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

2026-06-22 01:11:40 +00:00 · 2020-06-12 19:58:58 -04:00
parent 58229b9fe5
commit c683bebf76
5 changed files with 268 additions and 5 deletions
--- a/chameleon-server/src/test/java/com/chameleonvision/common/BenchmarkTest.java
+++ b/chameleon-server/src/test/java/com/chameleonvision/common/BenchmarkTest.java
@@ -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);
+    }
+}