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Various cleanup, slowed down UI FPS counter

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This commit is contained in:
Banks Troutman
2019-09-21 13:05:00 -04:00
parent e45b679dc9
commit 038e84ce0d
12 changed files with 45 additions and 90 deletions
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12
Main/src/main/java/com/chameleonvision/settings/SettingsManager.java
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@@ -12,23 +12,21 @@ import java.io.FileWriter;
import java.io.IOException;
import java.nio.file.Path;
import java.nio.file.Paths;
import java.util.HashMap;
public class SettingsManager {
public static final Path SettingsPath = Paths.get(System.getProperty("user.dir"), "Settings");
public static com.chameleonvision.vision.GeneralSettings GeneralSettings;
public static HashMap<String, Integer> CameraPorts = new HashMap<>();
private SettingsManager() {}
public static void initialize() {
initGeneralSettings();
NetworkSettings netSettings = new NetworkSettings();
netSettings.hostname=GeneralSettings.hostname;
netSettings.gateway=GeneralSettings.gateway;
netSettings.netmask=GeneralSettings.netmask;
netSettings.connectionType=GeneralSettings.connection_type;
netSettings.ip=GeneralSettings.ip;
netSettings.hostname = GeneralSettings.hostname;
netSettings.gateway = GeneralSettings.gateway;
netSettings.netmask = GeneralSettings.netmask;
netSettings.connectionType = GeneralSettings.connection_type;
netSettings.ip = GeneralSettings.ip;
netSettings.run();
var allCameras = CameraManager.getAllCamerasByName();

2
Main/src/main/java/com/chameleonvision/vision/GeneralSettings.java
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@@ -9,6 +9,4 @@ public class GeneralSettings {
public String hostname = "Chameleon-vision";
public String curr_camera = "";
public Integer curr_pipeline = null;
}

1
Main/src/main/java/com/chameleonvision/vision/camera/CamVideoMode.java
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@@ -2,6 +2,7 @@ package com.chameleonvision.vision.camera;
import edu.wpi.cscore.VideoMode;
@SuppressWarnings("WeakerAccess")
public class CamVideoMode {
public final int fps;
public final int width;

7
Main/src/main/java/com/chameleonvision/vision/camera/Camera.java
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@@ -1,6 +1,5 @@
package com.chameleonvision.vision.camera;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.vision.Pipeline;
import edu.wpi.cscore.*;
import edu.wpi.first.cameraserver.CameraServer;
@@ -70,7 +69,7 @@ public class Camera {
cvSink = cs.getVideo(UsbCam);
cvSource = cs.putVideo(name, camVals.ImageWidth, camVals.ImageHeight);
var s = (MjpegServer) cs.getServer("serve_" + name);
SettingsManager.CameraPorts.put(name, s.getPort());
CameraManager.CameraPorts.put(name, s.getPort());
}
public void setCamVideoMode(int videoMode) {
@@ -160,10 +159,6 @@ public class Camera {
return cvSink.grabFrame(image);
}
public long grabFrame(Mat image, double timeout) {
return cvSink.grabFrame(image, timeout);
}
public CameraValues getCamVals() {
return camVals;
}

1
Main/src/main/java/com/chameleonvision/vision/camera/CameraDeserializer.java
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@@ -15,7 +15,6 @@ public class CameraDeserializer implements JsonDeserializer<Camera> {
public Camera deserialize(JsonElement jsonElement, Type type, JsonDeserializationContext context) throws JsonParseException {
var jsonObj = jsonElement.getAsJsonObject();
var camFOV = jsonObj.get("FOV").getAsDouble();
var camPath = jsonObj.get("path").getAsString();
var camName = jsonObj.get("name").getAsString();
var pipelines = jsonObj.get("pipelines");

