mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-20 00:51:41 +00:00
a0c85fc95f
Initial framework for adding JNI libraries. Auto generated JNI headers and sticks native libraries into the JAR (and adds to class path for testing)
84 lines
5.3 KiB
Markdown
84 lines
5.3 KiB
Markdown
# PhotonVision
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[](https://github.com/PhotonVision/photonvision/actions?query=workflow%3ACI) [](https://codecov.io/gh/PhotonVision/photonvision) [](https://discord.gg/wYxTwym)
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PhotonVision is the free, fast, and easy-to-use computer vision solution for the *FIRST* Robotics Competition. You can read an overview of our features [on our website](https://photonvision.org). You can find our comprehensive documentation [here](https://docs.photonvision.org).
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The latest release of platform-specific jars and images is found [here](https://github.com/PhotonVision/photonvision/releases).
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If you are interested in contributing code or documentation to the project, please [read our getting started page for contributors](https://docs.photonvision.org/en/latest/docs/contributing/index.html) and **[join the Discord](https://discord.gg/wYxTwym) to introduce yourself!** We hope to provide a welcoming community to anyone who is interested in helping.
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## Authors
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<a href="https://github.com/PhotonVision/photonvision/graphs/contributors">
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<img src="https://contrib.rocks/image?repo=PhotonVision/photonvision" />
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</a>
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## Documentation
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- Our main documentation page: [docs.photonvision.org](https://docs.photonvision.org)
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- Photon UI demo: [demo.photonvision.org](https://demo.photonvision.org) (or [manual link](https://photonvision.github.io/photonvision/built-client/))
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- Javadocs: [javadocs.photonvision.org](https://javadocs.photonvision.org) (or [manual link](https://photonvision.github.io/photonvision/built-docs/javadoc/))
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- C++ Doxygen [cppdocs.photonvision.org](https://cppdocs.photonvision.org) (or [manual link](https://photonvision.github.io/photonvision/built-docs/doxygen/html/))
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## Building
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Gradle is used for all C++ and Java code, and NPM is used for the web UI. Instructions to compile PhotonVision yourself can be found [in our docs](https://docs.photonvision.org/en/latest/docs/contributing/photonvision/build-instructions.html?highlight=npm%20install#compiling-instructions).
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You can run one of the many built in examples straight from the command line, too! They contain a fully featured robot project, and some include simulation support. The projects can be found inside the [`photonlib-java-examples`](photonlib-java-examples) and [`photonlib-cpp-examples`](photonlib-cpp-examples) subdirectories, respectively. Instructions for running these examples directly from the repo are found [in the docs](https://docs.photonvision.org/en/latest/docs/contributing/photonvision/build-instructions.html#running-examples).
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## Gradle Arguments
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Note that these are case sensitive!
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* `-PArchOverride=foobar`: builds for a target system other than your current architecture. Valid overrides are:
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* linuxathena
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* linuxarm64
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* arm64
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* x86-64
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* x86
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- `-PtgtIP`: Specifies where `./gradlew deploy` should try to copy the fat JAR to
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- `-Pprofile`: enables JVM profiling
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If you're cross-compiling, you'll need the wpilib toolchain installed. This can be done via Gradle: for example `./gradlew installArm64Toolchain` or `./gradlew installRoboRioToolchain`
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## Out-of-Source Dependencies
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PhotonVision uses the following additonal out-of-source repositories for building code.
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- Base system images for Raspberry Pi & Orange Pi: https://github.com/PhotonVision/photon-image-modifier
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- C++ driver for Raspberry Pi CSI cameras: https://github.com/PhotonVision/photon-libcamera-gl-driver
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- JNI code for [mrcal](https://mrcal.secretsauce.net/): https://github.com/PhotonVision/mrcal-java
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- Custom build of OpenCV with GStreamer/Protobuf/other custom flags: https://github.com/PhotonVision/thirdparty-opencv
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- JNI code for aruco-nano: https://github.com/PhotonVision/aruconano-jni
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## Additional packages
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For now, using mrcal requires installing these additional packages on Linux systems:
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```
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sudo apt install libcholmod3 liblapack3 libsuitesparseconfig5
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```
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## Acknowledgments
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PhotonVision was forked from [Chameleon Vision](https://github.com/Chameleon-Vision/chameleon-vision/). Thank you to everyone who worked on the original project.
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* [WPILib](https://github.com/wpilibsuite) - Specifically [cscore](https://github.com/wpilibsuite/allwpilib/tree/master/cscore), [CameraServer](https://github.com/wpilibsuite/allwpilib/tree/master/cameraserver), [NTCore](https://github.com/wpilibsuite/allwpilib/tree/master/ntcore), and [OpenCV](https://github.com/wpilibsuite/thirdparty-opencv).
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* [Apache Commons](https://commons.apache.org/) - Specifically [Commons Math](https://commons.apache.org/proper/commons-math/), and [Commons Lang](https://commons.apache.org/proper/commons-lang/)
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* [Javalin](https://javalin.io/)
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* [JSON](https://json.org)
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* [FasterXML](https://github.com/FasterXML) - Specifically [jackson](https://github.com/FasterXML/jackson)
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## License
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PhotonVision is licensed under the [GNU General Public License](https://www.gnu.org/licenses/gpl-3.0.html).
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## Meeting Notes
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Our [meeting notes](https://github.com/PhotonVision/photonvision/wiki/PhotonVision-Meeting-Notes) can be found in the wiki section of this repository.
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