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Add approximate FPS limiter (keeps CPU usage down)

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Banks Troutman
2019-09-21 04:43:13 -04:00
parent 17009bc04c
commit 06e7230f46
1 changed files with 55 additions and 48 deletions
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103
Main/src/main/java/com/chameleonvision/vision/process/CameraProcess.java
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@@ -33,7 +33,6 @@ public class CameraProcess implements Runnable {
// chameleon specific
private Pipeline currentPipeline;
private VisionProcess visionProcess;
private CameraValues camVals;
// pipeline process items
private List<MatOfPoint> FoundContours = new ArrayList<>();
@@ -91,7 +90,7 @@ public class CameraProcess implements Runnable {
ntPipelineEntry.setString("pipeline" + camera.getCurrentPipelineIndex());
// camera settings
visionProcess = new VisionProcess(camVals);
visionProcess = new VisionProcess(camera.getCamVals());
streamProcess = new StreamProcess(camera);
}
@@ -145,13 +144,13 @@ public class CameraProcess implements Runnable {
pipelineResult.RawPoint = finalRect;
pipelineResult.IsValid = true;
if (!currentPipeline.is_calibrated) {
pipelineResult.CalibratedX = camVals.CenterX;
pipelineResult.CalibratedY = camVals.CenterY;
pipelineResult.CalibratedX = camera.getCamVals().CenterX;
pipelineResult.CalibratedY = camera.getCamVals().CenterY;
} else {
pipelineResult.CalibratedX = (finalRect.center.y - currentPipeline.B) / currentPipeline.M;
pipelineResult.CalibratedY = finalRect.center.x * currentPipeline.M + currentPipeline.B;
pipelineResult.Pitch = camVals.CalculatePitch(finalRect.center.y, pipelineResult.CalibratedY);
pipelineResult.Yaw = camVals.CalculateYaw(finalRect.center.x, pipelineResult.CalibratedX);
pipelineResult.Pitch = camera.getCamVals().CalculatePitch(finalRect.center.y, pipelineResult.CalibratedY);
pipelineResult.Yaw = camera.getCamVals().CalculateYaw(finalRect.center.x, pipelineResult.CalibratedX);
}
// TODO Send pitch yaw distance and Raw Point using websockets to client for calib calc
drawContour(outputImage, finalRect);
@@ -171,53 +170,61 @@ public class CameraProcess implements Runnable {
new Thread(streamProcess).start();
long lastFrameEndNanosec = 0;
while (!Thread.interrupted()) {
FoundContours.clear();
FilteredContours.clear();
GroupedContours.clear();
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;
}
if ((startTime - lastFrameEndNanosec) * 1e-6 >= 1000.0/camera.getVideoMode().fps) {
// get vision data
var pipelineResult = runVisionProcess(cameraInputMat, streamOutputMat);
updateNetworkTables(pipelineResult);
if (cameraName.equals(SettingsManager.GeneralSettings.curr_camera)) {
HashMap<String,Object> WebSend = new HashMap<>();
HashMap<String,Object> point = new HashMap<>();
List<Double> center = new ArrayList<>();
if (pipelineResult.IsValid) {
center.add(pipelineResult.RawPoint.center.x);
center.add(pipelineResult.RawPoint.center.y);
point.put("pitch", pipelineResult.Pitch);
point.put("yaw", pipelineResult.Yaw);
} else {
center.add(0.0);
center.add(0.0);
point.put("pitch", 0);
point.put("yaw", 0);
FoundContours.clear();
FilteredContours.clear();
GroupedContours.clear();
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;
}
point.put("fps", fps);
WebSend.put("point", point);
WebSend.put("raw_point", center);
Server.broadcastMessage(WebSend);
// get vision data
var pipelineResult = runVisionProcess(cameraInputMat, streamOutputMat);
updateNetworkTables(pipelineResult);
if (cameraName.equals(SettingsManager.GeneralSettings.curr_camera)) {
HashMap<String, Object> WebSend = new HashMap<>();
HashMap<String, Object> point = new HashMap<>();
List<Double> center = new ArrayList<>();
if (pipelineResult.IsValid) {
center.add(pipelineResult.RawPoint.center.x);
center.add(pipelineResult.RawPoint.center.y);
point.put("pitch", pipelineResult.Pitch);
point.put("yaw", pipelineResult.Yaw);
} else {
center.add(0.0);
center.add(0.0);
point.put("pitch", 0);
point.put("yaw", 0);
}
point.put("fps", fps);
WebSend.put("point", point);
WebSend.put("raw_point", center);
Server.broadcastMessage(WebSend);
}
//camera.putFrame(streamOutputMat);
streamProcess.updateFrame(streamOutputMat);
cameraInputMat.release();
hsvThreshMat.release();
// calculate FPS
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());
}
//camera.putFrame(streamOutputMat);
streamProcess.updateFrame(streamOutputMat);
// calculate FPS after publishing output frame
processTimeMs = (System.nanoTime() - startTime) * 1e-6;
fps = 1000 / processTimeMs;
System.out.printf("%s - Process time: %fms, FPS: %.2f, FoundContours: %d, FilteredContours: %d, GroupedContours: %d\n", cameraName,processTimeMs, fps, FoundContours.size(), FilteredContours.size(), GroupedContours.size());
cameraInputMat.release();
hsvThreshMat.release();
}
}
}