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Modify pipes to pass around same Mat, fix Streamer leak

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This commit is contained in:
Banks Troutman
2019-12-01 13:29:30 -05:00
parent 899e718a0b
commit e48f96420e
8 changed files with 54 additions and 45 deletions
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9
chameleon-server/src/main/java/com/chameleonvision/vision/VisionProcess.java
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@@ -246,6 +246,7 @@ public class VisionProcess {
Mat camFrame = camData.getLeft();
if (camFrame.cols() > 0 && camFrame.rows() > 0) {
CVPipelineResult result = pipelineManager.getCurrentPipeline().runPipeline(camFrame);
camFrame.release();
if (result != null) {
result.setTimestamp(camData.getRight());
@@ -258,7 +259,6 @@ public class VisionProcess {
try {
streamFrameQueue.clear();
streamFrameQueue.add(lastPipelineResult.outputMat);
camFrame.release();
} catch (Exception e) {
Debug.printInfo("Vision running faster than stream.");
}
@@ -295,7 +295,12 @@ public class VisionProcess {
protected void process() {
if (!streamFrameQueue.isEmpty()) {
try {
streamer.runStream(streamFrameQueue.take());
Mat tempMat = new Mat();
Mat tempMat2 = streamFrameQueue.take();
tempMat2.copyTo(tempMat);
tempMat2.release();
streamer.runStream(tempMat);
tempMat.release();
} catch (InterruptedException e) {
e.printStackTrace();
}

5
chameleon-server/src/main/java/com/chameleonvision/vision/camera/USBCameraCapture.java
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@@ -40,7 +40,10 @@ public class USBCameraCapture implements CameraCapture {
public Pair<Mat, Long> getFrame() {
Long deltaTime;
// TODO: Why multiply by 1000 here?
deltaTime = cvSink.grabFrame(imageBuffer) * 1000L;
Mat tempMat = new Mat();
deltaTime = cvSink.grabFrame(tempMat) * 1000L;
tempMat.copyTo(imageBuffer);
tempMat.release();
return Pair.of(imageBuffer, deltaTime);
}

12
chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2d.java
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@@ -79,7 +79,7 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
outputMatPipe = new OutputMatPipe(settings.isBinary);
}
private final MemoryManager memManager = new MemoryManager(120);
private final MemoryManager memManager = new MemoryManager(120, 20000);
@Override
public CVPipeline2dResult runPipeline(Mat inputMat) {
@@ -125,10 +125,10 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
Pair<Mat, Long> rotateFlipResult = rotateFlipPipe.run(inputMat);
totalPipelineTimeNanos += rotateFlipResult.getRight();
Pair<Mat, Long> blurResult = blurPipe.run(rotateFlipResult.getLeft());
totalPipelineTimeNanos += blurResult.getRight();
// Pair<Mat, Long> blurResult = blurPipe.run(rotateFlipResult.getLeft());
// totalPipelineTimeNanos += blurResult.getRight();
Pair<Mat, Long> erodeDilateResult = erodeDilatePipe.run(blurResult.getLeft());
Pair<Mat, Long> erodeDilateResult = erodeDilatePipe.run(rotateFlipResult.getLeft());
totalPipelineTimeNanos += erodeDilateResult.getRight();
Pair<Mat, Long> hsvResult = hsvPipe.run(erodeDilateResult.getLeft());
@@ -163,7 +163,7 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
if (Main.testMode) {
pipelineTimeString += String.format("PipeInit: %.2fms, ", pipeInitTimeNanos / 1000000.0);
pipelineTimeString += String.format("RotateFlip: %.2fms, ", rotateFlipResult.getRight() / 1000000.0);
pipelineTimeString += String.format("Blur: %.2fms, ", blurResult.getRight() / 1000000.0);
// pipelineTimeString += String.format("Blur: %.2fms, ", blurResult.getRight() / 1000000.0);
pipelineTimeString += String.format("ErodeDilate: %.2fms, ", erodeDilateResult.getRight() / 1000000.0);
pipelineTimeString += String.format("HSV: %.2fms, ", hsvResult.getRight() / 1000000.0);
pipelineTimeString += String.format("FindContours: %.2fms, ", findContoursResult.getRight() / 1000000.0);
@@ -184,7 +184,7 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
System.out.printf("full pipeline run time was %.3fms (%.2fFPS)\n", truePipelineTimeMillis, truePipelineFPS);
}
memManager.run(Main.testMode);
memManager.run();
return new CVPipeline2dResult(collect2dTargetsResult.getLeft(), draw2dContoursResult.getLeft(), totalPipelineTimeNanos);
}

