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Use cscore for PublishVideoOperation #866

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Use cscore for PublishVideoOperation #866

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d16e05d
Use cscore for PublishVideoOperation
SamCarlberg Nov 9, 2017
af7ebeb
Smart port reuse
SamCarlberg Nov 9, 2017
1691326
Improve NetworkTable code
SamCarlberg Nov 9, 2017
86829a7
Updates from review. Add lots of documentation, fix hostname on windows
SamCarlberg Nov 9, 2017
a65ffd2
Use InetAddress.localhost() for getting hostname, add test for mat copy
SamCarlberg Nov 9, 2017
40343c8
Use Mat ctor for copying pointer, use NetworkInterface to get host IPs
SamCarlberg Nov 10, 2017
93022f7
Re-add test for compatiblity between JavaCV and OpenCV
SamCarlberg Nov 10, 2017
b4bff3b
Remove unused static list of network interfaces, use assume() in test
SamCarlberg Nov 12, 2017
c1869f8
Copy bytes instead of native pointers
SamCarlberg Dec 20, 2017
54da545
Merge branch 'master' into cscore-publishing
SamCarlberg Dec 20, 2017
644cab8
Remove unneeded preloading
SamCarlberg Dec 20, 2017
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15 changes: 11 additions & 4 deletions build.gradle
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Expand Up @@ -225,10 +225,10 @@ project(":core") {

dependencies {
compile group: 'com.google.code.findbugs', name: 'jsr305', version: '3.0.1'
compile group: 'org.bytedeco', name: 'javacv', version: '1.1'
compile group: 'org.bytedeco.javacpp-presets', name: 'opencv', version: '3.0.0-1.1'
compile group: 'org.bytedeco.javacpp-presets', name: 'opencv', version: '3.0.0-1.1', classifier: os
compile group: 'org.bytedeco.javacpp-presets', name: 'opencv-3.0.0-1.1', classifier: 'linux-frc'
compile group: 'org.bytedeco', name: 'javacv', version: '1.3.3'
compile group: 'org.bytedeco.javacpp-presets', name: 'opencv', version: '3.2.0-1.3'
compile group: 'org.bytedeco.javacpp-presets', name: 'opencv', version: '3.2.0-1.3', classifier: os
//compile group: 'org.bytedeco.javacpp-presets', name: 'opencv-3.0.0-1.1', classifier: 'linux-frc'
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Commented out because there's no opencv-3.2.0-1.3 with the linux-frc classifier and I'm worried about different memory models between binding versions (JavaCV with 3.0.0, OpenCV with 3.2.0) . This could get removed entirely if we remove the deploy functionality.

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With this commented out as it is is the deploy functionality essentially nerfed? If so, then we should remove the deployer for this season.

compile group: 'org.bytedeco.javacpp-presets', name: 'videoinput', version: '0.200-1.1', classifier: os
compile group: 'org.bytedeco.javacpp-presets', name: 'ffmpeg', version: '0.200-1.1', classifier: os
compile group: 'org.python', name: 'jython', version: '2.7.0'
Expand All @@ -253,6 +253,13 @@ project(":core") {
compile group: 'org.ros.rosjava_messages', name: 'grip_msgs', version: '0.0.1'
compile group: 'edu.wpi.first.wpilib.networktables.java', name: 'NetworkTables', version: '3.1.2', classifier: 'desktop'
compile group: 'edu.wpi.first.wpilib.networktables.java', name: 'NetworkTables', version: '3.1.2', classifier: 'arm'

// cscore dependencies
compile group: 'edu.wpi.first.cscore', name: 'cscore-java', version: '1.1.0-beta-2'
compile group: 'edu.wpi.first.cscore', name: 'cscore-jni', version: '1.1.0-beta-2', classifier: 'all'
runtime group: 'edu.wpi.first.wpiutil', name: 'wpiutil-java', version: '3.+'
compile group: 'org.opencv', name: 'opencv-java', version: '3.2.0'
compile group: 'org.opencv', name: 'opencv-jni', version: '3.2.0', classifier: 'all'
}

mainClassName = 'edu.wpi.grip.core.Main'
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214 changes: 99 additions & 115 deletions core/src/main/java/edu/wpi/grip/core/operations/composite/PublishVideoOperation.java
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Expand Up @@ -10,34 +10,47 @@
import com.google.common.collect.ImmutableList;

import edu.umd.cs.findbugs.annotations.SuppressFBWarnings;

import org.bytedeco.javacpp.BytePointer;
import org.bytedeco.javacpp.IntPointer;

