List of usage examples for java.lang System loadLibrary
@CallerSensitive public static void loadLibrary(String libname)
From source file:ml.dmlc.xgboost4j.java.NativeLibrary.java
/** * Load order:/* ww w. j a va 2 s. com*/ * */ private void doLoad() throws IOException { final String libName = getName(); try { System.loadLibrary(libName); } catch (UnsatisfiedLinkError e) { try { extractAndLoad(getPlatformLibraryPath(), getSimpleLibraryPath()); } catch (IOException ioe) { logger.warn("Failed to load library from both native path and jar!"); throw ioe; } } }
From source file:org.nd4j.linalg.api.buffer.util.LibUtils.java
/** * Loads the specified library. The full name of the library * is created by calling {@link LibUtils#createLibName(String)} * with the given argument. The method will attempt to load * the library as a as a resource (for usage within a JAR), * and, if this fails, using the usual System.loadLibrary * call.//ww w .j a va2 s . c o m * * @param baseName The base name of the library * @throws UnsatisfiedLinkError if the native library * could not be loaded. */ public static void loadLibrary(String baseName) { String libName = LibUtils.createLibName(baseName); Throwable throwable = null; final boolean tryResource = true; if (tryResource) { try { loadLibraryResource(libName); return; } catch (Throwable t) { throwable = t; } } try { System.loadLibrary(libName); return; } catch (Throwable t) { StringWriter sw = new StringWriter(); PrintWriter pw = new PrintWriter(sw); pw.println( "Error while loading native library \"" + libName + "\" with base name \"" + baseName + "\""); pw.println("Operating system name: " + System.getProperty("os.name")); pw.println("Architecture : " + System.getProperty("os.arch")); pw.println("Architecture bit size: " + System.getProperty("sun.arch.data.model")); if (throwable != null) { pw.println("Stack trace from the attempt to " + "load the library as a resource:"); throwable.printStackTrace(pw); } pw.println("Stack trace from the attempt to " + "load the library as a file:"); t.printStackTrace(pw); pw.flush(); pw.close(); throw new UnsatisfiedLinkError("Could not load the native library.\n" + sw.toString()); } }
From source file:org.cocos2dx.lib.Cocos2dxActivity.java
protected void onLoadNativeLibraries() { try {//from ww w .j av a2 s . c o m ApplicationInfo ai = getPackageManager().getApplicationInfo(getPackageName(), PackageManager.GET_META_DATA); Bundle bundle = ai.metaData; String libName = bundle.getString("android.app.lib_name"); System.loadLibrary(libName); } catch (Exception e) { e.printStackTrace(); } }
From source file:com.hadoop.compression.fourmc.FourMcNativeCodeLoader.java
private static synchronized void loadLibrary() { if (nativeLibraryLoaded) { LOG.info("hadoop-4mc: native library is already loaded"); return;/*from w ww. ja va 2 s . com*/ } if (useBinariesOnLibPath()) { try { System.loadLibrary("hadoop-4mc"); nativeLibraryLoaded = true; LOG.info("hadoop-4mc: loaded native library (lib-path)"); } catch (Exception e) { LOG.error("hadoop-4mc: cannot load native library (lib-path): ", e); } return; } // unpack and use embedded libraries String resourceName = resourceName(); InputStream is = FourMcNativeCodeLoader.class.getResourceAsStream(resourceName); if (is == null) { throw new UnsupportedOperationException( "Unsupported OS/arch, cannot find " + resourceName + ". Please try building from source."); } File tempLib; try { tempLib = File.createTempFile("libhadoop-4mc", "." + os().libExtension); // copy to tempLib FileOutputStream out = new FileOutputStream(tempLib); try { byte[] buf = new byte[4096]; while (true) { int read = is.read(buf); if (read == -1) { break; } out.write(buf, 0, read); } try { out.close(); out = null; } catch (IOException e) { // ignore } System.load(tempLib.getAbsolutePath()); nativeLibraryLoaded = true; LOG.info("hadoop-4mc: loaded native library (embedded)"); } finally { try { if (out != null) { out.close(); } } catch (IOException e) { // ignore } if (tempLib.exists()) { if (!nativeLibraryLoaded) { tempLib.delete(); } else { tempLib.deleteOnExit(); } } } } catch (Exception e) { LOG.error("hadoop-4mc: cannot load native library (embedded): ", e); } }
