From 113ec3c2178a9ae7244bfb4e3d81df37b04225cc Mon Sep 17 00:00:00 2001
From: Matt <matthew.morley.ca@gmail.com>
Date: Thu, 2 Jan 2020 12:25:13 -0800
Subject: [PATCH] avoid creating new mats in group contors pipe

---
 .../vision/pipeline/pipes/GroupContoursPipe.java     | 12 +++++++++---
 1 file changed, 9 insertions(+), 3 deletions(-)

diff --git a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/GroupContoursPipe.java b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/GroupContoursPipe.java
index 5580fcfd4..854a38e57 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/GroupContoursPipe.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/GroupContoursPipe.java
@@ -94,10 +94,14 @@ public class GroupContoursPipe implements Pipe<List<MatOfPoint>, List<StandardCV
                                         Pair.of(Imgproc.boundingRect(firstContour),
                                                 Imgproc.boundingRect(secondContour));
 
-                                target.leftRightRotatedRect =
-                                        Pair.of(Imgproc.minAreaRect(new MatOfPoint2f(firstContour.toArray())),
-                                                Imgproc.minAreaRect(new MatOfPoint2f(secondContour.toArray())));
+                                tempRectMat.fromArray(firstContour.toArray());
+                                var minAreaRect1 = Imgproc.minAreaRect(tempRectMat);
+                                tempRectMat.fromArray(secondContour.toArray());
+                                var minAreaRect2 = Imgproc.minAreaRect(tempRectMat);
 
+                                target.leftRightRotatedRect =
+                                        Pair.of(minAreaRect1, minAreaRect2);
+                                
                                 groupedContours.add(target);
                             }
                         } catch (IndexOutOfBoundsException e) {
@@ -113,6 +117,8 @@ public class GroupContoursPipe implements Pipe<List<MatOfPoint>, List<StandardCV
         return Pair.of(groupedContours, processTime);
     }
 
+    MatOfPoint2f tempRectMat = new MatOfPoint2f();
+
     private static double calcMomentsX(MatOfPoint c) {
         Moments m = Imgproc.moments(c);
         return (m.get_m10() / m.get_m00());