OpenCV 4.5.1 with CUDA support

annotation/src/main/java/edu/wpi/grip/annotation/operation/Description.java

@@ -25,16 +25,16 @@
   String name();
 
   /**
-   * A brief summary of the operation. In-depth descriptions, usage guides, and examples
-   * should be on the wiki, not here.
+   * A brief summary of the operation. In-depth descriptions, usage guides, and examples should be
+   * on the wiki, not here.
    *
    * @return a summary of the operation
    */
   String summary();
 
   /**
-   * The category the operation belongs to. Defaults to
-   * {@link OperationCategory#MISCELLANEOUS MISCELLANEOUS}.
+   * The category the operation belongs to. Defaults to {@link OperationCategory#MISCELLANEOUS
+   * MISCELLANEOUS}.
    *
    * @return the category to which the operation belongs
    */

annotation/src/main/java/edu/wpi/grip/annotation/processor/ClassListProcessor.java

@@ -32,8 +32,8 @@
  * Processes elements with the GRIP annotations and generates class list files for them.
  */
 @SupportedAnnotationTypes({
-        "edu.wpi.grip.annotation.*",
-        "com.thoughtworks.xstream.annotations.XStreamAlias"
+    "edu.wpi.grip.annotation.*",
+    "com.thoughtworks.xstream.annotations.XStreamAlias"
     })
 @SupportedSourceVersion(SourceVersion.RELEASE_8)
 @AutoService(Processor.class)

build.gradle.kts

@@ -156,7 +156,7 @@ javaSubprojects {
     }
 
     tasks.withType<JavaCompile>().configureEach {
-        sourceCompatibility = "8"
+        sourceCompatibility = "11"
     }
 
 }

core/core.gradle.kts

@@ -25,11 +25,11 @@ dependencies {
     api(project(":annotation"))
     annotationProcessor(project(":annotation"))
     api(group = "com.google.code.findbugs", name = "jsr305", version = "3.0.1")
-    api(group = "org.bytedeco", name = "javacv", version = "1.3")
-    api(group = "org.bytedeco.javacpp-presets", name = "opencv", version = "3.4.3-1.4.3")
-    api(group = "org.bytedeco.javacpp-presets", name = "opencv", version = "3.4.3-1.4.3", classifier = if (withCuda) "$os-gpu" else os)
+    api(group = "org.bytedeco", name = "javacv", version = "1.5.5")
+    api(group = "org.bytedeco", name = "opencv-platform", version = "4.5.1-1.5.5")
+    api(group = "org.bytedeco", name = "opencv-platform-gpu", version = "4.5.1-1.5.5")
     api(group = "org.bytedeco.javacpp-presets", name = "videoinput", version = "0.200-1.1", classifier = os)
-    api(group = "org.bytedeco.javacpp-presets", name = "ffmpeg", version = "0.200-1.3", classifier = os)
+    api(group = "org.bytedeco.javacpp-presets", name = "ffmpeg", version = "4.1-1.4.4", classifier = os)
     api(group = "org.python", name = "jython", version = "2.7.0")
     api(group = "com.thoughtworks.xstream", name = "xstream", version = "1.4.10")
     api(group = "org.apache.commons", name = "commons-lang3", version = "3.5")

core/src/main/java/edu/wpi/grip/core/Cleaner.java

@@ -13,20 +13,20 @@
 import static java.util.concurrent.TimeUnit.MILLISECONDS;
 