From source file:Questao3.java
/** * Metodo para normalizar uma matriz/*from w w w . ja v a 2 s . c om*/ * maior valor = 255 * menor valor = 0 * @param matriz * @return */ public double[][] normalizacao(double[][] matriz) { System.loadLibrary(Core.NATIVE_LIBRARY_NAME); /** * Maior e menor valor da matriz */ double max = maxValue(matriz); double min = minValue(matriz); /** * Calcula a distancia entre os valores, que ser o valor * utilizado para normalizar */ double dis = 255 / (max - min); /** * Matriz resultante = copia da original */ double[][] result = matriz.clone(); /** * Normalizacao - para cada pixel da matriz, multiplica-se o valor dis. */ for (int i = 0; i < result.length; i++) { for (int j = 0; j < result[0].length; j++) { result[i][j] *= dis; ruido.put(i, j, result[i][j]); } } /** * Restorna o resultado */ return result; }
From source file:xbird.util.system.SystemUtils.java
private static void initializeSunJdk() { boolean useSunMx = false; if (IS_SUN_VM) { OperatingSystemMXBean mx = ManagementFactory.getOperatingSystemMXBean(); com.sun.management.OperatingSystemMXBean sunmx = (com.sun.management.OperatingSystemMXBean) mx; long testval = sunmx.getProcessCpuTime(); if (testval != -1L) { useSunMx = true;/*from w w w.ja v a2s . c o m*/ } } if (!useSunMx) { if (System.getProperty("xbird.use_jni") != null) { throw new IllegalStateException("Please set `xbird.use_jni' system property"); } try { System.loadLibrary("xbird_util_lang_SystemUtils"); } catch (UnsatisfiedLinkError le) { LogFactory.getLog(SystemUtils.class).warn( "Performance monitoring is not supported for this JVM. Please ensure that 'xbird.profiling' property is not enabled in your 'xbird.properties'"); } } useSunJdk6 = useSunMx; }
From source file:uk.co.armedpineapple.innoextract.ExtractService.java
@Override public int onStartCommand(Intent intent, int flags, int startId) { mLoggingThread = new LoggingThread("Logging"); Log.d(LOG_TAG, "Loading Library"); System.loadLibrary("innoextract"); mExtractDir = intent.getStringExtra(EXTRACT_DIR); mExtractFile = intent.getStringExtra(EXTRACT_FILE_PATH); mExtractFileName = intent.getStringExtra(EXTRACT_FILE_NAME); final Intent logIntent = new Intent(this, LogActivity.class); ExtractCallback cb = new ExtractCallback() { private String writeLogToFile() throws IOException { Log.d(LOG_TAG, "Writing log to file"); String path = getCacheDir().getAbsolutePath() + File.separator + mExtractFileName + ".log.html"; BufferedWriter bw = new BufferedWriter(new FileWriter(new File(path))); bw.write(logBuilder.toString()); bw.close();/* www . jav a 2s. c o m*/ Log.d(LOG_TAG, "Done writing to file"); return path; } @Override public void onProgress(int value, int max) { mNotificationBuilder.setProgress(max, value, false); startForeground(ONGOING_NOTIFICATION, mNotificationBuilder.build()); } @Override public void onSuccess() { Log.i(LOG_TAG, "SUCCESS! :)"); mFinalNotificationBuilder.setTicker("Extract Successful").setSmallIcon(R.drawable.ic_extracting) .setContentTitle("Extracted").setContentText("Extraction Successful"); try { logIntent.putExtra("log", writeLogToFile()); PendingIntent logPendingIntent = PendingIntent.getActivity(ExtractService.this, 0, logIntent, PendingIntent.FLAG_UPDATE_CURRENT); mFinalNotificationBuilder.addAction(R.drawable.ic_view_log, "View Log", logPendingIntent); } catch (IOException e) { Log.d(LOG_TAG, "couldn't write log"); } mNotificationManager.notify(FINAL_NOTIFICATION, mFinalNotificationBuilder.build()); stopSelf(); } @Override public void onFailure(Exception e) { Log.i(LOG_TAG, "FAIL! :("); mFinalNotificationBuilder.setTicker("Extract Failed").setSmallIcon(R.drawable.ic_extracting) .setContentTitle("Extract