From 79fd79be415548f80c0e439e96eca3cc8165fbe7 Mon Sep 17 00:00:00 2001
From: Banks Troutman <bankst@roswellrobotics.com>
Date: Mon, 25 Nov 2019 16:40:23 -0500
Subject: [PATCH] Memory cleanups

---
 .../vision/pipeline/CVPipeline2d.java         | 75 +++++++++++--------
 .../pipeline/pipes/Draw2dContoursPipe.java    |  7 +-
 .../vision/pipeline/pipes/OutputMatPipe.java  |  4 +
 3 files changed, 52 insertions(+), 34 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 b895cb399..8bb2f3f51 100644
--- a/Main/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2d.java
+++ b/Main/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2d.java
@@ -17,6 +17,7 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
 
     private Mat rawCameraMat = new Mat();
     private Mat hsvOutputMat = new Mat();
+
     private RotateFlipPipe rotateFlipPipe;
     private BlurPipe blurPipe;
     private ErodeDilatePipe erodeDilatePipe;
@@ -27,6 +28,16 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
     private GroupContoursPipe groupContoursPipe;
     private SortContoursPipe sortContoursPipe;
     private Collect2dTargetsPipe collect2dTargetsPipe;
+    private Draw2dContoursPipe.Draw2dContoursSettings draw2dContoursSettings;
+    private Draw2dContoursPipe draw2dContoursPipe;
+    private OutputMatPipe outputMatPipe;
+
+
+    private StringBuilder pipelineTimeStringBuilder = new StringBuilder();
+    private CaptureStaticProperties camProps;
+    private Scalar hsvLower, hsvUpper;
+
+
 
     public CVPipeline2d() {
         super(new CVPipeline2dSettings());
@@ -44,9 +55,9 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
     public void initPipeline(CameraCapture process) {
         super.initPipeline(process);
 
-        CaptureStaticProperties camProps = cameraCapture.getProperties().getStaticProperties();
-        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());
+        camProps = cameraCapture.getProperties().getStaticProperties();
+        hsvLower = new Scalar(settings.hue.get(0).intValue(), settings.saturation.get(0).intValue(), settings.value.get(0).intValue());
+        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);
@@ -59,6 +70,15 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
         sortContoursPipe = new SortContoursPipe(settings.sortMode, camProps);
         collect2dTargetsPipe = new Collect2dTargetsPipe(settings.calibrationMode, settings.point,
                 settings.dualTargetCalibrationM, settings.dualTargetCalibrationB, camProps);
+        draw2dContoursSettings = new Draw2dContoursPipe.Draw2dContoursSettings();
+        // TODO: make settable from UI? config?
+        draw2dContoursSettings.showCentroid = false;
+        draw2dContoursSettings.showCrosshair = true;
+        draw2dContoursSettings.boxOutlineSize = 2;
+        draw2dContoursSettings.showRotatedBox = true;
+        draw2dContoursSettings.showMaximumBox = true;
+        draw2dContoursPipe = new Draw2dContoursPipe(draw2dContoursSettings, camProps);
+        outputMatPipe = new OutputMatPipe(settings.isBinary);
     }
 
     @Override
@@ -73,16 +93,14 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
             throw new RuntimeException("Input Mat is empty!");
         }
 
-        StringBuilder pipelineTimeStringBuilder = new StringBuilder();
 
-        CaptureStaticProperties camProps = cameraCapture.getProperties().getStaticProperties();
+        pipelineTimeStringBuilder = new StringBuilder();
 
         inputMat.copyTo(rawCameraMat);
 