 /**
- * Cleans up unused objects by periodically calling {@link System#gc()} to nudge the
- * garbage collector to clean up dead native (JavaCV) objects. This is required because JavaCV
- * objects only free their native memory when they're garbage collected, so if they accumulate in
- * the heap, the app will use about 40x the memory as used heap (i.e. 230MB of used heap results in
- * about 9.8GB of used memory for the process). This is because {@code Mats} and anything
- * else extending {@link org.bytedeco.javacpp.Pointer} use native memory that greatly exceeds the
- * Java objects size on the heap.
+ * Cleans up unused objects by periodically calling {@link System#gc()} to nudge the garbage
+ * collector to clean up dead native (JavaCV) objects. This is required because JavaCV objects only
+ * free their native memory when they're garbage collected, so if they accumulate in the heap, the
+ * app will use about 40x the memory as used heap (i.e. 230MB of used heap results in about 9.8GB of
+ * used memory for the process). This is because {@code Mats} and anything else extending {@link
+ * org.bytedeco.javacpp.Pointer} use native memory that greatly exceeds the Java objects size on the
+ * heap.
  *
  * <p>JavaCV has a system property {@code org.bytedeco.javacpp.maxphysicalbytes} that it uses to
- * determine when to start deallocating native memory. However, this only results in calls to
- * {@code System.gc()} and imposes a hard upper limit on native memory use, limiting large images
- * or long pipelines. It's also not very portable: running from source needs it to be passed
- * as a JVM argument with gradle, and it can't be adjusted based on the amount of memory on the
- * system it's installed on. For us, manually running System.gc() periodically is a better solution.
+ * determine when to start deallocating native memory. However, this only results in calls to {@code
+ * System.gc()} and imposes a hard upper limit on native memory use, limiting large images or long
+ * pipelines. It's also not very portable: running from source needs it to be passed as a JVM
+ * argument with gradle, and it can't be adjusted based on the amount of memory on the system it's
+ * installed on. For us, manually running System.gc() periodically is a better solution.
  * </p>
  */
 @Singleton

core/src/main/java/edu/wpi/grip/core/CoreCommandLineHelper.java

@@ -85,7 +85,6 @@ protected CoreCommandLineHelper(Option... additionalOptions) {
    * returning from this method. This will also occur if the help option is specified.
    *
    * @param args the command line arguments to parse
-   *
    * @return a CommandLine object that can be queried for command line options and their values
    */
   @SuppressWarnings({"checkstyle:regexp", "PMD.SystemPrintln"})
@@ -152,7 +151,6 @@ void exit() {
    *
    * @param args    the parsed command line arguments
    * @param project the project to load the file into
-   *
    * @throws IOException if the file couldn't be loaded
    */
   public void loadFile(CommandLine args, Project project) throws IOException {

core/src/main/java/edu/wpi/grip/core/FileManager.java

@@ -6,10 +6,10 @@
 public interface FileManager {
 
   /**
-     * Saves an array of bytes to a file.
-     *
-     * @param image The image to save
-     * @param fileName The file name to save
-     */
+   * Saves an array of bytes to a file.
+   *
+   * @param image    The image to save
+   * @param fileName The file name to save
+   */
   void saveImage(byte[] image, String fileName);
 }

core/src/main/java/edu/wpi/grip/core/Loggers.java

@@ -17,8 +17,8 @@ private Loggers() {
   }
 
   /**
-   * Sets up loggers to print to stdout and to ~/GRIP/GRIP.log. This should only be called once
-   * in the application lifecycle, at startup.
+   * Sets up loggers to print to stdout and to ~/GRIP/GRIP.log. This should only be called once in
+   * the application lifecycle, at startup.
    */
   public static void setupLoggers() {
     // Set up the global level logger. This handles IO for all loggers.

core/src/main/java/edu/wpi/grip/core/MatWrapper.java

@@ -1,34 +1,34 @@
 package edu.wpi.grip.core;
 
-import org.bytedeco.javacpp.opencv_core;
-import org.bytedeco.javacpp.opencv_core.GpuMat;
-import org.bytedeco.javacpp.opencv_core.Mat;
-import org.bytedeco.javacpp.opencv_core.Size;
+import org.bytedeco.opencv.opencv_core.GpuMat;
+import org.bytedeco.opencv.opencv_core.Mat;
+import org.bytedeco.opencv.opencv_core.Scalar;
+import org.bytedeco.opencv.opencv_core.Size;
 
 import java.util.Objects;
 import java.util.function.Function;
 