4
chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/DriverVisionPipeline.java
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@@ -20,7 +20,7 @@ public class DriverVisionPipeline extends CVPipeline<DriverPipelineResult, CVPip
private Draw2dContoursPipe.Draw2dContoursSettings draw2dContoursSettings = new Draw2dContoursPipe.Draw2dContoursSettings();
private final List<RotatedRect> blankList = List.of();
private final MemoryManager memoryManager = new MemoryManager(50);
private final MemoryManager memoryManager = new MemoryManager(200, 20000);
public DriverVisionPipeline(CVPipelineSettings settings) {
super(settings);
@@ -46,7 +46,7 @@ public class DriverVisionPipeline extends CVPipeline<DriverPipelineResult, CVPip
Pair<Mat, Long> rotateFlipResult = rotateFlipPipe.run(inputMat);
Pair<Mat, Long> draw2dContoursResult = draw2dContoursPipe.run(Pair.of(rotateFlipResult.getLeft(), blankList));
memoryManager.run(Main.testMode);
memoryManager.run();
return new DriverPipelineResult(null, draw2dContoursResult.getLeft(), 0);
}

26
chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/BlurPipe.java
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@@ -25,20 +25,20 @@ public class BlurPipe implements Pipe<Mat, Mat> {
public Pair<Mat, Long> run(Mat input) {
long processStartNanos = System.nanoTime();
if (blurSize > 0) {
input.copyTo(processBuffer);
try {
Imgproc.blur(processBuffer, processBuffer, new Size(blurSize, blurSize));
processBuffer.copyTo(outputMat);
processBuffer.release();
} catch (CvException e) {
System.err.println("(BlurPipe) Exception thrown by OpenCV: \n" + e.getMessage());
}
} else {
input.copyTo(outputMat);
}
// if (blurSize > 0) {
// input.copyTo(processBuffer);
// try {
// Imgproc.blur(processBuffer, processBuffer, new Size(blurSize, blurSize));
// processBuffer.copyTo(outputMat);
// processBuffer.release();
// } catch (CvException e) {
// System.err.println("(BlurPipe) Exception thrown by OpenCV: \n" + e.getMessage());
// }
// } else {
// input.copyTo(outputMat);
// }
long processTime = System.nanoTime() - processStartNanos;
return Pair.of(outputMat, processTime);
return Pair.of(input, processTime);
}
}

