Team 254 Presents: FRC 2016 Code

[Jared Russell]

Originally Posted by kylelanman

I do have one question. Why were JNI and the C++ OpenCV libs used oppose to the Java OpenCV libs? If I recall correctly Jared said at the world championship talk that the performance between the C++, Java, and python OpenCV libs were essentially the same.

3 reasons:

1) We found that of the various methods available for grabbing and decoding an image out of the camera buffer, this was the fastest.

2) It let us minimize memory allocation and buffer copying in the most performance-critical part of the code.

3) We already had a working C++ vision prototype for the Tegra, so all we had to do was copy and paste.