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Tests now print when run, added BenchmarkTests, CVMat togglable output

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This commit is contained in:
Banks Troutman
2020-06-12 19:58:58 -04:00
parent 58229b9fe5
commit c683bebf76
5 changed files with 268 additions and 5 deletions
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3
chameleon-server/build.gradle
View File

@@ -111,6 +111,9 @@ sourceSets {
test {
useJUnitPlatform()
testLogging {
events "passed", "skipped", "failed", "standardOut", "standardError"
}
}
task testHeadless(type: Test) {

98
chameleon-server/src/main/java/com/chameleonvision/common/util/numbers/NumberListUtils.java Normal file
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@@ -0,0 +1,98 @@
package com.chameleonvision.common.util.numbers;
import java.math.BigDecimal;
import java.util.ArrayList;
import java.util.Comparator;
import java.util.List;
import java.util.StringJoiner;
@SuppressWarnings("unused")
public class NumberListUtils {
/**
* @param collection an ArrayList of Comparable objects
* @return the median of collection
*/
public static <T extends Number> double median(List<T> collection, Comparator<T> comp) {
double result;
int n = collection.size() / 2;
if (collection.size() % 2 == 0) // even number of items; find the middle two and average them
result =
(nthSmallest(collection, n - 1, comp).doubleValue()
+ nthSmallest(collection, n, comp).doubleValue())
/ 2.0;
else // odd number of items; return the one in the middle
result = nthSmallest(collection, n, comp).doubleValue();
return result;
}
public static <T extends Number> String toString(List<T> collection) {
return toString(collection, "");
}
public static <T extends Number> String toString(List<T> collection, String suffix) {
StringJoiner joiner = new StringJoiner(", ");
for (T x : collection) {
String s = x.doubleValue() + suffix;
joiner.add(s);
}
return joiner.toString();
}
/**
* @param collection an ArrayList of Numbers
* @return the mean of collection
*/
public static double mean(final List<? extends Number> collection) {
BigDecimal sum = BigDecimal.ZERO;
for (final Number number : collection) {
sum = sum.add(BigDecimal.valueOf(number.doubleValue()));
}
return (sum.doubleValue() / collection.size());
}
/**
* @param collection a collection of Comparable objects
* @param n the position of the desired object, using the ordering defined on the collection
* elements
* @return the nth smallest object
*/
public static <T> T nthSmallest(List<T> collection, int n, Comparator<T> comp) {
T result, pivot;
ArrayList<T> underPivot = new ArrayList<>(),
overPivot = new ArrayList<>(),
equalPivot = new ArrayList<>();
// choosing a pivot is a whole topic in itself.
// this implementation uses the simple strategy of grabbing something from the middle of the
// ArrayList.
pivot = collection.get(n / 2);
// split collection into 3 lists based on comparison with the pivot
for (T obj : collection) {
int order = comp.compare(obj, pivot);
if (order < 0) // obj < pivot
underPivot.add(obj);
else if (order > 0) // obj > pivot
overPivot.add(obj);
else // obj = pivot
equalPivot.add(obj);
} // for each obj in collection
// recurse on the appropriate collection
if (n < underPivot.size()) result = nthSmallest(underPivot, n, comp);
else if (n < underPivot.size() + equalPivot.size()) // equal to pivot; just return it
result = pivot;
else // everything in underPivot and equalPivot is too small. Adjust n accordingly in the
// recursion.
result = nthSmallest(overPivot, n - underPivot.size() - equalPivot.size(), comp);
return result;
}
}

9
chameleon-server/src/main/java/com/chameleonvision/common/vision/frame/provider/FileFrameProvider.java
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@@ -18,10 +18,9 @@ public class FileFrameProvider implements FrameProvider {
private static int count = 0;
private Frame m_frame;
private Path m_path;
private final Path m_path;
private double m_fov;
private FrameStaticProperties m_properties;
private final double m_fov;
private boolean m_reloadImage;
@@ -54,7 +53,7 @@ public class FileFrameProvider implements FrameProvider {
Mat image = Imgcodecs.imread(m_path.toString());
if (image.cols() > 0 && image.rows() > 0) {
m_properties = new FrameStaticProperties(image.width(), image.height(), m_fov);
FrameStaticProperties m_properties = new FrameStaticProperties(image.width(), image.height(), m_fov);
m_frame = new Frame(new CVMat(image), m_properties);
} else {
throw new RuntimeException("Image loading failed!");
@@ -83,6 +82,8 @@ public class FileFrameProvider implements FrameProvider {
@Override
public Frame get() {
if (m_reloadImage) {
if (m_frame != null) m_frame.release();
m_frame = null;
loadImage();
}

8
chameleon-server/src/main/java/com/chameleonvision/common/vision/opencv/CVMat.java
View File

@@ -7,6 +7,8 @@ import org.opencv.core.Mat;
public class CVMat implements Releasable {
private static final HashSet<Mat> allMats = new HashSet<>();
private static boolean shouldPrint;
private final Mat mat;
public CVMat() {
@@ -23,7 +25,7 @@ public class CVMat implements Releasable {
public CVMat(Mat mat) {
this.mat = mat;
if (allMats.add(mat)) {
if (allMats.add(mat) && shouldPrint) {
System.out.println(
"(CVMat) Added new Mat (count: "
+ allMats.size()
@@ -45,4 +47,8 @@ public class CVMat implements Releasable {
public static int getMatCount() {
return allMats.size();
}
public static void enablePrint(boolean enabled) {
shouldPrint = enabled;
}
}

