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Modify pipes to pass around same Mat, fix Streamer leak

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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();
}