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Config tweaks, fixed CameraStreamer

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This commit is contained in:
Banks Troutman
2019-11-26 23:03:07 -05:00
parent d588b1a69e
commit 8b8138eb50
9 changed files with 82 additions and 49 deletions
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31
Main/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2d.java
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@@ -16,7 +16,6 @@ import static com.chameleonvision.vision.pipeline.CVPipeline2d.*;
public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSettings> {
private Mat rawCameraMat = new Mat();
private Mat hsvOutputMat = new Mat();
private RotateFlipPipe rotateFlipPipe;
private BlurPipe blurPipe;
@@ -32,13 +31,10 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
private Draw2dContoursPipe draw2dContoursPipe;
private OutputMatPipe outputMatPipe;
private StringBuilder pipelineTimeStringBuilder = new StringBuilder();
private CaptureStaticProperties camProps;
private Scalar hsvLower, hsvUpper;
public CVPipeline2d() {
super(new CVPipeline2dSettings());
}
@@ -128,13 +124,6 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
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());
}
Pair<List<MatOfPoint>, Long> findContoursResult = findContoursPipe.run(hsvResult.getLeft());
totalPipelineTimeNanos += findContoursResult.getRight();
@@ -153,8 +142,8 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
Pair<List<Target2d>, Long> collect2dTargetsResult = collect2dTargetsPipe.run(sortContoursResult.getLeft());
totalPipelineTimeNanos += collect2dTargetsResult.getRight();
// takes pair of (Mat of original camera image, Mat of HSV thresholded image)
Pair<Mat, Long> outputMatResult = outputMatPipe.run(Pair.of(rawCameraMat, hsvOutputMat));
// takes pair of (Mat of original camera image (8UC3), Mat of HSV thresholded image(8UC1))
Pair<Mat, Long> outputMatResult = outputMatPipe.run(Pair.of(rawCameraMat, hsvResult.getLeft()));
totalPipelineTimeNanos += outputMatResult.getRight();
// takes pair of (Mat to draw on, List<RotatedRect> of sorted contours)
@@ -175,13 +164,15 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
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());
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);
if (true) {
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(), totalPipelineTimeNanos);
}