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Fix timing calculations, add OpenCV exception catching to some pipes

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This commit is contained in:
Banks Troutman
2019-11-24 19:31:45 -05:00
parent 5841122091
commit 80d4451e56
14 changed files with 64 additions and 53 deletions
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51
Main/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2d.java
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@@ -31,6 +31,8 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
@Override
public CVPipeline2dResult runPipeline(Mat inputMat) {
long totalProcessTimeNanos = 0;
long processStartTimeNanos = System.nanoTime();
if (cameraProcess == null) {
throw new RuntimeException("Pipeline was not initialized before being run!");
@@ -39,12 +41,13 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
throw new RuntimeException("uwu uwu ");
}
long totalProcessTimeNanos = 0;
StringBuilder procTimeStringBuilder = new StringBuilder();
CameraStaticProperties camProps = cameraProcess.getProperties().staticProperties;
rawCameraMat = inputMat;
inputMat.copyTo(rawCameraMat);
// rawCameraMat = inputMat;
// prepare pipes
RotateFlipPipe rotateFlipPipe = new RotateFlipPipe(ImageRotation.DEG_0, settings.flipMode);
@@ -75,67 +78,77 @@ 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));
// run pipes
Pair<Mat, Long> rotateFlipResult = rotateFlipPipe.run(inputMat);
totalProcessTimeNanos += rotateFlipResult.getRight();
procTimeStringBuilder.append(String.format("RotateFlip: %.2fms, ", rotateFlipResult.getRight() / 1000.0));
procTimeStringBuilder.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() / 1000.0));
procTimeStringBuilder.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() / 1000.0));
procTimeStringBuilder.append(String.format("ErodeDilate: %.2fms, ", erodeDilateResult.getRight() / 1000000.0));
Pair<Mat, Long> hsvResult = hsvPipe.run(erodeDilateResult.getLeft());
totalProcessTimeNanos += hsvResult.getRight();
Imgproc.cvtColor(hsvResult.getLeft(), hsvOutputMat, Imgproc.COLOR_GRAY2BGR, 3);
procTimeStringBuilder.append(String.format("HSV: %.2fms, ", hsvResult.getRight() / 1000.0));
try {
Imgproc.cvtColor(hsvResult.getLeft(), hsvOutputMat, Imgproc.COLOR_GRAY2BGR, 3);
} catch (CvException e) {
System.err.println("(CVPipeline2d) Exception thrown by OpenCV: \n" + e.getMessage());
}
procTimeStringBuilder.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() / 1000.0));
procTimeStringBuilder.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() / 1000.0));
procTimeStringBuilder.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() / 1000.0));
procTimeStringBuilder.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() / 1000.0));
procTimeStringBuilder.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() / 1000.0));
procTimeStringBuilder.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() / 1000.0));
procTimeStringBuilder.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() / 1000.0));
procTimeStringBuilder.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() / 1000.0));
procTimeStringBuilder.append(String.format("Draw2dContours: %.2fms, ", draw2dContoursResult.getRight() / 1000000.0));
System.out.println(procTimeStringBuilder.toString());
System.out.printf("Pipeline ran in %.3fms\n", totalProcessTimeNanos / 1000.0);
System.out.printf("Pipeline ran in %.3fms\n", totalProcessTimeNanos / 1000000.0);
return new CVPipeline2dResult(collect2dTargetsResult.getLeft(), draw2dContoursResult.getLeft(), totalProcessTimeNanos / 1000);
return new CVPipeline2dResult(collect2dTargetsResult.getLeft(), draw2dContoursResult.getLeft(), totalProcessTimeNanos);
}
public static class CVPipeline2dResult extends CVPipelineResult<Target2d> {
public CVPipeline2dResult(List<Target2d> targets, Mat outputMat, long processTime) {
super(targets, outputMat, processTime);
public CVPipeline2dResult(List<Target2d> targets, Mat outputMat, long processTimeNanos) {
super(targets, outputMat, processTimeNanos);
}
}