import java.io.DataInputStream;
import java.io.DataOutputStream;
import java.io.IOException;
import java.net.ServerSocket;
import java.net.Socket;
import edu.wpi.cscore.CameraServerJNI;
import edu.wpi.cscore.CvSource;
import edu.wpi.cscore.MjpegServer;
import edu.wpi.cscore.VideoMode;
import edu.wpi.first.wpilibj.networktables.NetworkTable;
import edu.wpi.first.wpilibj.tables.ITable;

import org.bytedeco.javacpp.opencv_core;
import org.opencv.core.Mat;

import java.lang.reflect.Field;
import java.util.Deque;
import java.util.LinkedList;
import java.util.List;
import java.util.logging.Level;
import java.util.logging.Logger;
import java.util.stream.Collectors;
import java.util.stream.Stream;

import static org.bytedeco.javacpp.opencv_core.Mat;
import static org.bytedeco.javacpp.opencv_imgcodecs.CV_IMWRITE_JPEG_QUALITY;
import static org.bytedeco.javacpp.opencv_imgcodecs.imencode;
import static org.bytedeco.javacpp.opencv_core.CV_8S;
import static org.bytedeco.javacpp.opencv_core.CV_8U;

/**
* Publish an M-JPEG stream with the protocol used by SmartDashboard and the FRC Dashboard. This
* allows FRC teams to view video streams on their dashboard during competition even when GRIP has
* exclusive access to the camera. In addition, an intermediate processed image in the pipeline
* could be published instead. Based on WPILib's CameraServer class:
* https://github.com/robotpy/allwpilib/blob/master/wpilibj/src/athena/java/edu/wpi/first/wpilibj
* /CameraServer.java
* exclusive access to the camera. Uses cscore to host the image streaming server.
*/
public class PublishVideoOperation implements Operation {

private static final Logger logger = Logger.getLogger(PublishVideoOperation.class.getName());

static {
try {
// Loading the CameraServerJNI class will load the appropriate platform-specific OpenCV JNI
CameraServerJNI.getHostname();
} catch (Throwable e) {
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Can native bindings ever throw an InterruptedException? If so, make sure that this handles it correctly.

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It's most likely to be UnsatisfiedLinkError or a related error. No interrupted exceptions here.

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Unless we explicitly throw interrupted from the JNI level, nothing in JNI otherwise would throw it. And since its a dumb idea to interrupt a thread anyway, we would never throw it internally. Pretty much all that shows up is UnsatisfiedLinkError, or one of the few runtime exceptions we throw.

Note this should be using forceLoad(), not getHostname() (I don't think we had forceLoad() then), but I will my sure my version does that.

logger.log(Level.SEVERE, "CameraServerJNI load failed! Exiting", e);
System.exit(31);
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This should set a flag and make the operation throw an exception in perform() instead of suddenly exiting the entire application

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Yea, we want to limit the number crashes that don't display the crash dialog.

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Theres actually nothing to catch, because internally in the JNI loading classes we call System.exit(1). There would be no exception ever caught here. It would be impossible to catch.

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After a little discussion, we will leave the IO Exception that the static constructor can throw in flight, that way its catchable. That will be a change on our side. We will do the same thing to ntcore as well.

}
}
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Does this need to happen statically? Can't this be done when the operation is constructed?

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Then the cscore loading check would happen every time a new operation is created instead of only once, when the class loads. I'd prefer to just have a flag set so the operation can be created normally and just throw an exception in perform() so users can see the operation failing (and hopefully report it to us)


public static final OperationDescription DESCRIPTION =
OperationDescription.builder()
.name("Publish Video")
Expand All @@ -46,110 +59,55 @@ public class PublishVideoOperation implements Operation {
.icon(Icon.iconStream("publish-video"))
.build();
private static final int PORT = 1180;
private static final byte[] MAGIC_NUMBER = {0x01, 0x00, 0x00, 0x00};

