Fix review comments

PhotonVision · Jan 4, 2024 · d5624e8 · d5624e8
1 parent 06e044e
commit d5624e8
Show file tree

Hide file tree

Showing 7 changed files with 14 additions and 16 deletions.
diff --git a/devTools/calibrationUtils.py b/devTools/calibrationUtils.py
@@ -139,9 +139,7 @@ def main():
     parser = argparse.ArgumentParser(
         description="Convert Photon calibration JSON for use with mrcal"
     )
-    parser.add_argument(
-        "input", type=str, help="Path to Photon calibration JSON file"
-    )
+    parser.add_argument("input", type=str, help="Path to Photon calibration JSON file")
     parser.add_argument(
         "output_folder", type=str, help="Output folder for mrcal VNL file + images"
     )

diff --git a/photon-client/src/components/cameras/CameraCalibrationCard.vue b/photon-client/src/components/cameras/CameraCalibrationCard.vue
@@ -337,7 +337,7 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
               rounded
               color="red"
               text-color="white"
-              style="margin: 10px 0"
+              class="mt-3"
               icon="mdi-alert-circle-outline"
             >
               MrCal JNI could not be loaded! Consult journalctl logs for additional details.

diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java b/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java
@@ -27,7 +27,7 @@
 import org.photonvision.common.hardware.Platform;
 import org.photonvision.common.networking.NetworkUtils;
 import org.photonvision.common.util.SerializationUtils;
-import org.photonvision.mrcal.MrCal;
+import org.photonvision.mrcal.MrCalJNILoader;
 import org.photonvision.raspi.LibCameraJNILoader;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
 import org.photonvision.vision.processes.VisionModule;
@@ -141,7 +141,7 @@ public Map<String, Object> toHashMap() {
                 LibCameraJNILoader.isSupported()
                         ? "Zerocopy Libcamera Working"
                         : ""); // TODO add support for other types of GPU accel
-        generalSubmap.put("mrCalWorking", MrCal.isWorking());
+        generalSubmap.put("mrCalWorking", MrCalJNILoader.isWorking());
         generalSubmap.put("hardwareModel", hardwareConfig.deviceName);
         generalSubmap.put("hardwarePlatform", Platform.getPlatformName());
         settingsSubmap.put("general", generalSubmap);

diff --git a/...in/java/org/photonvision/mrcal/MrCal.java → ...rg/photonvision/mrcal/MrCalJNILoader.java b/...in/java/org/photonvision/mrcal/MrCal.java → ...rg/photonvision/mrcal/MrCalJNILoader.java
@@ -23,7 +23,7 @@
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.jni.PhotonJniCommon;
 
-public class MrCal extends PhotonJniCommon {
+public class MrCalJNILoader extends PhotonJniCommon {
     public static synchronized void forceLoad() throws IOException {
         // Force load opencv
         TestUtils.loadLibraries();
@@ -32,7 +32,7 @@ public static synchronized void forceLoad() throws IOException {
         if (Platform.isWindows()) {
             // Order is correct to match dependencies of libraries
             forceLoad(
-                    MrCal.class,
+                    MrCalJNILoader.class,
                     List.of(
                             "libamd",
                             "libcamd",
@@ -46,10 +46,10 @@ public static synchronized void forceLoad() throws IOException {
                             "mrcal_jni"));
         } else {
             // Nothing else to do on linux
-            forceLoad(MrCal.class, List.of("mrcal_jni"));
+            forceLoad(MrCalJNILoader.class, List.of("mrcal_jni"));
         }
 
-        if (!MrCal.isWorking()) {
+        if (!MrCalJNILoader.isWorking()) {
             throw new IOException("Can't load mrcal?");
         }
     }

diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Calibrate3dPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Calibrate3dPipe.java
@@ -32,9 +32,9 @@
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.math.MathUtils;
-import org.photonvision.mrcal.MrCal;
 import org.photonvision.mrcal.MrCalJNI;
 import org.photonvision.mrcal.MrCalJNI.MrCalResult;
+import org.photonvision.mrcal.MrCalJNILoader;
 import org.photonvision.vision.calibration.BoardObservation;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
 import org.photonvision.vision.calibration.JsonImageMat;
@@ -79,7 +79,7 @@ protected CameraCalibrationCoefficients process(
                                                 && it.size != null)
                         .collect(Collectors.toList());
 
-        if (MrCal.isWorking() && params.useMrCal) {
+        if (MrCalJNILoader.isWorking() && params.useMrCal) {
             logger.debug("Calibrating with mrcal!");
             return process_mrcal(in);
         } else {

diff --git a/photon-core/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java b/photon-core/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java
@@ -36,7 +36,7 @@
 import org.photonvision.common.logging.LogLevel;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.TestUtils;
-import org.photonvision.mrcal.MrCal;
+import org.photonvision.mrcal.MrCalJNILoader;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
 import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.frame.Frame;
@@ -49,7 +49,7 @@ public class Calibrate3dPipeTest {
     @BeforeAll
     public static void init() throws IOException {
         TestUtils.loadLibraries();
-        MrCal.forceLoad();
+        MrCalJNILoader.forceLoad();
 
         var logLevel = LogLevel.DEBUG;
         Logger.setLevel(LogGroup.Camera, logLevel);

diff --git a/photon-server/src/main/java/org/photonvision/Main.java b/photon-server/src/main/java/org/photonvision/Main.java
@@ -37,7 +37,7 @@
 import org.photonvision.common.networking.NetworkManager;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.common.util.numbers.IntegerCouple;
-import org.photonvision.mrcal.MrCal;
+import org.photonvision.mrcal.MrCalJNILoader;
 import org.photonvision.raspi.LibCameraJNILoader;
 import org.photonvision.server.Server;
 import org.photonvision.vision.camera.FileVisionSource;
@@ -319,7 +319,7 @@ public static void main(String[] args) {
         }
 
         try {
-            MrCal.forceLoad();
+            MrCalJNILoader.forceLoad();
         } catch (IOException e) {
             logger.error("Failed to load mrcal-JNI! Camera calibration will fall back to opencv", e);
         }