Team2890/PhotonVision
4
0
Fork 0
mirror of https://github.com/PhotonVision/photonvision synced 2026-06-19 00:41:41 +00:00
Code Issues Packages Projects Releases Wiki Activity

Fix vendordep including all wpilib libraries (#1155)

Browse Source 
* Fix vendordep including all wpilib libraries. Without this fix, users were consuming a massively oversized .jar
This commit is contained in:
Thad House
2024-01-13 16:57:56 -08:00
committed by GitHub
parent a8aa32fab5
commit 6917ec8401
8 changed files with 268 additions and 118 deletions
Download Patch File Download Diff File Expand all files Collapse all files

34
photon-lib/src/test/java/org/photonvision/OpenCVTest.java
View File

@@ -26,31 +26,23 @@ package org.photonvision;
import static org.junit.jupiter.api.Assertions.*;
import edu.wpi.first.apriltag.jni.AprilTagJNI;
import edu.wpi.first.cscore.CameraServerCvJNI;
import edu.wpi.first.cscore.CameraServerJNI;
import edu.wpi.first.hal.JNIWrapper;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.geometry.Rotation2d;
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.net.WPINetJNI;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.networktables.NetworkTablesJNI;
import edu.wpi.first.util.CombinedRuntimeLoader;
import edu.wpi.first.util.WPIUtilJNI;
import java.io.IOException;
import java.util.List;
import org.junit.jupiter.api.BeforeAll;
import org.junit.jupiter.api.Test;
import org.opencv.core.Core;
import org.photonvision.estimation.CameraTargetRelation;
import org.photonvision.estimation.OpenCVHelp;
import org.photonvision.estimation.RotTrlTransform3d;
import org.photonvision.estimation.TargetModel;
import org.photonvision.simulation.SimCameraProperties;
import org.photonvision.simulation.VisionSystemSim;
import org.photonvision.simulation.VisionTargetSim;
public class OpenCVTest {
@@ -84,28 +76,8 @@ public class OpenCVTest {
private static final SimCameraProperties prop = new SimCameraProperties();
@BeforeAll
public static void setUp() {
JNIWrapper.Helper.setExtractOnStaticLoad(false);
WPIUtilJNI.Helper.setExtractOnStaticLoad(false);
NetworkTablesJNI.Helper.setExtractOnStaticLoad(false);
WPINetJNI.Helper.setExtractOnStaticLoad(false);
CameraServerJNI.Helper.setExtractOnStaticLoad(false);
CameraServerCvJNI.Helper.setExtractOnStaticLoad(false);
AprilTagJNI.Helper.setExtractOnStaticLoad(false);
try {
CombinedRuntimeLoader.loadLibraries(
VisionSystemSim.class,
"wpiutiljni",
"ntcorejni",
"wpinetjni",
"wpiHaljni",
Core.NATIVE_LIBRARY_NAME,
"cscorejni",
"apriltagjni");
} catch (Exception e) {
e.printStackTrace();
}
public static void setUp() throws IOException {
CameraServerCvJNI.forceLoad();
// NT live for debug purposes
NetworkTableInstance.getDefault().startServer();