-import static org.bytedeco.javacpp.opencv_core.CV_16S;
-import static org.bytedeco.javacpp.opencv_core.CV_16U;
-import static org.bytedeco.javacpp.opencv_core.CV_32F;
-import static org.bytedeco.javacpp.opencv_core.CV_32S;
-import static org.bytedeco.javacpp.opencv_core.CV_64F;
-import static org.bytedeco.javacpp.opencv_core.CV_8S;
-import static org.bytedeco.javacpp.opencv_core.CV_8U;
-import static org.bytedeco.javacpp.opencv_core.IPL_DEPTH_16S;
-import static org.bytedeco.javacpp.opencv_core.IPL_DEPTH_16U;
-import static org.bytedeco.javacpp.opencv_core.IPL_DEPTH_1U;
-import static org.bytedeco.javacpp.opencv_core.IPL_DEPTH_32F;
-import static org.bytedeco.javacpp.opencv_core.IPL_DEPTH_32S;
-import static org.bytedeco.javacpp.opencv_core.IPL_DEPTH_64F;
-import static org.bytedeco.javacpp.opencv_core.IPL_DEPTH_8S;
-import static org.bytedeco.javacpp.opencv_core.IPL_DEPTH_8U;
+import static org.bytedeco.opencv.global.opencv_core.CV_16S;
+import static org.bytedeco.opencv.global.opencv_core.CV_16U;
+import static org.bytedeco.opencv.global.opencv_core.CV_32F;
+import static org.bytedeco.opencv.global.opencv_core.CV_32S;
+import static org.bytedeco.opencv.global.opencv_core.CV_64F;
+import static org.bytedeco.opencv.global.opencv_core.CV_8S;
+import static org.bytedeco.opencv.global.opencv_core.CV_8U;
+import static org.bytedeco.opencv.global.opencv_core.IPL_DEPTH_16S;
+import static org.bytedeco.opencv.global.opencv_core.IPL_DEPTH_16U;
+import static org.bytedeco.opencv.global.opencv_core.IPL_DEPTH_1U;
+import static org.bytedeco.opencv.global.opencv_core.IPL_DEPTH_32F;
+import static org.bytedeco.opencv.global.opencv_core.IPL_DEPTH_32S;
+import static org.bytedeco.opencv.global.opencv_core.IPL_DEPTH_64F;
+import static org.bytedeco.opencv.global.opencv_core.IPL_DEPTH_8S;
+import static org.bytedeco.opencv.global.opencv_core.IPL_DEPTH_8U;
 
 /**
- * Wraps a GPU mat and a CPU mat and allows device memory and host memory
- * to be used semi-transparently. A wrapper may change between wrapping an image in host memory or
- * an image in GPU memory. A wrapper is used to minimize copies between host and device memory,
- * which may take longer than the time savings of using a CUDA-accelerated operation.
+ * Wraps a GPU mat and a CPU mat and allows device memory and host memory to be used
+ * semi-transparently. A wrapper may change between wrapping an image in host memory or an image in
+ * GPU memory. A wrapper is used to minimize copies between host and device memory, which may take
+ * longer than the time savings of using a CUDA-accelerated operation.
  *
  * <p>Data is lazily copied between host and device memory when needed. Wrappers that
  * are only accessed from CPU operations will never have their data stored in device memory.
@@ -50,8 +50,8 @@ public final class MatWrapper {
   private boolean isCpu = true;
 
   /**
-   * Flags whether or not the wrapped value has been modified since the most recent read. This
-   * is used so that the value is only copied between host and device when it's needed.
+   * Flags whether or not the wrapped value has been modified since the most recent read. This is
+   * used so that the value is only copied between host and device when it's needed.
    */
   private boolean changed = false;
 
@@ -107,8 +107,8 @@ public boolean isGpu() {
 
   /**
    * Gets the raw CPU mat. This should only be used when this mat is used as a {@code dst} parameter
-   * to an OpenCV function. If you want to get the current value as a mat in host memory, use
-   * {@link #getCpu()}.
+   * to an OpenCV function. If you want to get the current value as a mat in host memory, use {@link
+   * #getCpu()}.
    */
   public Mat rawCpu() {
     // Assume the mat is about to be modified as a `dst` parameter to an OpenCV function
@@ -120,8 +120,8 @@ public Mat rawCpu() {
 
