
-                            "openblas",
-                            "libwinpthread-1",
-                            "libgcc_s_seh-1",
-                            "libquadmath-0",
-                            "libgfortran-5",
-                            "liblapack",
-                            "libcholmod",
-                            "mrcal_jni"));
-        } else {
-            // Nothing else to do on linux
-            forceLoad(MrCalJNILoader.getInstance(), MrCalJNILoader.class, List.of("mrcal_jni"));
-        }
-
-        if (!MrCalJNILoader.getInstance().isLoaded()) {
-            throw new IOException("Unable to load mrcal JNI!");
-        }
-    }
-
-    @Override
-    public boolean isLoaded() {
-        return isLoaded;
-    }
-
-    @Override
-    public void setLoaded(boolean state) {
-        isLoaded = state;
-    }
-}
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Calibrate3dPipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Calibrate3dPipe.java
@@ -29,10 +29,10 @@ import org.opencv.core.*;
 import org.opencv.imgcodecs.Imgcodecs;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
+import org.photonvision.common.util.TestUtils;
 import org.photonvision.common.util.math.MathUtils;
 import org.photonvision.mrcal.MrCalJNI;
 import org.photonvision.mrcal.MrCalJNI.MrCalResult;
-import org.photonvision.mrcal.MrCalJNILoader;
 import org.photonvision.vision.calibration.BoardObservation;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
 import org.photonvision.vision.calibration.CameraLensModel;
@@ -94,7 +94,7 @@ public class Calibrate3dPipe
        CameraCalibrationCoefficients ret;
        var start = System.nanoTime();

-        if (MrCalJNILoader.getInstance().isLoaded() && params.useMrCal) {
+        if (TestUtils.isMrcalLoaded() && params.useMrCal) {
            logger.debug("Calibrating with mrcal!");
            ret =
                    calibrateMrcal(
--- a/photon-core/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java
@@ -37,7 +37,6 @@ import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.LogLevel;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.TestUtils;
-import org.photonvision.mrcal.MrCalJNILoader;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
 import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.frame.Frame;
@@ -52,7 +51,7 @@ public class Calibrate3dPipeTest {
    @BeforeAll
    public static void init() throws IOException {
        TestUtils.loadLibraries();
-        MrCalJNILoader.forceLoad();
+        TestUtils.loadMrcal();

        var logLevel = LogLevel.DEBUG;
        Logger.setLevel(LogGroup.Camera, logLevel);
--- a/photon-core/src/test/java/org/photonvision/vision/pipeline/CalibrationRotationPipeTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/pipeline/CalibrationRotationPipeTest.java
@@ -35,7 +35,6 @@ import org.photonvision.common.logging.LogLevel;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.estimation.OpenCVHelp;
-import org.photonvision.mrcal.MrCalJNILoader;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
 import org.photonvision.vision.calibration.CameraLensModel;
 import org.photonvision.vision.calibration.JsonMatOfDouble;
@@ -50,7 +49,7 @@ public class CalibrationRotationPipeTest {
    @BeforeAll
    public static void init() throws IOException {
        TestUtils.loadLibraries();
-        MrCalJNILoader.forceLoad();
+        TestUtils.loadMrcal();

        var logLevel = LogLevel.DEBUG;
        Logger.setLevel(LogGroup.Camera, logLevel);
--- a/photon-server/src/main/java/org/photonvision/Main.java
+++ b/photon-server/src/main/java/org/photonvision/Main.java
@@ -41,7 +41,6 @@ import org.photonvision.common.util.TestUtils;
 import org.photonvision.jni.LibraryLoader;
 import org.photonvision.jni.RknnDetectorJNI;
 import org.photonvision.jni.RubikDetectorJNI;
-import org.photonvision.mrcal.MrCalJNILoader;
 import org.photonvision.raspi.LibCameraJNILoader;
 import org.photonvision.server.Server;
 import org.photonvision.vision.apriltag.AprilTagFamily;
@@ -262,8 +261,8 @@ public class Main {
            logger.error("Failed to load rubik-JNI!", e);
        }
        try {
-            MrCalJNILoader.forceLoad();
-        } catch (IOException e) {
+            TestUtils.loadMrcal();
+        } catch (Exception e) {
            logger.warn(
                    "Failed to load mrcal-JNI! Camera calibration will fall back to opencv\n"
                            + e.getMessage());