diff --git a/photon-core/build.gradle b/photon-core/build.gradle index 396388a773..aa30f0c379 100644 --- a/photon-core/build.gradle +++ b/photon-core/build.gradle @@ -55,6 +55,10 @@ dependencies { } testImplementation group: 'org.junit-pioneer' , name: 'junit-pioneer', version: '2.2.0' + + def arucoVer = "dev-v2024.0.1-15-g0d7210c" + implementation "org.photonvision:photonaruconano-jni:$arucoVer:$jniPlatform" + implementation "org.photonvision:photonaruconano-java:$arucoVer" } task writeCurrentVersion { diff --git a/photon-core/src/main/java/org/photonvision/jni/ArucoNanoDetectorJNI.java b/photon-core/src/main/java/org/photonvision/jni/ArucoNanoDetectorJNI.java new file mode 100644 index 0000000000..6ca295ce28 --- /dev/null +++ b/photon-core/src/main/java/org/photonvision/jni/ArucoNanoDetectorJNI.java @@ -0,0 +1,70 @@ +/* + * Copyright (C) Photon Vision. + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ + +package org.photonvision.jni; + +import java.io.IOException; +import java.util.List; +import java.util.stream.Collectors; +import org.photonvision.ArucoNanoV5Detector; +import org.photonvision.ArucoNanoV5Detector.DetectionResult; +import org.photonvision.common.util.TestUtils; +import org.photonvision.vision.aruco.ArucoDetectionResult; +import org.photonvision.vision.opencv.CVMat; + +public class ArucoNanoDetectorJNI extends PhotonJNICommon { + private boolean isLoaded; + private static ArucoNanoDetectorJNI instance = null; + + private ArucoNanoDetectorJNI() { + isLoaded = false; + } + + public static ArucoNanoDetectorJNI getInstance() { + if (instance == null) instance = new ArucoNanoDetectorJNI(); + + return instance; + } + + public static synchronized void forceLoad() throws IOException { + var nativeLibName = System.mapLibraryName("photonaruconanojni"); + extractAndLoad(ArucoNanoDetectorJNI.class, "/windows/x86-64/"+nativeLibName,nativeLibName); + } + + @Override + public boolean isLoaded() { + return isLoaded; + } + + @Override + public void setLoaded(boolean state) { + isLoaded = state; + } + + public static List detect(CVMat in) { + DetectionResult[] ret = ArucoNanoV5Detector.detect(in.getMat().getNativeObjAddr(), 0); + + return List.of(ret).stream() + .map(it -> new ArucoDetectionResult(it.xCorners, it.yCorners, it.id)) + .collect(Collectors.toList()); + } + + public static void main(String[] args) throws IOException { + TestUtils.loadLibraries(); + forceLoad(); + } +} diff --git a/photon-core/src/main/java/org/photonvision/jni/PhotonJNICommon.java b/photon-core/src/main/java/org/photonvision/jni/PhotonJNICommon.java index edd24425cc..573c610b36 100644 --- a/photon-core/src/main/java/org/photonvision/jni/PhotonJNICommon.java +++ b/photon-core/src/main/java/org/photonvision/jni/PhotonJNICommon.java @@ -42,39 +42,47 @@ protected static synchronized void forceLoad( // We always extract the shared object (we could hash each so, but that's a lot of work) var arch_name = Platform.getNativeLibraryFolderName(); var nativeLibName = System.mapLibraryName(libraryName); - var in = clazz.getResourceAsStream("/nativelibraries/" + arch_name + "/" + nativeLibName); + boolean success = extractAndLoad(clazz, "/nativelibraries/" + arch_name + "/" + nativeLibName, nativeLibName); - if (in == null) { - instance.setLoaded(false); - return; + if (!success) { + logger.error("Could not load shared object " + libraryName); + break; } - - // It's important that we don't mangle the names of these files on Windows at least - File temp = new File(System.getProperty("java.io.tmpdir"), nativeLibName); - FileOutputStream fos = new FileOutputStream(temp); - - int read = -1; - byte[] buffer = new byte[1024]; - while ((read = in.read(buffer)) != -1) { - fos.write(buffer, 0, read); - } - fos.close(); - in.close(); - - System.load(temp.getAbsolutePath()); - - logger.info("Successfully loaded shared object " + temp.getName()); - - } catch (UnsatisfiedLinkError e) { + } catch (UnsatisfiedLinkError | IOException e) { logger.error("Couldn't load shared object " + libraryName, e); e.printStackTrace(); - // logger.error(System.getProperty("java.library.path")); break; } } instance.setLoaded(true); } + protected static boolean extractAndLoad(Class clazz, String path, String nativeLibName) throws IOException { + if (logger == null) logger = new Logger(clazz, LogGroup.Camera); + var in = clazz.getResourceAsStream(path); + + if (in == null) { + return false; + } + + // It's important that we don't mangle