Update mrcal-java

.github/workflows/build.yml

@@ -50,15 +50,24 @@ jobs:
           distribution: temurin
       - name: Install RoboRIO Toolchain
         run: ./gradlew installRoboRioToolchain
+      - name: Delete duplicate toolchains
+        run: |
+          find ~/.gradle/cache/ -name *roborio-academic* -exec rm -rf {} +
+          du -h . | sort -h
+        if: matrix.os == 'ubuntu-22.04'
       # Need to publish to maven local first, so that C++ sim can pick it up
       - name: Publish photonlib to maven local
         run: ./gradlew photon-targeting:publishtomavenlocal photon-lib:publishtomavenlocal -x check
       - name: Build Java examples
         working-directory: photonlib-java-examples
-        run: ./gradlew build
+        run: |
+          ./gradlew build
+          ./gradlew clean
       - name: Build C++ examples
         working-directory: photonlib-cpp-examples
-        run: ./gradlew build
+        run: |
+          ./gradlew build
+          ./gradlew clean
   playwright-tests:
     name: "Playwright E2E tests"
     runs-on: ubuntu-22.04
@@ -84,8 +93,6 @@ jobs:
         uses: actions/setup-node@v4
         with:
           node-version: 22
-      - name: Install mrcal deps
-        run: sudo apt-get update && sudo apt-get install -y libcholmod3 liblapack3 libsuitesparseconfig5
       - name: Setup tests
         working-directory: photon-client
         run: |
@@ -127,8 +134,6 @@ jobs:
         uses: actions/setup-node@v4
         with:
           node-version: 22
-      - name: Install mrcal deps
-        run: sudo apt-get update && sudo apt-get install -y libcholmod3 liblapack3 libsuitesparseconfig5
       - name: Gradle Build
         run: ./gradlew photon-targeting:build photon-core:build photon-server:build -x check
       - name: Gradle Tests and Coverage
@@ -399,12 +404,6 @@ jobs:
       - uses: actions/download-artifact@v4
         with:
           name: ${{ matrix.artifact-name }}
-      # On linux, install mrcal packages
-      - run: |
-          sudo apt-get update
-          sudo apt-get install --yes libcholmod3 liblapack3 libsuitesparseconfig5
-        if: ${{ (matrix.os) == 'ubuntu-24.04' }}
-      # and actually run the jar
       - run: java -jar ${{ matrix.extraOpts }} *.jar --smoketest
         if: ${{ (matrix.os) != 'windows-latest' }}
       - run: ls *.jar | %{ Write-Host "Running $($_.Name)"; Start-Process "java" -ArgumentList "-jar `"$($_.FullName)`" --smoketest" -NoNewWindow -Wait; break }

README.md

@@ -58,14 +58,6 @@ PhotonVision uses the following additional out-of-source repositories for buildi
 - Custom build of OpenCV with GStreamer/Protobuf/other custom flags: https://github.com/PhotonVision/thirdparty-opencv
 - JNI code for aruco-nano: https://github.com/PhotonVision/aruconano-jni
 
-## Additional packages
-
-For now, using mrcal requires installing these additional packages on Linux systems:
-
-```
-sudo apt install libcholmod3 liblapack3 libsuitesparseconfig5
-```
-
 ## Acknowledgments
 
 PhotonVision was forked from [Chameleon Vision](https://github.com/Chameleon-Vision/chameleon-vision/). Thank you to everyone who worked on the original project.

build.gradle

@@ -41,7 +41,7 @@ ext {
     rknnVersion = "dev-v2025.0.0-5-g666c0c6"
     rubikVersion = "dev-v2025.1.0-6-g4a5e508"
     frcYear = "2025"
-    mrcalVersion = "v2025.0.0";
+    mrcalVersion = "dev-v2025.0.0-2-g2adb187";
 
 
     pubVersion = versionString

photon-core/build.gradle

@@ -56,7 +56,7 @@ dependencies {
                 "osxx86-64",
                 "osxarm64"
             ])) {
-        implementation("org.photonvision:photon-mrcal-jni:$mrcalVersion:$wpilibNativeName") {
+        wpilibNatives("org.photonvision:photon-mrcal-jni:$mrcalVersion:$wpilibNativeName") {
             transitive = false
         }
     }

photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIPhotonConfiguration.java

