From 4975e5cfe8265a04c0331d629fda041cd94329bf Mon Sep 17 00:00:00 2001
From: Banks Troutman <bankst@roswellrobotics.com>
Date: Sun, 24 Nov 2019 21:07:22 -0500
Subject: [PATCH] Fix CvExceptions for pipes, CVPipeline2d cleanups

---
 .../chameleonvision/vision/pipeline/CVPipeline2d.java | 11 ++++-------
 .../vision/pipeline/pipes/BlurPipe.java               |  5 ++++-
 .../vision/pipeline/pipes/ErodeDilatePipe.java        | 10 ++++------
 .../vision/pipeline/pipes/HsvPipe.java                |  7 +++++--
 .../vision/pipeline/pipes/RotateFlipPipe.java         |  5 ++++-
 5 files changed, 21 insertions(+), 17 deletions(-)

diff --git a/Main/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2d.java b/Main/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2d.java
index 34d99037b..c19410250 100644
--- a/Main/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2d.java
+++ b/Main/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2d.java
@@ -44,9 +44,9 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
     public void initPipeline(CameraProcess process) {
         super.initPipeline(process);
 
-        var camProps = cameraProcess.getProperties().staticProperties;
-        var hsvLower = new Scalar(settings.hue.get(0).intValue(), settings.saturation.get(0).intValue(), settings.value.get(0).intValue());
-        var hsvUpper = new Scalar(settings.hue.get(1).intValue(), settings.saturation.get(1).intValue(), settings.value.get(1).intValue());
+        CameraStaticProperties camProps = cameraProcess.getProperties().staticProperties;
+        Scalar hsvLower = new Scalar(settings.hue.get(0).intValue(), settings.saturation.get(0).intValue(), settings.value.get(0).intValue());
+        Scalar hsvUpper = new Scalar(settings.hue.get(1).intValue(), settings.saturation.get(1).intValue(), settings.value.get(1).intValue());
 
         rotateFlipPipe = new RotateFlipPipe(ImageRotation.DEG_0, settings.flipMode);
         blurPipe = new BlurPipe(5);
@@ -70,7 +70,7 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
             throw new RuntimeException("Pipeline was not initialized before being run!");
         }
         if(inputMat.cols() <= 1) {
-            throw new RuntimeException("uwu uwu ");
+            throw new RuntimeException("Input Mat is empty!");
         }
 
         StringBuilder procTimeStringBuilder = new StringBuilder();
@@ -79,10 +79,7 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
 
         inputMat.copyTo(rawCameraMat);
 
-//		rawCameraMat = inputMat;
-
         // prepare pipes
-
         Scalar hsvLower = new Scalar(settings.hue.get(0).intValue(), settings.saturation.get(0).intValue(), settings.value.get(0).intValue());
         Scalar hsvUpper = new Scalar(settings.hue.get(1).intValue(), settings.saturation.get(1).intValue(), settings.value.get(1).intValue());
 
diff --git a/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/BlurPipe.java b/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/BlurPipe.java
index 070ce4ab4..254a70312 100644
--- a/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/BlurPipe.java
+++ b/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/BlurPipe.java
@@ -25,15 +25,18 @@ public class BlurPipe implements Pipe<Mat, Mat> {
     public Pair<Mat, Long> run(Mat input) {
         long processStartNanos = System.nanoTime();
 
+        input.copyTo(processBuffer);
+
         try {
             if (blurSize > 0) {
-                Imgproc.blur(outputMat, outputMat, new Size(blurSize, blurSize));
+                Imgproc.blur(processBuffer, processBuffer, new Size(blurSize, blurSize));
             }
         } catch (CvException e) {
             System.err.println("(BlurPipe) Exception thrown by OpenCV: \n" + e.getMessage());
         }
 
         long processTime = System.nanoTime() - processStartNanos;
+        processBuffer.copyTo(outputMat);
         Pair<Mat, Long> output = Pair.of(outputMat, processTime);
         processBuffer.release();
 
diff --git a/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/ErodeDilatePipe.java b/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/ErodeDilatePipe.java
index 3ecbef9c4..4534f8ae1 100644
--- a/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/ErodeDilatePipe.java
+++ b/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/ErodeDilatePipe.java
@@ -30,21 +30,19 @@ public class ErodeDilatePipe implements Pipe<Mat, Mat> {
     public Pair<Mat, Long> run(Mat input) {
         long processStartNanos = System.nanoTime();
 
+        input.copyTo(processBuffer);
+
         if (erode) {
-            Imgproc.erode(input, processBuffer, kernel);
+            Imgproc.erode(processBuffer, processBuffer, kernel);
         }
 
         if (dilate) {
             Imgproc.erode(processBuffer, processBuffer, kernel);
         }
 
-        if(!erode && !dilate) {
-            input.copyTo(processBuffer);
-        }
-
         long processTime = System.nanoTime() - processStartNanos;
+        processBuffer.copyTo(outputMat);
         Pair<Mat, Long> output = Pair.of(outputMat, processTime);
-
         processBuffer.release();
         return output;
     }
diff --git a/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/HsvPipe.java b/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/HsvPipe.java
index 945a07ab1..454f851d5 100644
--- a/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/HsvPipe.java
+++ b/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/HsvPipe.java
@@ -29,14 +29,17 @@ public class HsvPipe implements Pipe<Mat, Mat> {
     public Pair<Mat, Long> run(Mat input) {
         long processStartNanos = System.nanoTime();
 
+        input.copyTo(processBuffer);
+
         try {
-            Imgproc.cvtColor(input, outputMat, Imgproc.COLOR_RGB2HSV, 3);
-            Core.inRange(outputMat, hsvLower, hsvUpper, outputMat);
+            Imgproc.cvtColor(processBuffer, processBuffer, Imgproc.COLOR_RGB2HSV, 3);
+            Core.inRange(processBuffer, hsvLower, hsvUpper, processBuffer);
         } catch (CvException e) {
             System.err.println("(HsvPipe) Exception thrown by OpenCV: \n" + e.getMessage());
         }
 
         long processTime = System.nanoTime() - processStartNanos;
+        processBuffer.copyTo(outputMat);
         Pair<Mat, Long> output = Pair.of(outputMat, processTime);
         processBuffer.release();
         return output;
diff --git a/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/RotateFlipPipe.java b/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/RotateFlipPipe.java
index 674b4ee16..a4a604dfb 100644
--- a/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/RotateFlipPipe.java
+++ b/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/RotateFlipPipe.java
@@ -28,10 +28,13 @@ public class RotateFlipPipe implements Pipe<Mat, Mat> {
     public Pair<Mat, Long> run(Mat input) {
         long processStartNanos = System.nanoTime();
 
-        Core.flip(input, processBuffer, flip.value);
+        input.copyTo(processBuffer);
+
+        Core.flip(processBuffer, processBuffer, flip.value);
         Core.rotate(processBuffer, processBuffer, rotation.value);
 
         long processTime = System.nanoTime() - processStartNanos;
+        processBuffer.copyTo(outputMat);
         Pair<Mat, Long> output = Pair.of(outputMat, processTime);
         processBuffer.release();
         return output;