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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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14
photon-targeting/src/main/java/org/photonvision/estimation/OpenCVHelp.java
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@@ -17,7 +17,7 @@
package org.photonvision.estimation;
import edu.wpi.first.cscore.CvSink;
import edu.wpi.first.cscore.OpenCvLoader;
import edu.wpi.first.math.MatBuilder;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.Nat;
@@ -54,14 +54,12 @@ public final class OpenCVHelp {
private static final Rotation3d NWU_TO_EDN;
private static final Rotation3d EDN_TO_NWU;
// 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;
/**
* @deprecated Replaced by {@link OpenCvLoader#forceStaticLoad()}
*/
@Deprecated(since = "2025", forRemoval = true)
public static void forceLoadOpenCV() {
if (dummySink != null) return;
dummySink = new CvSink("ignored");
dummySink.close();
OpenCvLoader.forceStaticLoad();
}
static {

5
photon-targeting/src/main/java/org/photonvision/estimation/VisionEstimation.java
View File

@@ -19,6 +19,7 @@ package org.photonvision.estimation;
import edu.wpi.first.apriltag.AprilTag;
import edu.wpi.first.apriltag.AprilTagFieldLayout;
import edu.wpi.first.cscore.OpenCvLoader;
import edu.wpi.first.math.MatBuilder;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.Nat;
@@ -105,6 +106,8 @@ public class VisionEstimation {
if (knownTags.isEmpty() || corners.isEmpty() || corners.size() % 4 != 0) {
return Optional.empty();
}
OpenCvLoader.forceStaticLoad();
Point[] points = OpenCVHelp.cornersToPoints(corners);
// single-tag pnp
@@ -200,6 +203,8 @@ public class VisionEstimation {
if (knownTags.isEmpty() || corners.isEmpty() || corners.size() % 4 != 0) {
return Optional.empty();
}
OpenCvLoader.forceStaticLoad();
Point[] points = OpenCVHelp.cornersToPoints(corners);
// Undistort