@@ -25,7 +25,7 @@
 import org.photonvision.common.hardware.Platform;
 import org.photonvision.common.networking.NetworkManager;
 import org.photonvision.common.networking.NetworkUtils;
-import org.photonvision.mrcal.MrCalJNILoader;
+import org.photonvision.common.util.TestUtils;
 import org.photonvision.raspi.LibCameraJNILoader;
 import org.photonvision.vision.processes.VisionModule;
 import org.photonvision.vision.processes.VisionSourceManager;
@@ -54,7 +54,7 @@ public static UIPhotonConfiguration programStateToUi(PhotonConfiguration c) {
                                 PhotonVersion.versionString,
                                 // TODO add support for other types of GPU accel
                                 LibCameraJNILoader.getInstance().isSupported() ? "Zerocopy Libcamera Working" : "",
-                                MrCalJNILoader.getInstance().isLoaded(),
+                                TestUtils.isMrcalLoaded(),
                                 c.neuralNetworkPropertyManager().getModels(),
                                 NeuralNetworkModelManager.getInstance().getSupportedBackends(),
                                 c.getHardwareConfig().deviceName.isEmpty()

photon-core/src/main/java/org/photonvision/common/util/TestUtils.java

@@ -20,6 +20,7 @@
 import com.fasterxml.jackson.databind.ObjectMapper;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.util.Units;
+import edu.wpi.first.util.CombinedRuntimeLoader;
 import java.awt.HeadlessException;
 import java.io.File;
 import java.io.IOException;
@@ -32,10 +33,28 @@
 import org.photonvision.vision.target.TrackedTarget;
 
 public class TestUtils {
+    private static boolean hasMrcalLoaded = false;
+
     public static boolean loadLibraries() {
         return LibraryLoader.loadWpiLibraries() && LibraryLoader.loadTargeting();
     }
 
+    public static boolean loadMrcal() {
+        if (hasMrcalLoaded) return true;
+        try {
+            CombinedRuntimeLoader.loadLibraries(TestUtils.class, "mrcal_jni");
+            hasMrcalLoaded = true;
+        } catch (IOException e) {
+            e.printStackTrace();
+            hasMrcalLoaded = false;
+        }
+        return hasMrcalLoaded;
+    }
+
+    public static boolean isMrcalLoaded() {
+        return hasMrcalLoaded;
+    }
+
     @SuppressWarnings("unused")
     public enum WPI2019Image {
         kCargoAngledDark48in(1.2192),

photon-core/src/main/java/org/photonvision/vision/pipe/impl/Calibrate3dPipe.java

@@ -29,10 +29,10 @@
 import org.opencv.imgcodecs.Imgcodecs;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
+import org.photonvision.common.util.TestUtils;
 import org.photonvision.common.util.math.MathUtils;
 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.CameraLensModel;
@@ -94,7 +94,7 @@ protected CameraCalibrationCoefficients process(CalibrationInput in) {
         CameraCalibrationCoefficients ret;
         var start = System.nanoTime();
 
-        if (MrCalJNILoader.getInstance().isLoaded() && params.useMrCal) {
+        if (TestUtils.isMrcalLoaded() && params.useMrCal) {
             logger.debug("Calibrating with mrcal!");
             ret =
                     calibrateMrcal(

photon-core/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java

@@ -37,7 +37,6 @@
 import org.photonvision.common.logging.LogLevel;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.TestUtils;
-import org.photonvision.mrcal.MrCalJNILoader;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
 import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.frame.Frame;
@@ -52,7 +51,7 @@ public class Calibrate3dPipeTest {
     @BeforeAll
     public static void init() throws IOException {
         TestUtils.loadLibraries();
-        MrCalJNILoader.forceLoad();
+        TestUtils.loadMrcal();
 
         var logLevel = LogLevel.DEBUG;
         Logger.setLevel(LogGroup.Camera, logLevel);

photon-core/src/test/java/org/photonvision/vision/pipeline/CalibrationRotationPipeTest.java

@@ -35,7 +35,6 @@
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.estimation.OpenCVHelp;
-import org.photonvision.mrcal.MrCalJNILoader;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
 import org.photonvision.vision.calibration.CameraLensModel;
 import org.photonvision.vision.calibration.JsonMatOfDouble;
@@ -50,7 +49,7 @@ public class CalibrationRotationPipeTest {
     @BeforeAll
     public static void init() throws IOException {
         TestUtils.loadLibraries();
-        MrCalJNILoader.forceLoad();
+        TestUtils.loadMrcal();
 
         var logLevel = LogLevel.DEBUG;
         Logger.setLevel(LogGroup.Camera, logLevel);

photon-server/src/main/java/org/photonvision/Main.java

@@ -41,7 +41,6 @@
 import org.photonvision.jni.LibraryLoader;
 import org.photonvision.jni.RknnDetectorJNI;
 import org.photonvision.jni.RubikDetectorJNI;
-import org.photonvision.mrcal.MrCalJNILoader;
 import org.photonvision.raspi.LibCameraJNILoader;
 import org.photonvision.server.Server;
 import org.photonvision.vision.apriltag.AprilTagFamily;
@@ -262,8 +261,8 @@ public static void main(String[] args) {
             logger.error("Failed to load rubik-JNI!", e);
         }
         try {
-            MrCalJNILoader.forceLoad();
-        } catch (IOException e) {
+            TestUtils.loadMrcal();
+        } catch (Exception e) {
             logger.warn(
                     "Failed to load mrcal-JNI! Camera calibration will fall back to opencv\n"
                             + e.getMessage());