Use official JavaCPP, OpenCV 4.10.0-1.5.11-20251001-ihmc

Author: ds58

build.gradle.kts

@@ -46,29 +46,21 @@ mainDependencies {
    api("us.ihmc:mecano:17-0.19.2")
    api("com.hierynomus:sshj:0.31.0")
 
-   val javacppVersion = "1.5.11-ihmc-2"
-   api("us.ihmc:javacpp:$javacppVersion")
-   api("us.ihmc:javacpp:$javacppVersion:linux-arm64")
-   api("us.ihmc:javacpp:$javacppVersion:linux-x86_64")
-   api("us.ihmc:javacpp:$javacppVersion:windows-x86_64")
-   val openblasVersion = "0.3.23-1.5.11-ihmc-2"
-   api("us.ihmc:openblas:$openblasVersion")
-   api("us.ihmc:openblas:$openblasVersion:linux-x86_64")
-   api("us.ihmc:openblas:$openblasVersion:linux-arm64")
-   api("us.ihmc:openblas:$openblasVersion:windows-x86_64")
-   val opencvVersion = "4.10.0-1.5.11-ihmc-3" // Hosted on https://robotlabfiles.ihmc.us/repository
+   val openblasVersion = "0.3.28-1.5.11"
+   api("org.bytedeco:openblas:$openblasVersion")
+   api("org.bytedeco:openblas:$openblasVersion:linux-x86_64")
+   api("org.bytedeco:openblas:$openblasVersion:linux-arm64")
+   api("org.bytedeco:openblas:$openblasVersion:windows-x86_64")
+   val opencvVersion = "4.10.0-1.5.11-20251001-ihmc" // Hosted on https://robotlabfiles.ihmc.us/repository
    api("us.ihmc:opencv:$opencvVersion")
-   api("us.ihmc:opencv:$opencvVersion:linux-arm64")
    api("us.ihmc:opencv:$opencvVersion:linux-arm64-gpu")
-   api("us.ihmc:opencv:$opencvVersion:linux-x86_64")
    api("us.ihmc:opencv:$opencvVersion:linux-x86_64-gpu")
-   api("us.ihmc:opencv:$opencvVersion:windows-x86_64")
    api("us.ihmc:opencv:$opencvVersion:windows-x86_64-gpu")
-   val ffmpegVersion = "7.1-1.5.11-ihmc-2"
-   api("us.ihmc:ffmpeg:$ffmpegVersion")
-   api("us.ihmc:ffmpeg:$ffmpegVersion:linux-arm64")
-   api("us.ihmc:ffmpeg:$ffmpegVersion:linux-x86_64")
-   api("us.ihmc:ffmpeg:$ffmpegVersion:windows-x86_64")
+   val ffmpegVersion = "7.1-1.5.11"
+   api("org.bytedeco:ffmpeg:$ffmpegVersion")
+   api("org.bytedeco:ffmpeg:$ffmpegVersion:linux-arm64")
+   api("org.bytedeco:ffmpeg:$ffmpegVersion:linux-x86_64")
+   api("org.bytedeco:ffmpeg:$ffmpegVersion:windows-x86_64")
 
    // ZED SDK for logging remote ZED data streams
    api("us.ihmc:zed-java-api:5.0.0")

src/main/java/org/bytedeco/javacv/OpenCVFrameConverter.java

@@ -44,7 +44,6 @@ public abstract class OpenCVFrameConverter<F> extends FrameConverter<F> {
 
    IplImage img;
    Mat mat;
-   org.opencv.core.Mat orgOpenCvCoreMat;
 
    public static class ToIplImage extends OpenCVFrameConverter<IplImage> {
       @Override public Frame convert(IplImage img) { return super.convert(img); }
@@ -56,11 +55,6 @@ public static class ToMat extends OpenCVFrameConverter<Mat> {
       @Override public Mat convert(Frame frame) { return convertToMat(frame); }
    }
 