Failed"); try { logIntent.putExtra("log", writeLogToFile()); PendingIntent logPendingIntent = PendingIntent.getActivity(ExtractService.this, 0, logIntent, PendingIntent.FLAG_UPDATE_CURRENT); mFinalNotificationBuilder.addAction(R.drawable.ic_view_log, "View Log", logPendingIntent); } catch (IOException eb) { Log.d(LOG_TAG, "couldn't write log"); } mNotificationManager.notify(FINAL_NOTIFICATION, mFinalNotificationBuilder.build()); stopSelf(); } }; mFinalNotificationBuilder = new NotificationCompat.Builder(this); mNotificationManager = (NotificationManager) getSystemService(NOTIFICATION_SERVICE); mNotificationBuilder.setContentTitle("Extracting...").setSmallIcon(R.drawable.ic_extracting) .setTicker("Extracting inno setup file").setContentText("Extracting inno setup file"); startForeground(ONGOING_NOTIFICATION, mNotificationBuilder.build()); performExtract(mExtractFile, mExtractDir, cb); return START_NOT_STICKY; }
From source file:com.github.rosjava_catkin_package_a.ARLocROS.ARLoc.java
@Override public void onStart(final ConnectedNode connectedNode) { // load OpenCV shared library System.loadLibrary(Core.NATIVE_LIBRARY_NAME); // read configuration variables from the ROS Runtime (configured in the // launch file) log = connectedNode.getLog();/*ww w. j a v a 2 s . c o m*/ log.info("Reading parameters"); this.parameter = Parameter.createFromParameterTree(connectedNode.getParameterTree()); // Read Marker Config markerConfig = MarkerConfig.createFromConfig(parameter.markerConfigFile(), parameter.patternDirectory()); // setup rotation vector and translation vector storing output of the // localization rvec = new Mat(3, 1, CvType.CV_64F); tvec = new MatOfDouble(1.0, 1.0, 1.0); camp = getCameraInfo(connectedNode, parameter); // start to listen to transform messages in /tf in order to feed the // Transformer and lookup transforms final TransformationService transformationService = TransformationService.create(connectedNode); // Subscribe to Image Subscriber<sensor_msgs.Image> subscriberToImage = connectedNode.newSubscriber(parameter.cameraImageTopic(), sensor_msgs.Image._TYPE); ComputePose computePose = null; try { final Mat cameraMatrix = CameraParams.getCameraMatrix(camp); final MatOfDouble distCoeffs = CameraParams.getDistCoeffs(camp); computePose = ComputePose.create(markerConfig, new Size(camp.width(), camp.height()), cameraMatrix, distCoeffs, this.parameter.visualization()); } catch (NyARException e) { logger.info("Cannot initialize ComputePose", e); } catch (FileNotFoundException e) { logger.info("Cannot find file when initialize ComputePose", e); } final ComputePose poseProcessor = computePose; subscriberToImage.addMessageListener(new MessageListener<sensor_msgs.Image>() { @Override public void onNewMessage(sensor_msgs.Image message) { // if (!message.getEncoding().toLowerCase().equals("rgb8")) { log.error("Sorry, " + message.getEncoding() + " Image encoding is not supported! EXITING"); System.exit(-1); } if (camp != null) { try { // image = Utils.matFromImage(message); // uncomment to add more contrast to the image //Utils.tresholdContrastBlackWhite(image, 600); Imgproc.threshold(image, image, 200, 255, Imgproc.THRESH_BINARY); // Mat cannyimg = new Mat(image.height(), image.width(), // CvType.CV_8UC3); // Imgproc.Canny(image, cannyimg, 10, 100); // Imshow.show(cannyimg); // image.convertTo(image, -1, 1.5, 0); // setup camera matrix and return vectors // compute pose if (poseProcessor.computePose(rvec, tvec, image)) { // notify publisher threads (pose and tf, see below) synchronized (tvec) { tvec.notifyAll(); } } } catch (Exception e) { e.printStackTrace(); } } } }); // publish tf CAMERA_FRAME_NAME --> MARKER_FRAME_NAME final Publisher<tf2_msgs.TFMessage> tfPublisherCamToMarker = connectedNode.newPublisher("tf", tf2_msgs.TFMessage._TYPE); connectedNode.executeCancellableLoop(new CancellableLoop() { @Override protected void loop() throws