@SuppressWarnings("PMD.AssignmentToNonFinalStatic")
private static int totalStepCount;
@SuppressWarnings("PMD.AssignmentToNonFinalStatic")
private static int numSteps;
private final Object imageLock = new Object();
private final BytePointer imagePointer = new BytePointer();
private final Thread serverThread;
private final InputSocket<Mat> inputSocket;
private static final int MAX_STEP_COUNT = 10; // limit ports to 1180-1189
private static final Deque<Integer> availablePorts =
Stream.iterate(PORT, i -> i + 1)
.limit(MAX_STEP_COUNT)
.collect(Collectors.toCollection(LinkedList::new));

private final InputSocket<opencv_core.Mat> inputSocket;
private final InputSocket<Number> qualitySocket;
@SuppressWarnings("PMD.SingularField")
private volatile boolean connected = false;
/**
* Listens for incoming connections on port 1180 and writes JPEG data whenever there's a new
* frame.
*/
private final Runnable runServer = () -> {
// Loop forever (or at least until the thread is interrupted). This lets us recover from the
// dashboard
// disconnecting or the network connection going away temporarily.
while (!Thread.currentThread().isInterrupted()) {
try (ServerSocket serverSocket = new ServerSocket(PORT)) {
logger.info("Starting camera server");

try (Socket socket = serverSocket.accept()) {
logger.info("Got connection from " + socket.getInetAddress());
connected = true;

DataOutputStream socketOutputStream = new DataOutputStream(socket.getOutputStream());
DataInputStream socketInputStream = new DataInputStream(socket.getInputStream());

byte[] buffer = new byte[128 * 1024];
int bufferSize;

final int fps = socketInputStream.readInt();
final int compression = socketInputStream.readInt();
final int size = socketInputStream.readInt();

if (compression != -1) {
logger.warning("Dashboard video should be in HW mode");
}

final long frameDuration = 1000000000L / fps;
long startTime = System.nanoTime();

while (!socket.isClosed() && !Thread.currentThread().isInterrupted()) {
// Wait for the main thread to put a new image. This happens whenever perform() is
// called with
// a new input.
synchronized (imageLock) {
imageLock.wait();

// Copy the image data into a pre-allocated buffer, growing it if necessary
bufferSize = imagePointer.limit();
if (bufferSize > buffer.length) {
buffer = new byte[imagePointer.limit()];
}
imagePointer.get(buffer, 0, bufferSize);
}

// The FRC dashboard image protocol consists of a magic number, the size of the image
// data,
// and the image data itself.
socketOutputStream.write(MAGIC_NUMBER);
socketOutputStream.writeInt(bufferSize);
socketOutputStream.write(buffer, 0, bufferSize);

// Limit the FPS to whatever the dashboard requested
int remainingTime = (int) (frameDuration - (System.nanoTime() - startTime));
if (remainingTime > 0) {
Thread.sleep(remainingTime / 1000000, remainingTime % 1000000);
}

startTime = System.nanoTime();
}
}
} catch (IOException e) {
logger.log(Level.WARNING, e.getMessage(), e);
} catch (InterruptedException e) {
Thread.currentThread().interrupt(); // This is really unnecessary since the thread is
// about to exit
logger.info("Shutting down camera server");
return;
} finally {
connected = false;
}
}
};
private final MjpegServer server;
private final CvSource serverSource;

// Write to the /CameraPublisher table so the MJPEG streams are discoverable by other
// applications connected to the same NetworkTable server (eg Shuffleboard)
private static final ITable cameraPublisherTable = NetworkTable.getTable("/CameraPublisher");
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Can you not load this statically? Instead do it at instantiation time.

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What would that gain?

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If it fails then GRIP doesn't crash immediately.

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So instead of crashing to desktop at initialization when creating the operations list, it'll crash to desktop when adding a new PublishVideo operation. I guess that's better because at least users will see it happens when adding the operation

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@SamCarlberg SamCarlberg Nov 9, 2017 •
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We'll also need to update NetworkTables to 4.0, but that's a different PR

private final ITable ourTable;
private final Mat publishMat = new Mat();
private long lastFrame = -1;

@SuppressWarnings("JavadocMethod")
@SuppressFBWarnings(value = "ST_WRITE_TO_STATIC_FROM_INSTANCE_METHOD",
justification = "Do not need to synchronize inside of a constructor")
public PublishVideoOperation(InputSocket.Factory inputSocketFactory) {
if (numSteps != 0) {
throw new IllegalStateException("Only one instance of PublishVideoOperation may exist");
if (numSteps >= MAX_STEP_COUNT) {
throw new IllegalStateException(
"Only " + MAX_STEP_COUNT + " instances of PublishVideoOperation may exist");
}
this.inputSocket = inputSocketFactory.create(SocketHints.Inputs.createMatSocketHint("Image",
false));
this.qualitySocket = inputSocketFactory.create(SocketHints.Inputs
.createNumberSliderSocketHint("Quality", 80, 0, 100));
numSteps++;