12
Main/src/main/java/com/chameleonvision/vision/camera/CameraManager.java
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@@ -39,7 +39,11 @@ public class CameraManager {
private static HashMap<String, Camera> AllCamerasByName = new HashMap<>();
public static HashMap<String, Camera> getAllCamerasByName() { return AllCamerasByName; }
public static HashMap<String, Camera> getAllCamerasByName() {
return AllCamerasByName;
}
public static HashMap<String, Integer> CameraPorts = new HashMap<>();
public static boolean initializeCameras() {
if (AllUsbCameraInfosByName.size() == 0) return false;
@@ -77,7 +81,8 @@ public class CameraManager {
}
public static void setCurrentCamera(String cameraName) throws CameraException {
if (!AllCamerasByName.containsKey(cameraName)) throw new CameraException(CameraException.CameraExceptionType.BAD_CAMERA);
if (!AllCamerasByName.containsKey(cameraName))
throw new CameraException(CameraException.CameraExceptionType.BAD_CAMERA);
SettingsManager.GeneralSettings.curr_camera = cameraName;
SettingsManager.updateCameraSetting(cameraName, getCurrentCamera().getCurrentPipelineIndex());
}
@@ -90,7 +95,8 @@ public class CameraManager {
}
public static void setCurrentPipeline(int pipelineNumber) throws CameraException {
if (!getCurrentCamera().getPipelines().containsKey(pipelineNumber)) throw new CameraException(CameraException.CameraExceptionType.BAD_PIPELINE);
if (!getCurrentCamera().getPipelines().containsKey(pipelineNumber))
throw new CameraException(CameraException.CameraExceptionType.BAD_PIPELINE);
getCurrentCamera().setCurrentPipelineIndex(pipelineNumber);
SettingsManager.updatePipelineSetting(pipelineNumber);
}

1
Main/src/main/java/com/chameleonvision/vision/camera/CameraSerializer.java
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@@ -14,7 +14,6 @@ public class CameraSerializer implements JsonSerializer<Camera> {
var pipelines = context.serialize(camera.getPipelines());
obj.add("pipelines", pipelines);
var videoModeIndex = camera.getVideoModeIndex();
obj.addProperty("resolution", camera.getVideoModeIndex());
obj.add("camVideoMode", context.serialize(camera.getVideoMode()));

1
Main/src/main/java/com/chameleonvision/vision/camera/CameraValues.java
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@@ -3,6 +3,7 @@ package com.chameleonvision.vision.camera;
import org.apache.commons.math3.fraction.Fraction;
import org.apache.commons.math3.util.FastMath;
@SuppressWarnings("WeakerAccess")
public class CameraValues {
public final int ImageWidth;
public final int ImageHeight;

