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Memory usage fixes, general cleanup

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This commit is contained in:
Banks Troutman
2019-09-15 19:07:58 -04:00
parent d04096f2c8
commit 0e8029840d
5 changed files with 122 additions and 46 deletions
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41
Main/src/main/java/com/chameleonvision/vision/process/CameraProcess.java
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@@ -1,5 +1,6 @@
package com.chameleonvision.vision.process;
import com.chameleonvision.MemoryManager;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.vision.Pipeline;
import edu.wpi.first.networktables.NetworkTableInstance;
@@ -7,8 +8,12 @@ import edu.wpi.first.cameraserver.CameraServer;
import org.opencv.core.Mat;
import org.apache.commons.math3.fraction.Fraction;
import org.apache.commons.math3.util.FastMath;
import org.opencv.core.MatOfPoint;
public class CameraProcess implements Runnable{
import java.util.ArrayList;
import java.util.List;
public class CameraProcess implements Runnable {
private String CameraName;
public CameraProcess(String CameraName){
this.CameraName = CameraName;
@@ -23,17 +28,17 @@ public class CameraProcess implements Runnable{
SettingsManager manager = SettingsManager.getInstance();
SettingsManager.CamerasCurrentPipeline.put(CameraName, SettingsManager.Cameras.get(CameraName).pipelines.keySet().toArray()[0].toString());
//Setting up camera and network table
var Table = networkTableInstance.getTable("/Chameleon-vision/" + CameraName);
var Table = networkTableInstance.getTable("/chameleon-vision/" + CameraName);
var PipeLineEntry = Table.getEntry("Pipeline");
var DriverModeEntry = Table.getEntry("Driver_Mode");
var cv_sink = cs.getVideo(manager.UsbCameras.get(CameraName));
var cv_sink = cs.getVideo(SettingsManager.UsbCameras.get(CameraName));
int Width = manager.Cameras.get(CameraName).camVideoMode.width;
int Height = manager.Cameras.get(CameraName).camVideoMode.heigh;
int Width = SettingsManager.Cameras.get(CameraName).camVideoMode.width;
int Height = SettingsManager.Cameras.get(CameraName).camVideoMode.heigh;
var cv_publish = cs.putVideo(CameraName,Width,Height);
//initial math setup for camera
double DiagonalView = FastMath.toRadians(manager.Cameras.get(CameraName).FOV);
double DiagonalView = FastMath.toRadians(SettingsManager.Cameras.get(CameraName).FOV);
Fraction AspectFraction = new Fraction(Width,Height);
int HorizontalRatio = AspectFraction.getNumerator();
int VerticalRatio = AspectFraction.getDenominator();
@@ -48,16 +53,32 @@ public class CameraProcess implements Runnable{
Mat mat = new Mat();
long time;
MemoryManager memManager = new MemoryManager(125);
Pipeline currentPipeline;
Mat HSVImage = new Mat();
List<MatOfPoint> FoundContours = new ArrayList<>();
List<MatOfPoint> FilteredContours = new ArrayList<>();
while (!Thread.interrupted()){
Pipeline pipeline = manager.Cameras.get(CameraName).pipelines.get(manager.CamerasCurrentPipeline.get(CameraName));
FoundContours.clear();
FilteredContours.clear();
currentPipeline = SettingsManager.Cameras.get(CameraName).pipelines.get(SettingsManager.CamerasCurrentPipeline.get(CameraName));
time = cv_sink.grabFrame(mat);
if (mat.cols() !=0 && mat.rows() != 0) {
Mat HSVImage = visionProcess.HSVThreshold(pipeline.hue, pipeline.saturation, pipeline.value, mat, pipeline.erode, pipeline.dilate);
// List<MatOfPoint> Contours = visionProcess.FindContours(HSVImage);
// List<MatOfPoint> FilterdContours = visionProcess.FilterContours(Contours, pipeline.area, pipeline.ratio, pipeline.extent, pipeline.sort_mode, pipeline.target_intersection, pipeline.target_group);
HSVImage = visionProcess.HSVThreshold(currentPipeline.hue, currentPipeline.saturation, currentPipeline.value, mat, currentPipeline.erode, currentPipeline.dilate);
FoundContours = visionProcess.FindContours(HSVImage);
FilteredContours = visionProcess.FilterContours(FoundContours, currentPipeline.area, currentPipeline.ratio, currentPipeline.extent, currentPipeline.sort_mode, currentPipeline.target_intersection, currentPipeline.target_group);
cv_publish.putFrame(mat);
mat.release();
HSVImage.release();
for (MatOfPoint oldMat : FoundContours) { oldMat.release(); }
for (MatOfPoint oldMat1 : FilteredContours) { oldMat1.release(); }
}
memManager.run();
}
}

83
Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java
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@@ -9,42 +9,53 @@ import java.util.HashMap;
import java.util.List;
public class VisionProcess {
private HashMap<String, Integer>TargetGrouping= new HashMap<String, Integer>(){{
put("Single",1);
put("Dual",2);
put("Triple",3);
put("Quadruple",4);
put("Quintuple",5);
