MemPartAlloc Error When Trying to Access the NIVision Library

[derekwhite]

I found a memory leak in NIVision.particleFilter(). I believe WPI is working on it...

If you feel daring, you could modify WPILibJ's NIVision class (sunspotfrcsdk/lib/WPILibJ/src/edu/wpi/first/wpilibj/image/NIVision.java) with this UNTESTED FIX:

    /* THIS IS AN UNTESTED FIX */
    public static int particleFilter(Pointer dest, Pointer source, CriteriaCollection collection) throws NIVisionException {
        Pointer particleFilterOptions = new Pointer(16);
        particleFilterOptions.setInt(0, 0);
        particleFilterOptions.setInt(4, 0);
        particleFilterOptions.setInt(8, 0);
        particleFilterOptions.setInt(12, 1);
        IntByReference i = new IntByReference(0);
        Pointer criteriaArray = collection.getCriteriaArray();
        assertCleanStatus(imaqParticleFilter4Fn.call7(dest.address().toUWord().toPrimitive(),   // dest image
                                                    source.address().toUWord().toPrimitive(),   // source image
                                                    criteriaArray.address().toUWord().toPrimitive(),  // array of criteria
                                                    collection.getNumberOfCriteria(),           // number of criteria in the array
                                                    particleFilterOptions.address().toUWord().toPrimitive(),  // particle filter options
                                                    0,                                          // Region of interest
                                                    i.getPointer().address().toUWord().toPrimitive()));  // returned number of particles
        int numberOfParticles = i.getValue();
        i.free();
        criteriaArray.free();
        particleFilterOptions.free();
        return numberOfParticles;
    }