   /**
    * Gets the raw GPU mat. This should only be used when this mat is used as a {@code dst} parameter
-   * to an OpenCV function. If you want to get the current value as a mat in GPU memory, use
-   * {@link #getGpu()}.
+   * to an OpenCV function. If you want to get the current value as a mat in GPU memory, use {@link
+   * #getGpu()}.
    */
   public GpuMat rawGpu() {
     // Assume the mat is about to be modified as a `dst` parameter to an OpenCV function
@@ -147,9 +147,9 @@ public Mat getCpu() {
 
   /**
    * Gets this mat as a mat in GPU memory. If this is {@link #isCpu() backed by host memory}, the
-   * host memory will be copied into the GPU mat before being returned. This copy only happens
-   * after {@link #set(Mat) set(Mat)} is called, and only once between successive calls;
-   * invocations of this method after the first copy will not perform another.
+   * host memory will be copied into the GPU mat before being returned. This copy only happens after
+   * {@link #set(Mat) set(Mat)} is called, and only once between successive calls; invocations of
+   * this method after the first copy will not perform another.
    */
   public GpuMat getGpu() {
     if (changed && isCpu) {
@@ -182,8 +182,8 @@ public void set(GpuMat mat) {
   }
 
   /**
-   * Sets this as being backed by the given wrapper. This wrapper will be functionally equivalent
-   * to the one given.
+   * Sets this as being backed by the given wrapper. This wrapper will be functionally equivalent to
+   * the one given.
    */
   public void set(MatWrapper wrapper) {
     if (wrapper.isCpu()) {
@@ -370,7 +370,7 @@ public void create(int rows, int cols, int type) {
    *
    * @param value Assigned scalar converted to the actual array type.
    */
-  public MatWrapper put(opencv_core.Scalar value) {
+  public MatWrapper put(Scalar value) {
     if (isCpu()) {
       cpuMat.put(value);
     } else {

core/src/main/java/edu/wpi/grip/core/Operation.java

@@ -32,6 +32,6 @@ public interface Operation {
    * by {@link Step#setRemoved()} to ensure correct synchronization.
    */
   default void cleanUp() {
-        /* no-op */
+    /* no-op */
   }
 }

core/src/main/java/edu/wpi/grip/core/OperationDescription.java

@@ -30,8 +30,8 @@ public class OperationDescription {
   private final ImmutableSet<String> aliases;
 
   /**
-   * Creates an operation description from a {@link Description @Description} annotation on
-   * an operation subclass.
+   * Creates an operation description from a {@link Description @Description} annotation on an
+   * operation subclass.
    */
   public static OperationDescription from(Description description) {
     checkNotNull(description, "The description annotation cannot be null");
@@ -46,8 +46,8 @@ public static OperationDescription from(Description description) {
   }
 
   /**
-   * Creates an operation description from a {@link Description @Description} annotation on
-   * an operation subclass. The class is assumed to have the annotation; be careful when using this
+   * Creates an operation description from a {@link Description @Description} annotation on an
+   * operation subclass. The class is assumed to have the annotation; be careful when using this
    * method.
    *
    * @param clazz the class to generate a description for
@@ -73,10 +73,9 @@ private OperationDescription(String name,
 
   /**
    * Creates a new {@link Builder} instance to create a new {@code OperationDescription} object. The
-   * created descriptor has a default category of
-   * {@link OperationCategory#MISCELLANEOUS MISCELLANEOUS} and no icon; use the
-   * {@link Builder#category(OperationCategory) .category()} and {@link Builder#icon(Icon) .icon()}
-   * methods to override the default values.
+   * created descriptor has a default category of {@link OperationCategory#MISCELLANEOUS
+   * MISCELLANEOUS} and no icon; use the {@link Builder#category(OperationCategory) .category()} and
+   * {@link Builder#icon(Icon) .icon()} methods to override the default values.
    */
   public static Builder builder() {
     return new Builder()

core/src/main/java/edu/wpi/grip/core/StepIndexer.java

@@ -16,7 +16,8 @@ public interface StepIndexer extends Comparator<Step> {
   int indexOf(Step step);
 
