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

tweaked pipeline FPS prints

Browse Source
This commit is contained in:
Banks Troutman
2019-11-25 16:06:21 -05:00
parent ddba967793
commit 55cc337198
1 changed files with 38 additions and 33 deletions
Download Patch File Download Diff File Expand all files Collapse all files

71
Main/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2d.java
View File

@@ -63,8 +63,8 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
@Override
public CVPipeline2dResult runPipeline(Mat inputMat) {
long totalProcessTimeNanos = 0;
long processStartTimeNanos = System.nanoTime();
long totalPipelineTimeNanos = 0;
long pipelineStartTimeNanos = System.nanoTime();
if (cameraCapture == null) {
throw new RuntimeException("Pipeline was not initialized before being run!");
@@ -73,7 +73,7 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
throw new RuntimeException("Input Mat is empty!");
}
StringBuilder procTimeStringBuilder = new StringBuilder();
StringBuilder pipelineTimeStringBuilder = new StringBuilder();
CaptureStaticProperties camProps = cameraCapture.getProperties().getStaticProperties();
@@ -105,25 +105,25 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
Draw2dContoursPipe draw2dContoursPipe = new Draw2dContoursPipe(draw2dContoursSettings, camProps);
long pipeInitTimeNanos = System.nanoTime() - processStartTimeNanos;
totalProcessTimeNanos += pipeInitTimeNanos;
procTimeStringBuilder.append(String.format("PipeInit: %.2fms, ", pipeInitTimeNanos / 1000000.0));
long pipeInitTimeNanos = System.nanoTime() - pipelineStartTimeNanos;
totalPipelineTimeNanos += pipeInitTimeNanos;
pipelineTimeStringBuilder.append(String.format("PipeInit: %.2fms, ", pipeInitTimeNanos / 1000000.0));
// run pipes
Pair<Mat, Long> rotateFlipResult = rotateFlipPipe.run(inputMat);
totalProcessTimeNanos += rotateFlipResult.getRight();
procTimeStringBuilder.append(String.format("RotateFlip: %.2fms, ", rotateFlipResult.getRight() / 1000000.0));
totalPipelineTimeNanos += rotateFlipResult.getRight();
pipelineTimeStringBuilder.append(String.format("RotateFlip: %.2fms, ", rotateFlipResult.getRight() / 1000000.0));
Pair<Mat, Long> blurResult = blurPipe.run(rotateFlipResult.getLeft());
totalProcessTimeNanos += blurResult.getRight();
procTimeStringBuilder.append(String.format("Blur: %.2fms, ", blurResult.getRight() / 1000000.0));
totalPipelineTimeNanos += blurResult.getRight();
pipelineTimeStringBuilder.append(String.format("Blur: %.2fms, ", blurResult.getRight() / 1000000.0));
Pair<Mat, Long> erodeDilateResult = erodeDilatePipe.run(blurResult.getLeft());
totalProcessTimeNanos += erodeDilateResult.getRight();
procTimeStringBuilder.append(String.format("ErodeDilate: %.2fms, ", erodeDilateResult.getRight() / 1000000.0));
totalPipelineTimeNanos += erodeDilateResult.getRight();
pipelineTimeStringBuilder.append(String.format("ErodeDilate: %.2fms, ", erodeDilateResult.getRight() / 1000000.0));
Pair<Mat, Long> hsvResult = hsvPipe.run(erodeDilateResult.getLeft());
totalProcessTimeNanos += hsvResult.getRight();
totalPipelineTimeNanos += hsvResult.getRight();
try {
Imgproc.cvtColor(hsvResult.getLeft(), hsvOutputMat, Imgproc.COLOR_GRAY2BGR, 3);
@@ -131,46 +131,51 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
System.err.println("(CVPipeline2d) Exception thrown by OpenCV: \n" + e.getMessage());
}
procTimeStringBuilder.append(String.format("HSV: %.2fms, ", hsvResult.getRight() / 1000000.0));
pipelineTimeStringBuilder.append(String.format("HSV: %.2fms, ", hsvResult.getRight() / 1000000.0));
Pair<List<MatOfPoint>, Long> findContoursResult = findContoursPipe.run(hsvResult.getLeft());
totalProcessTimeNanos += findContoursResult.getRight();
procTimeStringBuilder.append(String.format("FindContours: %.2fms, ", findContoursResult.getRight() / 1000000.0));
totalPipelineTimeNanos += findContoursResult.getRight();
pipelineTimeStringBuilder.append(String.format("FindContours: %.2fms, ", findContoursResult.getRight() / 1000000.0));
Pair<List<MatOfPoint>, Long> filterContoursResult = filterContoursPipe.run(findContoursResult.getLeft());
totalProcessTimeNanos += filterContoursResult.getRight();