InterruptedException { synchronized (tvec) { tvec.wait(); } QuaternionHelper q = new QuaternionHelper(); /* * http://euclideanspace.com/maths/geometry/rotations/ * conversions/matrixToEuler/index.htm * http://stackoverflow.com/questions/12933284/rodrigues-into- * eulerangles-and-vice-versa * * heading = atan2(-m20,m00) attitude = asin(m10) bank = * atan2(-m12,m11) */ // convert output rotation vector rvec to rotation matrix R Mat R = new Mat(3, 3, CvType.CV_32FC1); Calib3d.Rodrigues(rvec, R); // get rotations around X,Y,Z from rotation matrix R double bankX = Math.atan2(-R.get(1, 2)[0], R.get(1, 1)[0]); double headingY = Math.atan2(-R.get(2, 0)[0], R.get(0, 0)[0]); double attitudeZ = Math.asin(R.get(1, 0)[0]); // convert Euler angles to quarternion q.setFromEuler(bankX, headingY, attitudeZ); // set information to message TFMessage tfmessage = tfPublisherCamToMarker.newMessage(); TransformStamped posestamped = connectedNode.getTopicMessageFactory() .newFromType(geometry_msgs.TransformStamped._TYPE); Transform transform = posestamped.getTransform(); Quaternion orientation = transform.getRotation(); Vector3 point = transform.getTranslation(); point.setX(tvec.get(0, 0)[0]); point.setY(tvec.get(1, 0)[0]); point.setZ(tvec.get(2, 0)[0]); orientation.setW(q.getW()); orientation.setX(q.getX()); orientation.setY(q.getY()); orientation.setZ(q.getZ()); posestamped.getHeader().setFrameId(parameter.cameraFrameName()); posestamped.setChildFrameId(parameter.markerFrameName()); posestamped.getHeader().setStamp(connectedNode.getCurrentTime()); // frame_id too tfmessage.getTransforms().add(posestamped); tfPublisherCamToMarker.publish(tfmessage); } }); // publish Markers final Publisher<visualization_msgs.Marker> markerPublisher = connectedNode.newPublisher("markers", visualization_msgs.Marker._TYPE); connectedNode.executeCancellableLoop(new CancellableLoop() { @Override protected void loop() throws InterruptedException { // publish markers every 500ms Thread.sleep(500); // get marker points from markerConfig, each marker has 4 // vertices List<Point3> points3dlist = markerConfig.getUnordered3DPointList(); int i = 0; for (Point3 p : points3dlist) { Marker markermessage = markerPublisher.newMessage(); // FIXME If the markers are published into an existing frame // (e.g. map or odom) the node will consume very high CPU // and will fail after a short time. The markers are // probably published in the wrong way. markermessage.getHeader().setFrameId(parameter.markerFrameName()); markermessage.setId(i); i++; markermessage.setType(visualization_msgs.Marker.SPHERE); markermessage.setAction(visualization_msgs.Marker.ADD); // position double x = p.x; markermessage.getPose().getPosition().setX(x); double y = p.y; markermessage.getPose().getPosition().setY(y); double z = p.z; markermessage.getPose().getPosition().setZ(z); // orientation markermessage.getPose().getOrientation().setX(0); markermessage.getPose().getOrientation().setY(0); markermessage.getPose().getOrientation().setZ(0); markermessage.getPose().getOrientation().setW(1); // patterntSize markermessage.getScale().setX(0.1); markermessage.getScale().setY(0.1); markermessage.getScale().setZ(0.1); // color markermessage.getColor().setA(1); markermessage.getColor().setR(1); markermessage.getColor().setG(0); markermessage.getColor().setB(0); markerPublisher.publish(markermessage); } } }); // publish tf map --> odom final Publisher<tf2_msgs.TFMessage> tfPublisherMapToOdom = connectedNode.newPublisher("tf", tf2_msgs.TFMessage._TYPE); connectedNode.executeCancellableLoop(new CancellableLoop() { @Override protected void loop() throws InterruptedException { // since this is an infinite loop, wait to be notified if new // image was processed synchronized (tvec) { tvec.wait(); } // compute transform map to odom from map to // camera_rgb_optical_frame and odom to camera_rgb_optical_frame // map to camera_rgb_optical_frame Mat tvec_map_cam = new MatOfDouble(1.0, 1.0, 1.0); QuaternionHelper q = new QuaternionHelper(); // get rotation matrix R from solvepnp output rotation vector // rvec Mat R = new Mat(3, 3, CvType.CV_32FC1); Calib3d.Rodrigues(rvec, R); // transpose R, because we need the transformation from // world(map) to camera R = R.t(); // get rotation around X,Y,Z from R in radiants double bankX = Math.atan2(-R.get(1, 2)[0], R.get(1, 1)[0]); double headingY = Math.atan2(-R.get(2, 0)[0], R.get(0, 0)[0]); double attitudeZ = Math.asin(R.get(1, 0)[0]); q.setFromEuler(bankX, headingY, attitudeZ); // compute translation vector from world (map) to cam // tvec_map_cam Core.multiply(R, new Scalar(-1), R); // R=-R Core.gemm(R, tvec, 1, new Mat(), 0, tvec_map_cam, 0); // tvec_map_cam=R*tvec org.ros.rosjava_geometry.Quaternion rotation = new org.ros.rosjava_geometry.Quaternion(q.getX(), q.getY(), q.getZ(), q.getW()); double x = tvec_map_cam.get(0, 0)[0]; double y = tvec_map_cam.get(1, 0)[0]; double z = tvec_map_cam.get(2, 0)[0]; // create a Transform Object that hold the transform map to cam org.ros.rosjava_geometry.Vector3 translation = new org.ros.rosjava_geometry.Vector3(x, y, z); org.ros.rosjava_geometry.Transform transform_map_cam = new org.ros.rosjava_geometry.Transform( translation, rotation); // odom to camera_rgb_optical_frame GraphName sourceFrame = GraphName.of(parameter.cameraFrameName()); GraphName targetFrame = GraphName.of("odom"); org.ros.rosjava_geometry.Transform transform_cam_odom = null; if (transformationService.canTransform(targetFrame, sourceFrame)) { try { transform_cam_odom = transformationService.lookupTransform(targetFrame, sourceFrame); } catch (Exception e) { e.printStackTrace(); log.info("Cloud not get transformation from " + parameter.cameraFrameName() + " to " + "odom! " + "However, " + "will continue.."); return; } } else { log.info("Cloud not get transformation from " + parameter.cameraFrameName() + " to " + "odom! " + "However, will " + "continue.."); // cancel this loop..no result can be computed return; } // multiply results org.ros.rosjava_geometry.Transform result = org.ros.rosjava_geometry.Transform.identity(); result = result.multiply(transform_map_cam); result = result.multiply(transform_cam_odom); // set information to ROS message TFMessage tfMessage = tfPublisherMapToOdom.newMessage(); TransformStamped transformStamped = connectedNode.getTopicMessageFactory() .newFromType(geometry_msgs.TransformStamped._TYPE); Transform transform = transformStamped.getTransform(); Quaternion orientation = transform.getRotation(); Vector3 vector = transform.getTranslation(); vector.setX(result.getTranslation().getX()); vector.setY(result.getTranslation().getY()); vector.setZ(result.getTranslation().getZ()); orientation.setW(result.getRotationAndScale().getW()); orientation.setX(result.getRotationAndScale().getX()); orientation.setY(result.getRotationAndScale().getY()); orientation.setZ(result.getRotationAndScale().getZ()); transformStamped.getHeader().setFrameId("map"); transformStamped.setChildFrameId("odom"); transformStamped.getHeader().setStamp(connectedNode.getCurrentTime()); // frame_id too tfMessage.getTransforms().add(transformStamped); tfPublisherMapToOdom.publish(tfMessage); // System.exit(0); } }); // Publish Pose final Publisher<geometry_msgs.PoseStamped> posePublisher = connectedNode .newPublisher(parameter.poseTopicName(), geometry_msgs.PoseStamped._TYPE); connectedNode.executeCancellableLoop(new CancellableLoop() { @Override protected void loop() throws InterruptedException { // since this is an infinite loop, wait here to be notified if // new image was processed synchronized (tvec) { tvec.wait(); } final QuaternionHelper q = new QuaternionHelper(); // convert rotation vector result of solvepnp to rotation matrix Mat R = new Mat(3, 3, CvType.CV_32FC1); Calib3d.Rodrigues(rvec, R); // see publishers before for documentation final Mat tvec_map_cam = new