serverThread = new Thread(runServer, "Camera Server");
serverThread.setDaemon(true);
serverThread.start();
int ourPort = availablePorts.removeFirst();

server = new MjpegServer("GRIP video publishing server " + totalStepCount, ourPort);
serverSource = new CvSource("GRIP CvSource " + totalStepCount,
VideoMode.PixelFormat.kMJPEG, 0, 0, 0);
server.setSource(serverSource);

ourTable = cameraPublisherTable.getSubTable("GRIP-" + totalStepCount);
ourTable.putStringArray("streams",
new String[]{CameraServerJNI.getHostname() + ":" + ourPort + "/?action=stream"});

numSteps++;
totalStepCount++;
}

@Override
Expand All @@ -167,25 +125,51 @@ public List<OutputSocket> getOutputSockets() {

@Override
public void perform() {
if (!connected) {
return; // Don't waste any time converting images if there's no dashboard connected
}

if (inputSocket.getValue().get().empty()) {
final long now = System.nanoTime(); // NOPMD
opencv_core.Mat input = inputSocket.getValue().get();
if (input.empty() || input.isNull()) {
throw new IllegalArgumentException("Input image must not be empty");
}

synchronized (imageLock) {
imencode(".jpeg", inputSocket.getValue().get(), imagePointer,
new IntPointer(CV_IMWRITE_JPEG_QUALITY, qualitySocket.getValue().get().intValue()));
imageLock.notifyAll();
copyJavaCvToOpenCvMat(input, publishMat);
serverSource.putFrame(publishMat);
if (lastFrame != -1) {
long dt = now - lastFrame;
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I've seen this actually be 0 even though you are using nano seconds. (This is highly unlikely but we saw it in the camera source code in one bug) This will cause a DIV by zero exception.

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It'll actually be Double.Infinity per IEEE spec for floating-point numbers (1e9 / 0L = Infinity)

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@JLLeitschuh JLLeitschuh Nov 9, 2017 •
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(int) 1e9 / 0L will throw java.lang.ArithmeticException: / by zero because of the cast.
Cast in the wrong place.

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In kotlin: (1e9 / 0L).toInt() is equal to 2147483647 which is an insanely high frame rate. Is that what you want to set it to?

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It's technically infinite since the new frame comes at the same time as the previous one. But it doesn't happen here because it's rate limited by the pipeline and the update rate of the pipeline sources. I seriously doubt dt will ever be less than a few hundred microseconds.

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Okay, that's fine then.

serverSource.setFPS((int) (1e9 / dt));
}
lastFrame = now;
server.setSource(serverSource);
}

@Override
public synchronized void cleanUp() {
// Stop the video server if there are no Publish Video steps left
serverThread.interrupt();
numSteps--;
availablePorts.addFirst(server.getPort());
ourTable.getKeys().forEach(ourTable::delete);
}

private void copyJavaCvToOpenCvMat(opencv_core.Mat javaCvMat, Mat openCvMat) {
if (javaCvMat.depth() != CV_8U && javaCvMat.depth() != CV_8S) {
throw new IllegalArgumentException("Only 8-bit depth images are supported");
}

final opencv_core.Size size = javaCvMat.size();

// Make sure the output resolution is up to date
serverSource.setResolution(size.width(), size.height());

// Make the OpenCV Mat object point to the same block of memory as the JavaCV object.
// This requires no data transfers or copies and is O(1) instead of O(n)
if (javaCvMat.address() != openCvMat.nativeObj) {
try {
Field nativeObjField = Mat.class.getField("nativeObj");
nativeObjField.setAccessible(true);
nativeObjField.setLong(openCvMat, javaCvMat.address());
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This seems like a terrible idea, but I understand what you are doing here.
Do you actually see speed benefits from doing this?
@saudet Is there any reason why doing this assignment could shoot us in the foot?

This is taking the memory address of the OpenCV mat and basically telling JavaCV to use it's memory instead.

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First it'd say, what is missing from JavaCV that you need to use the other set of bindings? IMO, we should fix that so we don't need to do things like that.

And even when that's necessary, we don't need to use reflection.

Just passing the pointer address around is sufficient, as long as you make sure they are from the same version of OpenCV, compiled with the same compiler, the same flags, etc and to make sure memory isn't prematurely deallocated and that it gets deallocated by the same binaries used to allocate it.

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Is there a way of creating a Mat just using the memory address??

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@SamCarlberg Ping on this? Thoughts on making sure the memory isn't inconsistently GCed?