         // 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());
-
+        hsvLower = new Scalar(settings.hue.get(0).intValue(), settings.saturation.get(0).intValue(), settings.value.get(0).intValue());
+        hsvUpper = new Scalar(settings.hue.get(1).intValue(), settings.saturation.get(1).intValue(), settings.value.get(1).intValue());
         rotateFlipPipe.setConfig(ImageRotation.DEG_0, settings.flipMode);
         blurPipe.setConfig(0);
         erodeDilatePipe.setConfig(settings.erode, settings.dilate, 7);
@@ -93,78 +111,69 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
         sortContoursPipe.setConfig(settings.sortMode, camProps);
         collect2dTargetsPipe.setConfig(settings.calibrationMode, settings.point,
                 settings.dualTargetCalibrationM, settings.dualTargetCalibrationB, camProps);
-
-        OutputMatPipe outputMatPipe = new OutputMatPipe(settings.isBinary);
-
-        Draw2dContoursPipe.Draw2dContoursSettings draw2dContoursSettings = new Draw2dContoursPipe.Draw2dContoursSettings();
-        draw2dContoursSettings.showCentroid = false;
-        draw2dContoursSettings.showCrosshair = true;
-        draw2dContoursSettings.boxOutlineSize = 2;
-        draw2dContoursSettings.showRotatedBox = true;
-        draw2dContoursSettings.showMaximumBox = true;
-
-        Draw2dContoursPipe draw2dContoursPipe = new Draw2dContoursPipe(draw2dContoursSettings, camProps);
+        draw2dContoursPipe.setConfig(camProps);
+        outputMatPipe.setConfig(settings.isBinary);
 
         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);
         totalPipelineTimeNanos += rotateFlipResult.getRight();
-        pipelineTimeStringBuilder.append(String.format("RotateFlip: %.2fms, ", rotateFlipResult.getRight() / 1000000.0));
 
         Pair<Mat, Long> blurResult = blurPipe.run(rotateFlipResult.getLeft());
         totalPipelineTimeNanos += blurResult.getRight();
-        pipelineTimeStringBuilder.append(String.format("Blur: %.2fms, ", blurResult.getRight() / 1000000.0));
 
         Pair<Mat, Long> erodeDilateResult = erodeDilatePipe.run(blurResult.getLeft());
         totalPipelineTimeNanos += erodeDilateResult.getRight();
-        pipelineTimeStringBuilder.append(String.format("ErodeDilate: %.2fms, ", erodeDilateResult.getRight() / 1000000.0));
 
         Pair<Mat, Long> hsvResult = hsvPipe.run(erodeDilateResult.getLeft());
         totalPipelineTimeNanos += hsvResult.getRight();
 
+        // Todo: move to a pipe
         try {
             Imgproc.cvtColor(hsvResult.getLeft(), hsvOutputMat, Imgproc.COLOR_GRAY2BGR, 3);
         } catch (CvException e) {
             System.err.println("(CVPipeline2d) Exception thrown by OpenCV: \n" + e.getMessage());
         }
 
-        pipelineTimeStringBuilder.append(String.format("HSV: %.2fms, ", hsvResult.getRight() / 1000000.0));
-
         Pair<List<MatOfPoint>, Long> findContoursResult = findContoursPipe.run(hsvResult.getLeft());
         totalPipelineTimeNanos += findContoursResult.getRight();
-        pipelineTimeStringBuilder.append(String.format("FindContours: %.2fms, ", findContoursResult.getRight() / 1000000.0));
 
         Pair<List<MatOfPoint>, Long> filterContoursResult = filterContoursPipe.run(findContoursResult.getLeft());
         totalPipelineTimeNanos += filterContoursResult.getRight();
-        pipelineTimeStringBuilder.append(String.format("FilterContours: %.2fms, ", filterContoursResult.getRight() / 1000000.0));
 
         Pair<List<MatOfPoint>, Long> speckleRejectResult = speckleRejectPipe.run(filterContoursResult.getLeft());
         totalPipelineTimeNanos += speckleRejectResult.getRight();
-        pipelineTimeStringBuilder.append(String.format("SpeckleReject: %.2fms, ", speckleRejectResult.getRight() / 1000000.0));
 
         Pair<List<RotatedRect>, Long> groupContoursResult = groupContoursPipe.run(speckleRejectResult.getLeft());
         totalPipelineTimeNanos += groupContoursResult.getRight();
-        pipelineTimeStringBuilder.append(String.format("GroupContours: %.2fms, ", groupContoursResult.getRight() / 1000000.0));
 
         Pair<List<RotatedRect>, Long> sortContoursResult = sortContoursPipe.run(groupContoursResult.getLeft());
         totalPipelineTimeNanos += sortContoursResult.getRight();
-        pipelineTimeStringBuilder.append(String.format("SortContours: %.2fms, ", sortContoursResult.getRight() / 1000000.0));
 
