Allow partial observations and remove dependence on OpenCV Mat types - #28
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Co-authored-by: Matt Morley <matthew.morley.ca@gmail.com>
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## Description This fixes the many native memory leaks of OpenCV's matrixes. While I can't guarantee I got everything, it is substantially better than it was. The test results are now a lot cleaner. ~~Blocked on PhotonVision/mrcal-java#28.~~ ## Meta Merge checklist: - [x] Pull Request title is [short, imperative summary](https://cbea.ms/git-commit/) of proposed changes - [x] The description documents the _what_ and _why_, including events that led to this PR - [ ] If this PR changes behavior or adds a feature, user documentation is updated - [ ] If this PR touches photon-serde, all messages have been regenerated and hashes have not changed unexpectedly - [ ] If this PR touches configuration, this is backwards compatible with all settings going back to the previous seasons's last release (seasons end after champs ends) - [ ] If this PR touches pipeline settings or anything related to data exchange, the frontend typing is updated - [ ] If this PR addresses a bug, a regression test for it is added - [ ] If this PR adds a dependency, the license has been checked for compatibility and steps taken to follow it --------- Co-authored-by: Matt Morley <matthew.morley.ca@gmail.com>
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This fixes the many native memory leaks of OpenCV's matrixes. While I can't guarantee I got everything, it is substantially better than it was. The test results are now a lot cleaner. ~~Blocked on PhotonVision/mrcal-java#28.~~ Merge checklist: - [x] Pull Request title is [short, imperative summary](https://cbea.ms/git-commit/) of proposed changes - [x] The description documents the _what_ and _why_, including events that led to this PR - [ ] If this PR changes behavior or adds a feature, user documentation is updated - [ ] If this PR touches photon-serde, all messages have been regenerated and hashes have not changed unexpectedly - [ ] If this PR touches configuration, this is backwards compatible with all settings going back to the previous seasons's last release (seasons end after champs ends) - [ ] If this PR touches pipeline settings or anything related to data exchange, the frontend typing is updated - [ ] If this PR addresses a bug, a regression test for it is added - [ ] If this PR adds a dependency, the license has been checked for compatibility and steps taken to follow it --------- Co-authored-by: Matt Morley <matthew.morley.ca@gmail.com>
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Part of my refactor to improve the handling of OpenCV's Mats in PhotonVision/photonvision#2511, this pushes the responsibility for conversion to arrays onto the caller so that this library doesn't have to deal with Mats. Also, this takes on the responsibility of skipping unobserved points, allowing the observation mats to be immutable. By accepting an iterator here, the amount of data loaded into memory at once can be reduced for highly repetitive data like levels.