MatOfDouble(1.0, 1.0, 1.0); R = R.t(); final double bankX = Math.atan2(-R.get(1, 2)[0], R.get(1, 1)[0]); final double headingY = Math.atan2(-R.get(2, 0)[0], R.get(0, 0)[0]); final double attitudeZ = Math.asin(R.get(1, 0)[0]); q.setFromEuler(bankX, headingY, attitudeZ); Core.multiply(R, new Scalar(-1), R); Core.gemm(R, tvec, 1, new Mat(), 0, tvec_map_cam, 0); final org.ros.rosjava_geometry.Quaternion rotation = new org.ros.rosjava_geometry.Quaternion( q.getX(), q.getY(), q.getZ(), q.getW()); final double x = tvec_map_cam.get(0, 0)[0]; final double y = tvec_map_cam.get(1, 0)[0]; final double z = tvec_map_cam.get(2, 0)[0]; final org.ros.rosjava_geometry.Vector3 translation = new org.ros.rosjava_geometry.Vector3(x, y, z); final org.ros.rosjava_geometry.Transform transform_map_cam = new org.ros.rosjava_geometry.Transform( translation, rotation); // odom to camera_rgb_optical_frame final GraphName sourceFrame = GraphName.of(parameter.cameraFrameName()); final GraphName targetFrame = GraphName.of("base_link"); org.ros.rosjava_geometry.Transform transform_cam_base = null; if (transformationService.canTransform(targetFrame, sourceFrame)) { try { transform_cam_base = transformationService.lookupTransform(targetFrame, sourceFrame); } catch (Exception e) { e.printStackTrace(); log.info("Cloud not get transformation from " + parameter.cameraFrameName() + " to " + "base_link! " + "However, will continue.."); // cancel this loop..no result can be computed return; } } else { log.info("Cloud not get transformation from " + parameter.cameraFrameName() + " to " + "base_link!" + " However, " + "will continue.."); // cancel this loop..no result can be computed return; } // multiply results org.ros.rosjava_geometry.Transform current_pose = org.ros.rosjava_geometry.Transform.identity(); current_pose = current_pose.multiply(transform_map_cam); current_pose = current_pose.multiply(transform_cam_base); // check for plausibility of the pose by checking if movement // exceeds max speed (defined) of the robot if (parameter.badPoseReject()) { Time current_timestamp = connectedNode.getCurrentTime(); // TODO Unfortunately, we do not have the tf timestamp at // hand here. So we can only use the current timestamp. double maxspeed = 5; boolean goodpose = false; // if (current_pose != null && current_timestamp != null) { if (last_pose != null && last_timestamp != null) { // check speed of movement between last and current pose double distance = PoseCompare.distance(current_pose, last_pose); double timedelta = PoseCompare.timedelta(current_timestamp, last_timestamp); if ((distance / timedelta) < maxspeed) { if (smoothing) { double xold = last_pose.getTranslation().getX(); double yold = last_pose.getTranslation().getY(); double zold = last_pose.getTranslation().getZ(); double xnew = current_pose.getTranslation().getX(); double ynew = current_pose.getTranslation().getY(); double znew = current_pose.getTranslation().getZ(); final org.ros.rosjava_geometry.Vector3 smoothTranslation = new org.ros.rosjava_geometry.Vector3( (xold * 2 + xnew) / 3, (yold * 2 + ynew) / 3, (zold * 2 + znew) / 3); current_pose = new org.ros.rosjava_geometry.Transform(smoothTranslation, current_pose.getRotationAndScale()); last_pose = current_pose; } last_pose = current_pose; last_timestamp = current_timestamp; goodpose = true; } else { log.info("distance " + distance + " time: " + timedelta + " --> Pose rejected"); } } else { last_pose = current_pose; last_timestamp = current_timestamp; } // } // bad pose rejection if (!goodpose) { return; } } // set information to message geometry_msgs.PoseStamped posestamped = posePublisher.newMessage(); Pose pose = posestamped.getPose(); Quaternion orientation = pose.getOrientation(); Point point = pose.getPosition(); point.setX(current_pose.getTranslation().getX()); point.setY(current_pose.getTranslation().getY()); point.setZ(current_pose.getTranslation().getZ()); orientation.setW(current_pose.getRotationAndScale().getW()); orientation.setX(current_pose.getRotationAndScale().getX()); orientation.setY(current_pose.getRotationAndScale().getY()); orientation.setZ(current_pose.getRotationAndScale().getZ()); // frame_id too posestamped.getHeader().setFrameId("map"); posestamped.getHeader().setStamp(connectedNode.getCurrentTime()); posePublisher.publish(posestamped); } }); }