-   public static class ToOrgOpenCvCoreMat extends OpenCVFrameConverter<org.opencv.core.Mat> {
-      @Override public Frame convert(org.opencv.core.Mat mat) { return super.convert(mat); }
-      @Override public org.opencv.core.Mat convert(Frame frame) { return convertToOrgOpenCvCoreMat(frame); }
-   }
-
    public static int getFrameDepth(int depth) {
       switch (depth) {
          case IPL_DEPTH_8U:  case CV_8U:  return Frame.DEPTH_UBYTE;
@@ -175,64 +169,6 @@ public Frame convert(Mat mat) {
       return frame;
    }
 
-   static boolean isEqual(Frame frame, org.opencv.core.Mat mat) {
-      return mat != null && frame != null && frame.image != null && frame.image.length > 0
-             && frame.imageWidth == mat.cols() && frame.imageHeight == mat.rows()
-             && frame.imageChannels == mat.channels() && getMatDepth(frame.imageDepth) == mat.depth()
-             && new Pointer(frame.image[0].position(0)).address() == mat.dataAddr();
-   }
-   public org.opencv.core.Mat convertToOrgOpenCvCoreMat(Frame frame) {
-      if (frame == null || frame.image == null) {
-         return null;
-      } else if (frame.opaque instanceof org.opencv.core.Mat) {
-         return (org.opencv.core.Mat)frame.opaque;
-      } else if (!isEqual(frame, mat)) {
-         int depth = getMatDepth(frame.imageDepth);
-         orgOpenCvCoreMat = depth < 0 ? null : new org.opencv.core.Mat(frame.imageHeight, frame.imageWidth,
-                                                                       CV_MAKETYPE(depth, frame.imageChannels), new BytePointer(new Pointer(frame.image[0].position(0)))
-                                                                             .capacity(frame.image[0].capacity() * Math.abs(frame.imageDepth) / 8).asByteBuffer(),
-                                                                       frame.imageStride * Math.abs(frame.imageDepth) / 8);
-      }
-      return orgOpenCvCoreMat;
-   }
-   public Frame convert(final org.opencv.core.Mat mat) {
-      if (mat == null) {
-         return null;
-      } else if (!isEqual(frame, mat)) {
-         frame = new Frame();
-         frame.imageWidth = mat.cols();
-         frame.imageHeight = mat.rows();
-         frame.imageDepth = getFrameDepth(mat.depth());
-         frame.imageChannels = mat.channels();
-         frame.imageStride = (int)mat.step1();
-         ByteBuffer byteBuffer = new BytePointer() { { address = mat.dataAddr(); } }.capacity(mat.rows() * mat.step1() * mat.elemSize1()).asByteBuffer();
-         switch (mat.depth()) {
-            case CV_8U:
-            case CV_8S:
-               frame.image = new Buffer[] { byteBuffer };
-               break;
-            case CV_16U:
-            case CV_16S:
-               frame.image = new Buffer[] { byteBuffer.asShortBuffer() };
-               break;
-            case CV_32F:
-               frame.image = new Buffer[] { byteBuffer.asFloatBuffer() };
-               break;
-            case CV_32S:
-               frame.image = new Buffer[] { byteBuffer.asIntBuffer() };
-               break;
-            case CV_64F:
-               frame.image = new Buffer[] { byteBuffer.asDoubleBuffer() };
-               break;
-            default:
-               frame.image = null;
-               break;
-         }
-      }
-      frame.opaque = mat;
-      return frame;
-   }
-
    @Override public void close() {
       super.close();
       if (img != null) {
@@ -243,9 +179,5 @@ public Frame convert(final org.opencv.core.Mat mat) {
          mat.releaseReference();
          mat = null;
       }
-      if (orgOpenCvCoreMat != null) {
-         orgOpenCvCoreMat.release();
-         orgOpenCvCoreMat = null;
-      }
    }
 }