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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;
}