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Force load opencv before using OpenCV functions (#1808)

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Force loads OpenCV before any OpenCV functions are used. `OpenCVLoader`
has all of its loading done in a static initializer field, so it's only
loaded once.

Also deprecates `OpenCVHelp.forceLoadOpenCV()`, since it's functionality
is the exact same.

Resolves #1803
This commit is contained in:
Gold87
2025-03-13 19:50:41 -04:00
committed by GitHub
parent 889c73ec91
commit f6736fc730
6 changed files with 28 additions and 12 deletions
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11
photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
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@@ -25,6 +25,7 @@
package org.photonvision;
import edu.wpi.first.apriltag.AprilTagFieldLayout;
import edu.wpi.first.cscore.OpenCvLoader;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.math.Matrix;
@@ -159,6 +160,11 @@ public class PhotonPoseEstimator {
this.primaryStrategy = strategy;
this.robotToCamera = robotToCamera;
if (strategy == PoseStrategy.MULTI_TAG_PNP_ON_RIO
|| strategy == PoseStrategy.CONSTRAINED_SOLVEPNP) {
OpenCvLoader.forceStaticLoad();
}
HAL.report(tResourceType.kResourceType_PhotonPoseEstimator, InstanceCount);
InstanceCount++;
}
@@ -231,6 +237,11 @@ public class PhotonPoseEstimator {
*/
public void setPrimaryStrategy(PoseStrategy strategy) {
checkUpdate(this.primaryStrategy, strategy);
if (strategy == PoseStrategy.MULTI_TAG_PNP_ON_RIO
|| strategy == PoseStrategy.CONSTRAINED_SOLVEPNP) {
OpenCvLoader.forceStaticLoad();
}
this.primaryStrategy = strategy;
}

3
photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java
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@@ -28,6 +28,7 @@ import edu.wpi.first.apriltag.AprilTagFieldLayout;
import edu.wpi.first.apriltag.AprilTagFields;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.cscore.CvSource;
import edu.wpi.first.cscore.OpenCvLoader;
import edu.wpi.first.cscore.VideoSource.ConnectionStrategy;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.Pair;
@@ -94,7 +95,7 @@ public class PhotonCameraSim implements AutoCloseable {
private boolean videoSimProcEnabled = true;
static {
OpenCVHelp.forceLoadOpenCV();
OpenCvLoader.forceStaticLoad();
}
@Override

3
photon-lib/src/main/java/org/photonvision/simulation/VideoSimUtil.java
View File

@@ -26,6 +26,7 @@ package org.photonvision.simulation;
import edu.wpi.first.apriltag.AprilTag;
import edu.wpi.first.cscore.CvSource;
import edu.wpi.first.cscore.OpenCvLoader;
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.math.util.Units;
@@ -62,7 +63,7 @@ public class VideoSimUtil {
private static double fieldWidth = 8.0137;
static {
OpenCVHelp.forceLoadOpenCV();
OpenCvLoader.forceStaticLoad();
// create Mats of 10x10 apriltag images
for (int i = 0; i < VideoSimUtil.kNumTags36h11; i++) {