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PhotonVision · Dec 27, 2023 · 5ff7138 · 5ff7138
1 parent 2b3ed4f
commit 5ff7138
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Showing 3 changed files with 44 additions and 58 deletions.
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
@@ -39,8 +39,8 @@ jobs:
       - run: git fetch --tags --force
       - run: |
           chmod +x gradlew
-          ./gradlew build
-      - run: ./gradlew publish photon-targeting:publish
+          ./gradlew build -Ptoolchain-optional-roboRio
+      - run: ./gradlew publish -Ptoolchain-optional-roboRio
         name: Publish
         env:
           ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
@@ -75,11 +75,11 @@ jobs:
       - name: Build PhotonLib
         run: |
           chmod +x gradlew
-          ./gradlew build
+          ./gradlew build -Ptoolchain-optional-roboRio
       - name: Publish
         run: |
           chmod +x gradlew
-          ./gradlew photon-lib:publish
+          ./gradlew publish -Ptoolchain-optional-roboRio
         env:
           ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
         if: github.event_name == 'push'

diff --git a/src/main/java/org/photonvision/ArucoNanoV5Detector.java b/src/main/java/org/photonvision/ArucoNanoV5Detector.java
@@ -17,24 +17,11 @@
 
 package org.photonvision;
 
-import java.util.Arrays;
-import org.opencv.core.Point;
-
 public final class ArucoNanoV5Detector {
     public static class DetectionResult {
         public DetectionResult(double[] corns, int id) {
-            this.xCorners = new double[]{
-                        corns[0],
-                        corns[2],
-                        corns[4],
-                        corns[6]
-                    };
-            this.yCorners = new double[]{
-                        corns[1],
-                        corns[3],
-                        corns[5],
-                        corns[7]
-                    };
+            this.xCorners = new double[] {corns[0], corns[2], corns[4], corns[6]};
+            this.yCorners = new double[] {corns[1], corns[3], corns[5], corns[7]};
             this.id = id;
         }
 

diff --git a/src/test/java/org/photonvision/DetectorTest.java b/src/test/java/org/photonvision/DetectorTest.java
@@ -3,16 +3,7 @@
 import edu.wpi.first.cscore.CameraServerCvJNI;
 import edu.wpi.first.util.CombinedRuntimeLoader;
 import java.io.IOException;
-import java.util.ArrayList;
-import java.util.List;
-import org.junit.jupiter.api.Test;
 import org.opencv.core.Core;
-import org.opencv.core.Mat;
-import org.opencv.core.MatOfPoint;
-import org.opencv.core.Scalar;
-import org.opencv.highgui.HighGui;
-import org.opencv.imgcodecs.Imgcodecs;
-import org.opencv.imgproc.Imgproc;
 
 public class DetectorTest {
 
@@ -29,39 +20,47 @@ public static boolean loadLibraries() {
         }
     }
 
-    @Test
-    public void testThing() {
-        DetectorTest.loadLibraries();
-        System.load(
-                "/home/matt/Documents/GitHub/fiducial-playground/build/libs/photonmiscjniJNI/shared/linuxx86-64/release/libphotonmiscjnijni.so");
+    // @Test
+    // public void testThing() {
+    //     DetectorTest.loadLibraries();
+    //     System.load(
+    //
+    // "/home/matt/Documents/GitHub/fiducial-playground/build/libs/photonmiscjniJNI/shared/linuxx86-64/release/libphotonmiscjnijni.so");
 
-        var mat = Imgcodecs.imread("image1.jpg");
-        var out = new Mat();
-        mat.copyTo(out);
-        Imgproc.cvtColor(mat, mat, Imgproc.COLOR_BGR2GRAY);
+    //     var mat = Imgcodecs.imread("image1.jpg");
+    //     var out = new Mat();
+    //     mat.copyTo(out);
+    //     Imgproc.cvtColor(mat, mat, Imgproc.COLOR_BGR2GRAY);
 
-        for (int i = 0; i < 1; i++) {
-            var start = System.nanoTime();
-            var ret = List.of(ArucoNanoV5Detector.detect(mat.getNativeObjAddr(), 0));
-            var end = System.nanoTime();
-            var dt = (end - start) / 1e6;
-            System.out.println(ret);
-            System.out.println("Dt ms: " + dt);
+    //     for (int i = 0; i < 1; i++) {
+    //         var start = System.nanoTime();
+    //         var ret = List.of(ArucoNanoV5Detector.detect(mat.getNativeObjAddr(), 0));
+    //         var end = System.nanoTime();
+    //         var dt = (end - start) / 1e6;
+    //         System.out.println(ret);
+    //         System.out.println("Dt ms: " + dt);
 
-            ArrayList<MatOfPoint> pts = new ArrayList<>();
-            for (var tgt : ret) {
-                var m = new MatOfPoint();
-                m.fromArray(tgt.corners);
-                pts.add(m);
-            }
-            Imgproc.polylines(out, pts, true, new Scalar(0, 255, 0), 2);
+    //         ArrayList<MatOfPoint> pts = new ArrayList<>();
+    //         for (var tgt : ret) {
+    //             var m = new MatOfPoint();
+    //             // TODO
+    //             pts.add(m);
+    //         }
+    //         Imgproc.polylines(out, pts, true, new Scalar(0, 255, 0), 2);
 
-            for (var tgt : ret) {
-                Imgproc.putText(out, "id " + tgt.id, tgt.corners[0], 0, 1, new Scalar(255, 255, 0), 2);
-            }
+    //         for (var tgt : ret) {
+    //             Imgproc.putText(
+    //                     out,
+    //                     "id " + tgt.id,
+    //                     new Point(tgt.xCorners[0], tgt.yCorners[0]),
+    //                     0,
+    //                     1,
+    //                     new Scalar(255, 255, 0),
+    //                     2);
+    //         }
 
-            HighGui.imshow("foo", out);
-            HighGui.waitKey(20000);
-        }
-    }
+    //         // HighGui.imshow("foo", out);
+    //         // HighGui.waitKey(20000);
+    //     }
+    // }
 }