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Memory cleanups

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This commit is contained in:
Banks Troutman
2019-11-25 16:40:23 -05:00
parent 55cc337198
commit 79fd79be41
3 changed files with 52 additions and 34 deletions
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75
Main/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2d.java
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@@ -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());

7
Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/Draw2dContoursPipe.java
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@@ -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();

4
Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/OutputMatPipe.java
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@@ -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();