33
Main/src/main/java/com/chameleonvision/vision/process/CameraProcess.java
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@@ -1,11 +1,9 @@
package com.chameleonvision.vision.process;
import com.chameleonvision.MemoryManager;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.vision.Pipeline;
import com.chameleonvision.vision.camera.Camera;
import com.chameleonvision.vision.camera.CameraValues;
import com.chameleonvision.web.Server;
import com.chameleonvision.web.ServerHandler;
import edu.wpi.first.networktables.*;
import org.opencv.core.*;
import org.opencv.imgproc.Imgproc;
@@ -28,8 +26,6 @@ public class CameraProcess implements Runnable {
private NetworkTableEntry ntTimeStampEntry;
private NetworkTableEntry ntValidEntry;
private MemoryManager memManager = new MemoryManager(125);
// chameleon specific
private Pipeline currentPipeline;
private VisionProcess visionProcess;
@@ -67,7 +63,7 @@ public class CameraProcess implements Runnable {
camera.setBrightness(pipeline.brightness);
HashMap<String,Object> pipeChange = new HashMap<>();
pipeChange.put("curr_pipeline",ntPipelineIndex);
Server.handler.broadcastMessage(pipeChange);
ServerHandler.broadcastMessage(pipeChange);
} else {
ntPipelineEntry.setString("pipeline" + camera.getCurrentPipelineIndex());
@@ -169,8 +165,11 @@ public class CameraProcess implements Runnable {
public void run() {
// processing time tracking
long startTime;
long fpsLastTime = 0;
double processTimeMs;
double fps = 0;
double uiFps = 0;
int maxFps = camera.getVideoMode().fps;
new Thread(streamProcess).start();
@@ -178,16 +177,23 @@ public class CameraProcess implements Runnable {
while (!Thread.interrupted()) {
startTime = System.nanoTime();
if ((startTime - lastFrameEndNanosec) * 1e-6 >= 1000.0/camera.getVideoMode().fps) {
if ((startTime - lastFrameEndNanosec) * 1e-6 >= 1000.0/maxFps + 3) { // 3 additional fps to allow for overhead
FoundContours.clear();
FilteredContours.clear();
GroupedContours.clear();
// update FPS for ui only every 0.5 seconds
if ((startTime - fpsLastTime) * 1e-6 >= 500) {
if (fps >= maxFps) {
uiFps = maxFps;
} else {
uiFps = fps;
}
fpsLastTime = System.nanoTime();
}
currentPipeline = camera.getCurrentPipeline();
// start fps counter right before grabbing input frame
startTime = System.nanoTime();
TimeStamp = camera.grabFrame(cameraInputMat);
if (cameraInputMat.cols() == 0 && cameraInputMat.rows() == 0) {
continue;
@@ -211,10 +217,10 @@ public class CameraProcess implements Runnable {
point.put("pitch", 0);
point.put("yaw", 0);
}
point.put("fps", fps);
point.put("fps", uiFps);
WebSend.put("point", point);
WebSend.put("raw_point", center);
Server.handler.broadcastMessage(WebSend);
ServerHandler.broadcastMessage(WebSend);
}
//camera.putFrame(streamOutputMat);
@@ -227,7 +233,8 @@ public class CameraProcess implements Runnable {
lastFrameEndNanosec = System.nanoTime();
processTimeMs = (lastFrameEndNanosec - startTime) * 1e-6;
fps = 1000 / processTimeMs;
System.out.printf("%s - Process time: %.2fms, FPS: %.2f, FoundContours: %d, FilteredContours: %d, GroupedContours: %d\n", cameraName, processTimeMs, fps, FoundContours.size(), FilteredContours.size(), GroupedContours.size());
System.out.printf("%s - Process time: %-5.2fms, FPS: %-5.2f, FoundContours: %d, FilteredContours: %d, GroupedContours: %d\n", cameraName, processTimeMs, fps, FoundContours.size(), FilteredContours.size(), GroupedContours.size());
}
}
}

42
Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java
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@@ -8,6 +8,7 @@ import org.opencv.imgproc.*;
import java.util.*;
@SuppressWarnings("WeakerAccess")
public class VisionProcess {
private HashMap<String, Integer>TargetGrouping= new HashMap<>() {{
@@ -49,7 +50,7 @@ public class VisionProcess {
return FoundContours;
}
private List<MatOfPoint> FilteredContours = new ArrayList<MatOfPoint>();
private List<MatOfPoint> FilteredContours = new ArrayList<>();
List<MatOfPoint> FilterContours(List<MatOfPoint> InputContours, List<Integer> area, List<Integer> ratio, List<Integer> extent) {
for (MatOfPoint Contour : InputContours){
try{
@@ -74,15 +75,6 @@ public class VisionProcess {
return FilteredContours;
}
private static Comparator<RotatedRect> SortByLargestComparator = (rect1, rect2) -> Double.compare(rect2.size.area(), rect1.size.area());
private static Comparator<RotatedRect> SortBySmallestComparator = SortByLargestComparator.reversed();
private static Comparator<RotatedRect> SortByHighestComparator = (rect1, rect2) -> Double.compare(rect2.center.y, rect1.center.y);
private static Comparator<RotatedRect> SortByLowestComparator = SortByHighestComparator.reversed();
private static Comparator<RotatedRect> SortByLeftmostComparator = Comparator.comparingDouble(rect -> rect.center.x);
private static Comparator<RotatedRect> SortByRightmostComparator = SortByLeftmostComparator.reversed();
private double calcDistance(RotatedRect rect) {
return FastMath.sqrt(FastMath.pow(CamVals.CenterX - rect.center.x, 2) + FastMath.pow(CamVals.CenterY - rect.center.y, 2));
}
@@ -105,41 +97,11 @@ public class VisionProcess {
return Collections.max(inputRects, Comparator.comparing(rect -> rect.center.x));
case "Centermost":
return Collections.min(inputRects, SortByCentermostComparator);
// return inputRects.stream().sorted(SortByCentermostComparator).collect(Collectors.toList()).get(0);
default:
return inputRects.get(0); // default to whatever the first contour is, but this should never happen
}
}
void SortTargets(List<RotatedRect> inputRects, String sortMode) {
switch (sortMode) {
case "Largest":
inputRects.sort(SortByLargestComparator);
break;
case "Smallest":
inputRects.sort(SortBySmallestComparator);
break;
case "Highest":
inputRects.sort(SortByHighestComparator);
break;
case "Lowest":
inputRects.sort(SortByLowestComparator);
break;
case "Leftmost":
inputRects.sort(SortByLeftmostComparator);
break;
case "Rightmost":
inputRects.sort(SortByRightmostComparator);
break;
case "Centermost":
inputRects.sort(SortByCentermostComparator);
break;
default:
break;
}
}
private List<RotatedRect> FinalCountours = new ArrayList<>();
List<RotatedRect> GroupTargets(List<MatOfPoint> InputContours, String IntersectionPoint, String TargetGroup) {
FinalCountours.clear();