20
chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/Draw2dContoursPipe.java
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@@ -21,6 +21,7 @@ public class Draw2dContoursPipe implements Pipe<Pair<Mat, List<RotatedRect>>, Ma
private Point[] vertices = new Point[4];
private List<MatOfPoint> drawnContours = new ArrayList<>();
private MatOfPoint contour = new MatOfPoint();
@SuppressWarnings("FieldCanBeLocal")
private Point xMax = new Point(), xMin = new Point(), yMax = new Point(), yMin = new Point();
@@ -41,7 +42,7 @@ public class Draw2dContoursPipe implements Pipe<Pair<Mat, List<RotatedRect>>, Ma
if (settings.showCrosshair || settings.showCentroid || settings.showMaximumBox || settings.showRotatedBox) {
// input.getLeft().copyTo(processBuffer);
processBuffer = input.getLeft();
// processBuffer = input.getLeft();
if (input.getRight().size() > 0) {
for (int i = 0; i < input.getRight().size(); i++) {
@@ -55,21 +56,24 @@ public class Draw2dContoursPipe implements Pipe<Pair<Mat, List<RotatedRect>>, Ma
drawnContours.clear();
r.points(vertices);
MatOfPoint contour = new MatOfPoint(vertices);
contour.fromArray(vertices);
// MatOfPoint contour = new MatOfPoint(vertices);
drawnContours.add(contour);
if (settings.showCentroid) {
Imgproc.circle(processBuffer, r.center, 3, Helpers.colorToScalar(settings.centroidColor));
Imgproc.circle(input.getLeft(), r.center, 3, Helpers.colorToScalar(settings.centroidColor));
}
if (settings.showRotatedBox) {
Imgproc.drawContours(processBuffer, drawnContours, 0, Helpers.colorToScalar(settings.rotatedBoxColor), settings.boxOutlineSize);
Imgproc.drawContours(input.getLeft(), drawnContours, 0, Helpers.colorToScalar(settings.rotatedBoxColor), settings.boxOutlineSize);
}
if (settings.showMaximumBox) {
Rect box = Imgproc.boundingRect(contour);
Imgproc.rectangle(processBuffer, new Point(box.x, box.y), new Point((box.x + box.width), (box.y + box.height)), Helpers.colorToScalar(settings.maximumBoxColor), settings.boxOutlineSize);
Imgproc.rectangle(input.getLeft(), new Point(box.x, box.y), new Point((box.x + box.width), (box.y + box.height)), Helpers.colorToScalar(settings.maximumBoxColor), settings.boxOutlineSize);
}
// contour.release();
}
}
@@ -78,8 +82,8 @@ public class Draw2dContoursPipe implements Pipe<Pair<Mat, List<RotatedRect>>, Ma
xMin.set(new double[] {camProps.centerX - 10, camProps.centerY});
yMax.set(new double[] {camProps.centerX, camProps.centerY + 10});
yMin.set(new double[] {camProps.centerX, camProps.centerY - 10});
Imgproc.line(processBuffer, xMax, xMin, Helpers.colorToScalar(settings.crosshairColor), 2);
Imgproc.line(processBuffer, yMax, yMin, Helpers.colorToScalar(settings.crosshairColor), 2);
Imgproc.line(input.getLeft(), xMax, xMin, Helpers.colorToScalar(settings.crosshairColor), 2);
Imgproc.line(input.getLeft(), yMax, yMin, Helpers.colorToScalar(settings.crosshairColor), 2);
}
// processBuffer.copyTo(outputMat);
@@ -89,7 +93,7 @@ public class Draw2dContoursPipe implements Pipe<Pair<Mat, List<RotatedRect>>, Ma
}
long processTime = System.nanoTime() - processStartNanos;
return Pair.of(processBuffer, processTime);
return Pair.of(input.getLeft(), processTime);
}
public static class Draw2dContoursSettings {

14
chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/ErodeDilatePipe.java
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@@ -31,23 +31,23 @@ public class ErodeDilatePipe implements Pipe<Mat, Mat> {
long processStartNanos = System.nanoTime();
if (erode || dilate) {
input.copyTo(processBuffer);
// input.copyTo(processBuffer);
if (erode) {
Imgproc.erode(processBuffer, processBuffer, kernel);
Imgproc.erode(input, input, kernel);
}
if (dilate) {
Imgproc.dilate(processBuffer, processBuffer, kernel);
Imgproc.dilate(input, input, kernel);
}
processBuffer.copyTo(outputMat);
processBuffer.release();
// processBuffer.copyTo(outputMat);
// processBuffer.release();
} else {
input.copyTo(outputMat);
// input.copyTo(outputMat);
}
long processTime = System.nanoTime() - processStartNanos;
return Pair.of(outputMat, processTime);
return Pair.of(input, processTime);
}
}

9
chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/HsvPipe.java
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@@ -29,18 +29,15 @@ public class HsvPipe implements Pipe<Mat, Mat> {
public Pair<Mat, Long> run(Mat input) {
long processStartNanos = System.nanoTime();
input.copyTo(processBuffer);
input.copyTo(outputMat);
try {
Imgproc.cvtColor(processBuffer, processBuffer, Imgproc.COLOR_BGR2HSV, 3);
Core.inRange(processBuffer, hsvLower, hsvUpper, processBuffer);
Imgproc.cvtColor(outputMat, outputMat, Imgproc.COLOR_BGR2HSV, 3);
Core.inRange(outputMat, hsvLower, hsvUpper, outputMat);
} catch (CvException e) {
System.err.println("(HsvPipe) Exception thrown by OpenCV: \n" + e.getMessage());
}
processBuffer.copyTo(outputMat);
processBuffer.release();
long processTime = System.nanoTime() - processStartNanos;
return Pair.of(outputMat, processTime);
}