the names of these files on Windows at least + File temp = new File(System.getProperty("java.io.tmpdir"), nativeLibName); + FileOutputStream fos = new FileOutputStream(temp); + + int read = -1; + byte[] buffer = new byte[1024]; + while ((read = in.read(buffer)) != -1) { + fos.write(buffer, 0, read); + } + fos.close(); + in.close(); + + System.load(temp.getAbsolutePath()); + + logger.info("Successfully loaded shared object " + temp.getName()); + return true; + } + protected static synchronized void forceLoad( PhotonJNICommon instance, Class clazz, String libraryName) throws IOException { forceLoad(instance, clazz, List.of(libraryName)); diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/ArucoDetectionPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/ArucoDetectionPipe.java index 4d0cdb55e9..00e8fe694e 100644 --- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/ArucoDetectionPipe.java +++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/ArucoDetectionPipe.java @@ -26,6 +26,7 @@ import org.opencv.core.TermCriteria; import org.opencv.imgproc.Imgproc; import org.opencv.objdetect.Objdetect; +import org.photonvision.jni.ArucoNanoDetectorJNI; import org.photonvision.vision.aruco.ArucoDetectionResult; import org.photonvision.vision.aruco.PhotonArucoDetector; import org.photonvision.vision.opencv.CVMat; @@ -43,6 +44,8 @@ public class ArucoDetectionPipe @Override protected List process(CVMat in) { + if (in.getMat().empty()) return List.of(); + var imgMat = in.getMat(); // Sanity check -- image should not be empty @@ -51,8 +54,10 @@ protected List process(CVMat in) { return List.of(); } - var detections = photonDetector.detect(imgMat); - // manually do corner refinement ourselves + // var detections = photonDetector.detect(imgMat); + var detections = ArucoNanoDetectorJNI.detect(in); + + // manually do corner refinement ourselves (todo do we have to with aruco-nano?) if (params.useCornerRefinement) { for (var detection : detections) { double[] xCorners = detection.getXCorners(); @@ -93,7 +98,9 @@ protected List process(CVMat in) { } } } - return List.of(detections); + + // return List.of(detections); + return (detections); } @Override diff --git a/photon-core/src/test/java/org/photonvision/vision/pipeline/ArucoPipelineTest.java b/photon-core/src/test/java/org/photonvision/vision/pipeline/ArucoPipelineTest.java index 8a7a4af464..8ac42c70c7 100644 --- a/photon-core/src/test/java/org/photonvision/vision/pipeline/ArucoPipelineTest.java +++ b/photon-core/src/test/java/org/photonvision/vision/pipeline/ArucoPipelineTest.java @@ -18,12 +18,16 @@ package org.photonvision.vision.pipeline; import edu.wpi.first.math.geometry.Translation3d; + +import static org.junit.jupiter.api.Assertions.assertDoesNotThrow; + import java.util.stream.Collectors; import org.junit.jupiter.api.Assertions; import org.junit.jupiter.api.BeforeEach; import org.junit.jupiter.api.Test; import org.photonvision.common.configuration.ConfigManager; import org.photonvision.common.util.TestUtils; +import org.photonvision.jni.ArucoNanoDetectorJNI; import org.photonvision.vision.apriltag.AprilTagFamily; import org.photonvision.vision.camera.QuirkyCamera; import org.photonvision.vision.frame.provider.FileFrameProvider; @@ -36,6 +40,7 @@ public class ArucoPipelineTest { public void setup() { TestUtils.loadLibraries(); ConfigManager.getInstance().load(); + assertDoesNotThrow(ArucoNanoDetectorJNI::forceLoad); } @Test diff --git a/photon-server/src/main/java/org/photonvision/Main.java b/photon-server/src/main/java/org/photonvision/Main.java index 8ae7c8fd92..552f8723b4 100644 --- a/photon-server/src/main/java/org/photonvision/Main.java +++ b/photon-server/src/main/java/org/photonvision/Main.java @@ -38,6 +38,7 @@ import org.photonvision.common.networking.NetworkManager; import org.photonvision.common.util.TestUtils; import org.photonvision.common.util.numbers.IntegerCouple; +import org.photonvision.jni.ArucoNanoDetectorJNI; import org.photonvision.jni.RknnDetectorJNI; import org.photonvision.mrcal.MrCalJNILoader; import org.photonvision.raspi.LibCameraJNILoader; @@ -343,6 +344,13 @@ public static void main(String[] args) { logger.error("Failed to load native libraries!", e); } + try { + ArucoNanoDetectorJNI.forceLoad(); + logger.info("Loaded aruco nano JNI"); + } catch (Exception e) { + logger.error("Failed to load native libraries!", e); + } + try { if (Platform.isRaspberryPi()) { LibCameraJNILoader.forceLoad();