11
Main/src/main/java/com/chameleonvision/web/Server.java
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@@ -1,18 +1,7 @@
package com.chameleonvision.web;
import com.chameleonvision.CameraException;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.vision.camera.CameraManager;
import edu.wpi.cscore.VideoException;
import io.javalin.Javalin;
import io.javalin.websocket.WsContext;
import java.lang.reflect.Field;
import java.util.*;
import org.json.JSONArray;
import org.json.JSONObject;
import org.springframework.beans.BeanUtils;
public class Server {

12
Main/src/main/java/com/chameleonvision/web/ServerHandler.java
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@@ -23,11 +23,11 @@ public class ServerHandler {
private static List<WsContext> users;
public ServerHandler() {
this.users = new ArrayList<>();
ServerHandler() {
users = new ArrayList<>();
}
public void onConnect(WsConnectContext context) {
void onConnect(WsConnectContext context) {
users.add(context);
sendFullSettings();
}
@@ -36,7 +36,7 @@ public class ServerHandler {
users.remove(context);
}
public void onMessage(WsMessageContext data) throws CameraException {
void onMessage(WsMessageContext data) throws CameraException {
broadcastMessage(data.message(), data);
JSONObject jsonObject = new JSONObject(data.message());
@@ -83,7 +83,7 @@ public class ServerHandler {
String newCamera = (String) value;
System.out.printf("Changing camera to %s\n", newCamera);
CameraManager.setCurrentCamera(newCamera);
broadcastMessage(new HashMap<String, Object>(){}.put("port",SettingsManager.CameraPorts.get(SettingsManager.GeneralSettings.curr_camera)));
broadcastMessage(new HashMap<String, Object>(){}.put("port",CameraManager.CameraPorts.get(SettingsManager.GeneralSettings.curr_camera)));
broadcastMessage(CameraManager.getCurrentCamera()); //TODO CHECK JSON FOR CAMERA CHANGE
break;
@@ -183,7 +183,7 @@ public class ServerHandler {
fullSettings.put("resolutionList", CameraManager.getResolutionList());
fullSettings.put("resolution", currentCamera.getVideoModeIndex());
fullSettings.put("FOV", currentCamera.getFOV());
fullSettings.put("port", SettingsManager.CameraPorts.get(SettingsManager.GeneralSettings.curr_camera));
fullSettings.put("port", CameraManager.CameraPorts.get(SettingsManager.GeneralSettings.curr_camera));
} catch (CameraException e) {
System.err.println("No camera found!");
//TODO: add message to ui to inform that there are no cameras