procTimeStringBuilder.append(String.format("FilterContours: %.2fms, ", filterContoursResult.getRight() / 1000000.0));
totalPipelineTimeNanos += filterContoursResult.getRight();
pipelineTimeStringBuilder.append(String.format("FilterContours: %.2fms, ", filterContoursResult.getRight() / 1000000.0));
Pair<List<MatOfPoint>, Long> speckleRejectResult = speckleRejectPipe.run(filterContoursResult.getLeft());
totalProcessTimeNanos += speckleRejectResult.getRight();
procTimeStringBuilder.append(String.format("SpeckleReject: %.2fms, ", speckleRejectResult.getRight() / 1000000.0));
totalPipelineTimeNanos += speckleRejectResult.getRight();
pipelineTimeStringBuilder.append(String.format("SpeckleReject: %.2fms, ", speckleRejectResult.getRight() / 1000000.0));
Pair<List<RotatedRect>, Long> groupContoursResult = groupContoursPipe.run(speckleRejectResult.getLeft());
totalProcessTimeNanos += groupContoursResult.getRight();
procTimeStringBuilder.append(String.format("GroupContours: %.2fms, ", groupContoursResult.getRight() / 1000000.0));
totalPipelineTimeNanos += groupContoursResult.getRight();
pipelineTimeStringBuilder.append(String.format("GroupContours: %.2fms, ", groupContoursResult.getRight() / 1000000.0));
Pair<List<RotatedRect>, Long> sortContoursResult = sortContoursPipe.run(groupContoursResult.getLeft());
totalProcessTimeNanos += sortContoursResult.getRight();
procTimeStringBuilder.append(String.format("SortContours: %.2fms, ", sortContoursResult.getRight() / 1000000.0));
totalPipelineTimeNanos += sortContoursResult.getRight();
pipelineTimeStringBuilder.append(String.format("SortContours: %.2fms, ", sortContoursResult.getRight() / 1000000.0));
Pair<List<Target2d>, Long> collect2dTargetsResult = collect2dTargetsPipe.run(sortContoursResult.getLeft());
totalProcessTimeNanos += collect2dTargetsResult.getRight();
procTimeStringBuilder.append(String.format("SortContours: %.2fms, ", sortContoursResult.getRight() / 1000000.0));
totalPipelineTimeNanos += collect2dTargetsResult.getRight();
pipelineTimeStringBuilder.append(String.format("SortContours: %.2fms, ", sortContoursResult.getRight() / 1000000.0));
// takes pair of (Mat of original camera image, Mat of HSV thresholded image)
Pair<Mat, Long> outputMatResult = outputMatPipe.run(Pair.of(rawCameraMat, hsvOutputMat));
totalProcessTimeNanos += outputMatResult.getRight();
procTimeStringBuilder.append(String.format("OutputMat: %.2fms, ", outputMatResult.getRight() / 1000000.0));
totalPipelineTimeNanos += outputMatResult.getRight();
pipelineTimeStringBuilder.append(String.format("OutputMat: %.2fms, ", outputMatResult.getRight() / 1000000.0));
// takes pair of (Mat to draw on, List<RotatedRect> of sorted contours)
Pair<Mat, Long> draw2dContoursResult = draw2dContoursPipe.run(Pair.of(outputMatResult.getLeft(), sortContoursResult.getLeft()));
totalProcessTimeNanos += draw2dContoursResult.getRight();
procTimeStringBuilder.append(String.format("Draw2dContours: %.2fms, ", draw2dContoursResult.getRight() / 1000000.0));
totalPipelineTimeNanos += draw2dContoursResult.getRight();
pipelineTimeStringBuilder.append(String.format("Draw2dContours: %.2fms, ", draw2dContoursResult.getRight() / 1000000.0));
System.out.println(procTimeStringBuilder.toString());
System.out.printf("Pipeline ran in %.3fms\n", totalProcessTimeNanos / 1000000.0);
System.out.println(pipelineTimeStringBuilder.toString());
double totalPipelineTimeMillis = totalPipelineTimeNanos / 1000000.0;
double totalPipelineTimeFPS = 1.0 / (totalPipelineTimeMillis / 1000.0);
double truePipelineTimeMillis = (System.nanoTime() - pipelineStartTimeNanos) / 1000000.0;
double truePipelineFPS = 1.0 / (truePipelineTimeMillis / 1000.0);
System.out.printf("Pipeline processed in %.3fms (%.2fFPS), ", totalPipelineTimeMillis, totalPipelineTimeFPS);
System.out.printf("full pipeline run time was %.3fms (%.2fFPS)\n", truePipelineTimeMillis, truePipelineFPS);
return new CVPipeline2dResult(collect2dTargetsResult.getLeft(), draw2dContoursResult.getLeft(), totalProcessTimeNanos);
return new CVPipeline2dResult(collect2dTargetsResult.getLeft(), draw2dContoursResult.getLeft(), totalPipelineTimeNanos);
}
public static class CVPipeline2dResult extends CVPipelineResult<Target2d> {