private HashMap<String, Integer>TargetGrouping= new HashMap<>() {{
put("Single", 1);
put("Dual", 2);
put("Triple", 3);
put("Quadruple", 4);
put("Quintuple", 5);
}};
private double CamArea,CenterX, CenterY;
private double CamArea, CenterX, CenterY;
VisionProcess(double CenterX, double CenterY, double CamArea){
this.CenterX = CenterX;
this.CenterY = CenterY;
this.CamArea = CamArea;
}
private Mat Kernel = Imgproc.getStructuringElement(Imgproc.MORPH_RECT, new Size(5, 5));
public Mat HSVThreshold(@NotNull List<Integer> hue, @NotNull List<Integer> saturation , @NotNull List<Integer> value, Mat image, boolean IsErode, boolean IsDilate){
Mat hsv = new Mat();
Imgproc.cvtColor(image,hsv,Imgproc.COLOR_BGR2HSV,3);
new Scalar(hue.get(0),saturation.get(0),value.get(0));
Mat threshold = new Mat();
Core.inRange(hsv,new Scalar(hue.get(0),saturation.get(0),value.get(0)),new Scalar(hue.get(1),saturation.get(1),value.get(1)),threshold);
private Mat hsvMat = new Mat();
private Mat hsvThreshMat = new Mat();
private Scalar hsvLower, hsvUpper;
Mat HSVThreshold(@NotNull List<Integer> hue, @NotNull List<Integer> saturation, @NotNull List<Integer> value, Mat image, boolean IsErode, boolean IsDilate){
Imgproc.cvtColor(image, hsvMat,Imgproc.COLOR_BGR2HSV,3);
hsvLower = new Scalar(hue.get(0), saturation.get(0), value.get(0));
hsvUpper = new Scalar(hue.get(1), saturation.get(1), value.get(1));
Core.inRange(hsvMat, hsvLower, hsvUpper, hsvThreshMat);
if (IsErode){
Imgproc.erode(threshold,threshold, Kernel);
Imgproc.erode(hsvThreshMat, hsvThreshMat, Kernel);
}
if (IsDilate){
Imgproc.dilate(threshold,threshold, Kernel);
Imgproc.dilate(hsvThreshMat, hsvThreshMat, Kernel);
}
return threshold;
return hsvThreshMat;
}
private List<MatOfPoint> FoundContours = new ArrayList<>();
public List<MatOfPoint> FindContours(Mat BinaryImage){
List<MatOfPoint> Contours = new ArrayList<>();
Imgproc.findContours(BinaryImage,Contours,new Mat(),Imgproc.RETR_EXTERNAL,Imgproc.CHAIN_APPROX_TC89_L1);
return Contours;
FoundContours.clear();
Imgproc.findContours(BinaryImage, FoundContours, new Mat(), Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_TC89_L1);
BinaryImage.release();
return FoundContours;
}
public List<MatOfPoint> FilterContours(List<MatOfPoint> InputContours, List<Integer> area, List<Integer> ratio, List<Integer> extent, String SortMode,String TargetIntersection , String TargetGrouping){
List<MatOfPoint> FilteredContours = new ArrayList<MatOfPoint>();
private List<MatOfPoint> FilteredContours = new ArrayList<MatOfPoint>();
public List<MatOfPoint> FilterContours(List<MatOfPoint> InputContours, List<Integer> area, List<Integer> ratio, List<Integer> extent, String SortMode, String TargetIntersection, String TargetGrouping){
for (MatOfPoint Contour : InputContours){
try{
var contourArea = Imgproc.contourArea(Contour);
@@ -62,24 +73,29 @@ public class VisionProcess {
continue;
}
FilteredContours.add(Contour);
} catch (Exception e){
continue;
}
catch (Exception e) {
}
}
return FilteredContours;
}
private List<MatOfPoint> GroupTargets(List<MatOfPoint> InputContours, String IntersectionPoint,String TargetGroup){
private List<MatOfPoint> FinalCountours = new ArrayList<>();
private List<MatOfPoint> GroupTargets(List<MatOfPoint> InputContours, String IntersectionPoint,String TargetGroup) {
FinalCountours.clear();
if (!TargetGroup.equals("Single")){
List<MatOfPoint> FinalCountours = new ArrayList<MatOfPoint>();
for (var i = 0; i < InputContours.size(); i++){
var FinalContour = InputContours.get(i);
for (var c = 0; c < (TargetGrouping.get(TargetGroup)-1);c++){
try{
MatOfPoint firstContour = InputContours.get(i + c);
MatOfPoint secoundContour = InputContours.get(i+c+1);
if (IsIntersecting(firstContour,secoundContour, IntersectionPoint)){
MatOfPoint secondContour = InputContours.get(i+c+1);
if (IsIntersecting(firstContour, secondContour, IntersectionPoint)){
System.out.println("");
}
firstContour.release();
secondContour.release();
} catch (IndexOutOfBoundsException e){
FinalContour = new MatOfPoint();
break;
@@ -90,12 +106,13 @@ public class VisionProcess {
}
return InputContours;
}
private boolean IsIntersecting(MatOfPoint ContourOne, MatOfPoint ContourTwo, String IntersectionPoint){
Mat LineA = new Mat();
Imgproc.fitLine(ContourOne,LineA,Imgproc.CV_DIST_L2,0,0.01,0.01);
Mat LineB = new Mat();
Imgproc.fitLine(ContourTwo,LineB,Imgproc.CV_DIST_L2,0,0.01,0.01);
private Mat intersectMatA = new Mat();
private Mat intersectMatB = new Mat();
private boolean IsIntersecting(MatOfPoint ContourOne, MatOfPoint ContourTwo, String IntersectionPoint) {
Imgproc.fitLine(ContourOne, intersectMatA, Imgproc.CV_DIST_L2,0,0.01,0.01);
Imgproc.fitLine(ContourTwo, intersectMatB, Imgproc.CV_DIST_L2,0,0.01,0.01);
// Rect2d =
return true;
}
}