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@ThadHouse ThadHouse Apr 19, 2019 •
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See my comment at the bottom. In the rewrite, all the memory mapping between different opencv versions will be gone. There will be no wpilib opencv interface anymore. And the API designed is allocation free.

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@ThadHouse ThadHouse Apr 19, 2019 •
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As an example, The following class would be added to GRIP. It will use the JavaCV version of OpenCV, and always copy from the raw image into the requested Mat. It is memory safe, and does not depend at all on the internal representation of how an OpenCV Mat looks. There's some tricks on the cscore jni side to avoid allocations when needed, but everything is in spec, no reflection or undefined behavior.

https://github.com/wpilibsuite/allwpilib/blob/13e15663b6570028a9222b4990d141d16fda3a72/cscore/src/dev/java/edu/wpi/cscore/RawCVMatSink.java

This would be what the source side looks like
https://github.com/wpilibsuite/allwpilib/blob/d56dee9c493e8de59340b22d4cc43bc8ba40239d/cscore/src/dev/java/edu/wpi/cscore/RawCVMatSource.java

We internally copy the pointer, so again not depending on any memory issues, or native layouts.

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@SamCarlberg Do we want to wait for that update then?

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I think so. Thad's offered to do do the rewrite with the new cscore stuff. Maybe we should also use the cameraserver library for doing the stream hosting instead of manually doing the Networktable side

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I wouldn't be able to bring it in directly (because of the opencv dependency) but I could bring in most of it. There's a lot extra we wouldnt need there as well.

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I wouldn't be able to bring it in directly (because of the opencv dependency) but I could bring in most of it. There's a lot extra we wouldnt need there as well.

} catch (ReflectiveOperationException e) {
logger.log(Level.WARNING, "Could not set native object pointer", e);
}
}
}

}
4 changes: 2 additions & 2 deletions core/src/main/java/edu/wpi/grip/core/operations/composite/SaveImageOperation.java
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Original file line number Diff line number Diff line change
Expand Up @@ -124,9 +124,9 @@ public void perform() {
imencode("." + fileTypesSocket.getValue().get(), inputSocket.getValue().get(), imagePointer,
new IntPointer(CV_IMWRITE_JPEG_QUALITY, qualitySocket.getValue().get().intValue()));
byte[] buffer = new byte[128 * 1024];
int bufferSize = imagePointer.limit();
int bufferSize = (int) imagePointer.limit();
if (bufferSize > buffer.length) {
buffer = new byte[imagePointer.limit()];
buffer = new byte[bufferSize];
}
imagePointer.get(buffer, 0, bufferSize);

Expand Down
9 changes: 5 additions & 4 deletions core/src/main/java/edu/wpi/grip/core/operations/opencv/MinMaxLoc.java
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,7 @@

import com.google.common.collect.ImmutableList;

import org.bytedeco.javacpp.DoublePointer;
import org.bytedeco.javacpp.opencv_core;
import org.bytedeco.javacpp.opencv_core.Mat;
import org.bytedeco.javacpp.opencv_core.Point;
Expand Down Expand Up @@ -85,14 +86,14 @@ public void perform() {
if (mask.empty()) {
mask = null;
}
final double[] minVal = new double[1];
final double[] maxVal = new double[1];
DoublePointer minVal = new DoublePointer(0.0);
DoublePointer maxVal = new DoublePointer(0.0);
final Point minLoc = minLocSocket.getValue().get();
final Point maxLoc = maxLocSocket.getValue().get();

opencv_core.minMaxLoc(src, minVal, maxVal, minLoc, maxLoc, mask);
minValSocket.setValue(minVal[0]);
maxValSocket.setValue(maxVal[0]);
minValSocket.setValue(minVal.get(0));
maxValSocket.setValue(maxVal.get(0));
minLocSocket.setValue(minLocSocket.getValue().get());
maxLocSocket.setValue(maxLocSocket.getValue().get());
}
Expand Down
2 changes: 1 addition & 1 deletion core/src/test/java/edu/wpi/grip/core/sources/CameraSourceTest.java
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Original file line number Diff line number Diff line change
Expand Up @@ -281,7 +281,7 @@ static class MockFrameGrabber extends FrameGrabber {
for (int y = 0; y < frameIdx.rows(); y++) {
for (int x = 0; x < frameIdx.cols(); x++) {
for (int z = 0; z < frameIdx.channels(); z++) {
frameIdx.putDouble(new int[]{y, x, z}, y + x + z);
frameIdx.putDouble(new long[]{y, x, z}, y + x + z);
}
}
}
Expand Down