   /**
-   * Compares two steps based on their indexes. <i>This is not consistent with {@code equals()}</i>.
+   * Compares two steps based on their indexes. <i>This is not consistent with {@code
+   * equals()}</i>.
    *
    * @param o1 the first step to compare
    * @param o2 the second step to compare

core/src/main/java/edu/wpi/grip/core/cuda/CudaVerifier.java

@@ -30,8 +30,8 @@ public CudaVerifier(AccelerationMode accelerationMode,
   }
 
   /**
-   * Verifies the presence of a CUDA runtime, if required by the GRIP runtime, and exits the
-   * app if no compatible CUDA runtime is available.
+   * Verifies the presence of a CUDA runtime, if required by the GRIP runtime, and exits the app if
+   * no compatible CUDA runtime is available.
    */
   public void verifyCuda() {
     if (!verify()) {
@@ -51,7 +51,7 @@ public void verifyCuda() {
    * GRIP is not using CUDA acceleration, this will always return {@code true}.
    *
    * @return false if GRIP is using CUDA acceleration but no compatible CUDA runtime is available,
-   *         true otherwise
+   *     true otherwise
    */
   public boolean verify() {
     if (accelerationMode.isUsingCuda()) {

core/src/main/java/edu/wpi/grip/core/cuda/LoadingCudaDetector.java

@@ -1,7 +1,7 @@
 package edu.wpi.grip.core.cuda;
 
 import org.bytedeco.javacpp.Loader;
-import org.bytedeco.javacpp.opencv_cudaarithm;
+import org.bytedeco.opencv.global.opencv_cudaarithm;
 
 /**
  * Checks if CUDA is available by attempting to load one of the OpenCV CUDA class' JNI. If the JNI

core/src/main/java/edu/wpi/grip/core/events/DirtiesSaveEvent.java

@@ -3,7 +3,8 @@
 /**
  * An event that can potentially dirty the save file.
  *
- * <p>These events ensure that anything that changes causes the save file to be flagged as dirty and
+ * <p>These events ensure that anything that changes causes the save file to be flagged as dirty
+ * and
  * in need of being saved for the project to be deemed "clean" again.
  */
 public interface DirtiesSaveEvent {

core/src/main/java/edu/wpi/grip/core/events/SocketChangedEvent.java

@@ -32,9 +32,9 @@ public boolean isRegarding(Socket socket) {
   }
 
   /**
-   * This event will only dirty the save if the InputSocket does not have connections.
-   * Thus the value can only have been changed by a UI component.
-   * If the socket has connections then the value change is triggered by another socket's change.
+   * This event will only dirty the save if the InputSocket does not have connections. Thus the
+   * value can only have been changed by a UI component. If the socket has connections then the
+   * value change is triggered by another socket's change.
    *
    * @return True if this should dirty the save.
    */

core/src/main/java/edu/wpi/grip/core/events/WarningEvent.java

@@ -21,10 +21,10 @@ public class WarningEvent implements LoggableEvent {
   /**
    * Creates a new warning event.
    *
-   * @param header the header or title of the warning (e.g. "Cannot generate code").
-   *               This should be short and descriptive.
-   * @param body   the body of the warning.
-   *               This should go into detail about what the user did wrong.
+   * @param header the header or title of the warning (e.g. "Cannot generate code"). This should be
+   *               short and descriptive.
+   * @param body   the body of the warning. This should go into detail about what the user did
+   *               wrong.
    */
   public WarningEvent(String header, String body) {
     checkNotNull(header, "Header text cannot be null");

core/src/main/java/edu/wpi/grip/core/exception/GripException.java

@@ -1,10 +1,8 @@
-
 package edu.wpi.grip.core.exception;
 
 /**
- * An exception thrown when something goes wrong with an internal GRIP
- * operation. This class is {@code abstract} to encourage making subclasses
- * for specific cases.
+ * An exception thrown when something goes wrong with an internal GRIP operation. This class is
+ * {@code abstract} to encourage making subclasses for specific cases.
  */
 public abstract class GripException extends RuntimeException {