155
chameleon-server/src/test/java/com/chameleonvision/common/BenchmarkTest.java Normal file
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@@ -0,0 +1,155 @@
package com.chameleonvision.common;
import com.chameleonvision.common.util.TestUtils;
import com.chameleonvision.common.util.math.MathUtils;
import com.chameleonvision.common.util.numbers.NumberListUtils;
import com.chameleonvision.common.vision.frame.FrameProvider;
import com.chameleonvision.common.vision.frame.provider.FileFrameProvider;
import com.chameleonvision.common.vision.opencv.CVMat;
import com.chameleonvision.common.vision.opencv.ContourGroupingMode;
import com.chameleonvision.common.vision.opencv.ContourIntersectionDirection;
import com.chameleonvision.common.vision.pipeline.*;
import java.util.ArrayList;
import java.util.Collections;
import java.util.List;
import org.junit.jupiter.api.BeforeAll;
import org.junit.jupiter.api.Test;
/** Various tests that check performance on long-running tasks (i.e. a pipeline) */
public class BenchmarkTest {
@BeforeAll
public static void init() {
TestUtils.loadLibraries();
}
@Test
public void Reflective240pBenchmark() {
var pipeline = new ReflectivePipeline();
pipeline.getSettings().hsvHue.set(60, 100);
pipeline.getSettings().hsvSaturation.set(100, 255);
pipeline.getSettings().hsvValue.set(190, 255);
pipeline.getSettings().outputShowThresholded = true;
pipeline.getSettings().outputShowMultipleTargets = true;
pipeline.getSettings().contourGroupingMode = ContourGroupingMode.Dual;
pipeline.getSettings().contourIntersection = ContourIntersectionDirection.Up;
var frameProvider =
new FileFrameProvider(
TestUtils.getWPIImagePath(TestUtils.WPI2019Image.kCargoSideStraightDark72in),
TestUtils.WPI2019Image.FOV);
frameProvider.setImageReloading(true);
benchmarkPipeline(frameProvider, pipeline, 5);
}
@Test
public void Reflective480pBenchmark() {
var pipeline = new ReflectivePipeline();
pipeline.getSettings().hsvHue.set(60, 100);
pipeline.getSettings().hsvSaturation.set(200, 255);
pipeline.getSettings().hsvValue.set(200, 255);
pipeline.getSettings().outputShowThresholded = true;
var frameProvider =
new FileFrameProvider(
TestUtils.getWPIImagePath(TestUtils.WPI2019Image.kCargoSideStraightDark72in),
TestUtils.WPI2019Image.FOV);
frameProvider.setImageReloading(true);
benchmarkPipeline(frameProvider, pipeline, 5);
}
@Test
public void Reflective1920x1440Benchmark() {
var pipeline = new ReflectivePipeline();
pipeline.getSettings().hsvHue.set(60, 100);
pipeline.getSettings().hsvSaturation.set(100, 255);
pipeline.getSettings().hsvValue.set(190, 255);
pipeline.getSettings().outputShowThresholded = true;
pipeline.getSettings().outputShowMultipleTargets = true;
pipeline.getSettings().contourGroupingMode = ContourGroupingMode.Dual;
pipeline.getSettings().contourIntersection = ContourIntersectionDirection.Up;
var frameProvider =
new FileFrameProvider(
TestUtils.getWPIImagePath(TestUtils.WPI2019Image.kCargoStraightDark72in_HighRes),
TestUtils.WPI2019Image.FOV);
frameProvider.setImageReloading(true);
benchmarkPipeline(frameProvider, pipeline, 5);
}
private static <P extends CVPipeline> void benchmarkPipeline(
FrameProvider frameProvider, P pipeline, int secondsToRun) {
CVMat.enablePrint(false);
// warmup for 5 loops.
System.out.println("Warming up for 5 loops...");
for (int i = 0; i < 5; i++) {
pipeline.run(frameProvider.get());
}
final List<Double> processingTimes = new ArrayList<>();
final List<Double> latencyTimes = new ArrayList<>();
var frameProps = frameProvider.get().frameStaticProperties;
// begin benchmark
System.out.println("Beginning " + secondsToRun + " second benchmark at resolution " + frameProps.imageWidth + "x" + frameProps.imageHeight);
var benchmarkStartMillis = System.currentTimeMillis();
do {
CVPipelineResult pipelineResult = pipeline.run(frameProvider.get());
pipelineResult.release();
processingTimes.add(MathUtils.roundTo(pipelineResult.processingMillis, 3));
latencyTimes.add(MathUtils.roundTo(pipelineResult.getLatencyMillis(), 3));
} while (System.currentTimeMillis() - benchmarkStartMillis < secondsToRun * 1000);
System.out.println("Benchmark complete.");
var processingMin = Collections.min(processingTimes);
var processingMean = NumberListUtils.mean(processingTimes);
var processingMax = Collections.max(processingTimes);
var latencyMin = Collections.min(latencyTimes);
var latencyMean = NumberListUtils.mean(latencyTimes);
var latencyMax = Collections.max(latencyTimes);
String processingResult =
"Processing times - "
+ "Min: "
+ processingMin
+ "ms ("
+ 1000 / processingMin
+ " FPS), "
+ "Mean: "
+ processingMean
+ "ms ("
+ 1000 / processingMean
+ " FPS), "
+ "Max: "
+ processingMax
+ "ms ("
+ 1000 / processingMax
+ " FPS)";
System.out.println(processingResult);
String latencyResult =
"Latency times - "
+ "Min: "
+ latencyMin
+ "ms ("
+ 1000 / latencyMin
+ " FPS), "
+ "Mean: "
+ latencyMean
+ "ms ("
+ 1000 / latencyMean
+ " FPS), "
+ "Max: "
+ latencyMax
+ "ms ("
+ 1000 / latencyMax
+ " FPS)";
System.out.println(latencyResult);
}
}