Team2890/PhotonVision
4
0
Fork 0
mirror of https://github.com/PhotonVision/photonvision synced 2026-06-20 00:51:41 +00:00
Code Issues Packages Projects Releases Wiki Activity

Various cleanup, slowed down UI FPS counter

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

33
Main/src/main/java/com/chameleonvision/vision/process/CameraProcess.java
View File

@@ -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
View File

@@ -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();