From source file:com.ttolley.pongbot.opencv.CvWorker.java
public CvWorker() { yPos = new DescriptiveStatistics(); xPos = new DescriptiveStatistics(); xPos.setWindowSize(10);/*ww w. j av a 2 s. c o m*/ yPos.setWindowSize(10); try { // Load the native library. System.loadLibrary(Core.NATIVE_LIBRARY_NAME); capture = new VideoCapture(1); } catch (Exception ex) { System.out.println(ex.getCause().getMessage()); } }
From source file:org.tigris.subversion.svnclientadapter.javahl.JhlClientAdapterFactory.java
@SuppressWarnings("rawtypes") public static boolean isAvailable() { if (!availabilityCached) { Class c = null;/*from ww w . j a v a 2s . c o m*/ try { // load a JavaHL class to see if it is found. Do not use SVNClient as // it will try to load native libraries and we do not want that yet c = Class.forName("org.apache.subversion.javahl.ClientException"); if (c == null) return false; } catch (Throwable t) { availabilityCached = true; return false; } // if library is already loaded, it will not be reloaded //workaround to solve Subclipse ISSUE #83 // we will ignore these exceptions to handle scenarios where // javaHL was built diffently. Ultimately, if javaHL fails to load // because of a problem in one of these libraries the proper behavior // will still occur -- meaning JavaHL adapter is disabled. if (isOsWindows()) { for (int i = 0; i < WINDOWSLIBS.length; i++) { try { System.loadLibrary(WINDOWSLIBS[i]); } catch (Exception e) { javaHLErrors.append(e.getMessage()).append("\n"); } catch (UnsatisfiedLinkError e) { javaHLErrors.append(e.getMessage()).append("\n"); } } } //workaround to solve Subclipse ISSUE #83 available = false; try { /* * see if the user has specified the fully qualified path to the native * library */ try { String specifiedLibraryName = System.getProperty("subversion.native.library"); if (specifiedLibraryName != null) { System.load(specifiedLibraryName); available = true; } } catch (UnsatisfiedLinkError ex) { javaHLErrors.append(ex.getMessage()).append("\n"); } if (!available) { /* * first try to load the library by the new name. * if that fails, try to load the library by the old name. */ try { System.loadLibrary("libsvnjavahl-1"); } catch (UnsatisfiedLinkError ex) { javaHLErrors.append(ex.getMessage() + "\n"); try { System.loadLibrary("svnjavahl-1"); } catch (UnsatisfiedLinkError e) { javaHLErrors.append(e.getMessage()).append("\n"); System.loadLibrary("svnjavahl"); } } available = true; } } catch (Exception e) { available = false; javaHLErrors.append(e.getMessage()).append("\n"); } catch (UnsatisfiedLinkError e) { available = false; javaHLErrors.append(e.getMessage()).append("\n"); } finally { availabilityCached = true; } if (!available) { String libraryPath = System.getProperty("java.library.path"); if (libraryPath != null) javaHLErrors.append("java.library.path = " + libraryPath); // System.out.println(javaHLErrors.toString()); } else { // At this point, the library appears to be available, but // it could be too old version of JavaHL library. We have to try // to get the version of the library to be sure. try { ISVNClient svnClient = new SVNClient(); Version version = svnClient.getVersion(); if (version.getMajor() == 1 && version.getMinor() == 8) available = true; else { available = false; javaHLErrors = new StringBuffer( "Incompatible JavaHL library loaded. Subversion 1.8.x required."); } } catch (UnsatisfiedLinkError e) { available = false; javaHLErrors = new StringBuffer( "Incompatible JavaHL library loaded. 1.8.x or later required."); } } } return available; }