         Pair<List<Target2d>, Long> collect2dTargetsResult = collect2dTargetsPipe.run(sortContoursResult.getLeft());
         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));
         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()));
         totalPipelineTimeNanos += draw2dContoursResult.getRight();
+
+        pipelineTimeStringBuilder.append(String.format("PipeInit: %.2fms, ", pipeInitTimeNanos / 1000000.0));
+        pipelineTimeStringBuilder.append(String.format("RotateFlip: %.2fms, ", rotateFlipResult.getRight() / 1000000.0));
+        pipelineTimeStringBuilder.append(String.format("Blur: %.2fms, ", blurResult.getRight() / 1000000.0));
+        pipelineTimeStringBuilder.append(String.format("ErodeDilate: %.2fms, ", erodeDilateResult.getRight() / 1000000.0));
+        pipelineTimeStringBuilder.append(String.format("HSV: %.2fms, ", hsvResult.getRight() / 1000000.0));
+        pipelineTimeStringBuilder.append(String.format("FindContours: %.2fms, ", findContoursResult.getRight() / 1000000.0));
+        pipelineTimeStringBuilder.append(String.format("FilterContours: %.2fms, ", filterContoursResult.getRight() / 1000000.0));
+        pipelineTimeStringBuilder.append(String.format("SpeckleReject: %.2fms, ", speckleRejectResult.getRight() / 1000000.0));
+        pipelineTimeStringBuilder.append(String.format("GroupContours: %.2fms, ", groupContoursResult.getRight() / 1000000.0));
+        pipelineTimeStringBuilder.append(String.format("SortContours: %.2fms, ", sortContoursResult.getRight() / 1000000.0));
+        pipelineTimeStringBuilder.append(String.format("Collect2dTargets: %.2fms, ", collect2dTargetsResult.getRight() / 1000000.0));
+        pipelineTimeStringBuilder.append(String.format("OutputMat: %.2fms, ", outputMatResult.getRight() / 1000000.0));
         pipelineTimeStringBuilder.append(String.format("Draw2dContours: %.2fms, ", draw2dContoursResult.getRight() / 1000000.0));
 
         System.out.println(pipelineTimeStringBuilder.toString());
diff --git a/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/Draw2dContoursPipe.java b/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/Draw2dContoursPipe.java
index 6b95ca930..3fc361f47 100644
--- a/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/Draw2dContoursPipe.java
+++ b/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/Draw2dContoursPipe.java
@@ -2,6 +2,7 @@ package com.chameleonvision.vision.pipeline.pipes;
 
 import com.chameleonvision.vision.camera.CaptureStaticProperties;
 import com.chameleonvision.util.Helpers;
+import com.chameleonvision.vision.image.CaptureProperties;
 import org.apache.commons.lang3.tuple.Pair;
 import org.opencv.core.Point;
 import org.opencv.core.*;
@@ -14,7 +15,7 @@ import java.util.List;
 public class Draw2dContoursPipe implements Pipe<Pair<Mat, List<RotatedRect>>, Mat> {
 
     private final Draw2dContoursSettings settings;
-    private final CaptureStaticProperties camProps;
+    private CaptureStaticProperties camProps;
 
     private Mat outputMat = new Mat();
 
@@ -23,6 +24,10 @@ public class Draw2dContoursPipe implements Pipe<Pair<Mat, List<RotatedRect>>, Ma
         this.camProps = camProps;
     }
 
+    public void setConfig(CaptureStaticProperties captureProps) {
+        camProps = captureProps;
+    }
+
     @Override
     public Pair<Mat, Long> run(Pair<Mat, List<RotatedRect>> input) {
         long processStartNanos = System.nanoTime();
diff --git a/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/OutputMatPipe.java b/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/OutputMatPipe.java
index 7593a2ca8..df7972108 100644
--- a/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/OutputMatPipe.java
+++ b/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/OutputMatPipe.java
@@ -13,6 +13,10 @@ public class OutputMatPipe implements Pipe<Pair<Mat, Mat>, Mat> {
         this.showThresholded = showThresholded;
     }
 
+    public void setConfig(boolean showThresholded) {
+        this.showThresholded = showThresholded;
+    }
+
     @Override
     public Pair<Mat, Long> run(Pair<Mat, Mat> input) {
         long processStartNanos = System.nanoTime();