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Merge branch 'dev' of https://github.com/chameleon-vision/Chameleon-Vision into dev

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This commit is contained in:
Matt
2019-12-01 12:19:41 -08:00
parent 115bd72a96 1858df993d
commit f456ab0a57
12 changed files with 196 additions and 98 deletions
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11
chameleon-client/src/views/Camera.vue
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@@ -21,7 +21,8 @@
</div>
</v-col>
<v-col :cols="3" class="colsClass">
<CVselect v-if="isPipelineEdit === false" name="Pipeline" :list="['Driver Mode'].concat(pipelineList)"
<CVselect v-if="isPipelineEdit === false" name="Pipeline"
:list="['Driver Mode'].concat(pipelineList)"
v-model="currentPipelineIndex"
@input="handleInput('currentPipeline',currentPipelineIndex - 1)"/>
<CVinput v-else name="Pipeline" v-model="newPipelineName" @Enter="savePipelineNameChange"/>
@@ -252,7 +253,7 @@
},
selectedComponent: {
get() {
if (this.currentPipelineIndex === 0){
if (this.currentPipelineIndex === 0) {
return "InputTab"
}
switch (this.selectedTab) {
@@ -273,11 +274,7 @@
let p = this.$store.state.point.calculated;
let fps = this.$store.state.point.fps;
if (p !== undefined) {
try {
return `Pitch: ${parseFloat(p['pitch']).toFixed(2)}, Yaw: ${parseFloat(p['yaw']).toFixed(2)}, Area: ${p['area'].toFixed(2)}, FPS: ${fps.toFixed(2)}`
} catch (e) {
return ""
}
return `Pitch: ${parseFloat(p['pitch']).toFixed(2)}, Yaw: ${parseFloat(p['yaw']).toFixed(2)}, Area: ${parseFloat(p['area']).toFixed(2)}, FPS: ${parseFloat(fps).toFixed(2)}`
} else {
return undefined;
}

72
chameleon-server/chameleon-vision.iml Normal file
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@@ -0,0 +1,72 @@
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82
chameleon-server/src/main/java/com/chameleonvision/util/MemoryManager.java
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@@ -2,45 +2,65 @@ package com.chameleonvision.util;
public class MemoryManager {
private static final long MEGABYTE_FACTOR = 1024L * 1024L;
private static final long MEGABYTE_FACTOR = 1024L * 1024L;
private int collectionThreshold;
private int lastUsedMb = 0;
private int collectionThreshold;
private long collectionPeriodMillis = -1;
public MemoryManager(int collectionThreshold) {
this.collectionThreshold = collectionThreshold;
}
private double lastUsedMb = 0;
private long lastCollectionMillis = 0;
public void setCollectionThreshold(int collectionThreshold) {
this.collectionThreshold = collectionThreshold;
}
public MemoryManager(int collectionThreshold) {
this.collectionThreshold = collectionThreshold;
}
public static long getUsedMemory() {
return Runtime.getRuntime().totalMemory() - Runtime.getRuntime().freeMemory();
}
public MemoryManager(int collectionThreshold, long collectionPeriodMillis) {
this.collectionThreshold = collectionThreshold;
this.collectionPeriodMillis = collectionPeriodMillis;
}
public static int getUsedMemoryMB() {
return (int) (getUsedMemory() / MEGABYTE_FACTOR);
}
public void setCollectionThreshold(int collectionThreshold) {
this.collectionThreshold = collectionThreshold;
}
private static void collect() {
System.gc();
System.runFinalization();
}
public void setCollectionPeriodMillis(long collectionPeriodMillis) {
this.collectionPeriodMillis = collectionPeriodMillis;
}
public void run() { run(false); }
private static long getUsedMemory() {
return Runtime.getRuntime().totalMemory() - Runtime.getRuntime().freeMemory();
}
public void run(boolean print) {
var usedMem = getUsedMemoryMB();
private static double getUsedMemoryMB() {
return ((double) getUsedMemory() / MEGABYTE_FACTOR);
}
if (usedMem != lastUsedMb) {
lastUsedMb = usedMem;
if (print) System.out.printf("Memory usage: %dMB\n", usedMem);
}
private void collect() {
System.gc();
System.runFinalization();
}
if (usedMem >= collectionThreshold) {
collect();
if (print) System.out.printf("Garbage collected at %dMB\n", usedMem);
}
}
public void run() {
run(false);
}
public void run(boolean print) {
var usedMem = getUsedMemoryMB();
if (usedMem != lastUsedMb) {
lastUsedMb = usedMem;
if (print) System.out.printf("Memory usage: %.2fMB\n", usedMem);
}
boolean collectionThresholdPassed = usedMem >= collectionThreshold;
boolean collectionPeriodPassed = collectionPeriodMillis != -1 && (System.currentTimeMillis() - lastCollectionMillis >= collectionPeriodMillis);
if (collectionThresholdPassed || collectionPeriodPassed) {
collect();
lastCollectionMillis = System.currentTimeMillis();
if (print) {
System.out.printf("Garbage collected at %.2fMB\n", usedMem);
}
}
}
}

32
chameleon-server/src/main/java/com/chameleonvision/vision/VisionProcess.java
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@@ -159,16 +159,18 @@ public class VisionProcess {
} else if (data instanceof CVPipeline3d.CVPipeline3dResult) {
// TODO: (2.1) 3d stuff in UI
} else {
center.add(0.0);
center.add(0.0);
calculated.put("pitch", 0);
calculated.put("yaw", 0);
center.add(null);
center.add(null);
calculated.put("pitch", null);
calculated.put("yaw", null);
calculated.put("area", null);
}
} else {
center.add(0.0);
center.add(0.0);
calculated.put("pitch", 0);
calculated.put("yaw", 0);
center.add(null);
center.add(null);
calculated.put("pitch", null);
calculated.put("yaw", null);
calculated.put("area", null);
}
point.put("fps", visionRunnable.fps);
point.put("calculated", calculated);
@@ -246,6 +248,7 @@ 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 +261,6 @@ public class VisionProcess {
try {
streamFrameQueue.clear();
streamFrameQueue.add(lastPipelineResult.outputMat);
camFrame.release();
} catch (Exception e) {
Debug.printInfo("Vision running faster than stream.");
}
@@ -284,6 +286,7 @@ public class VisionProcess {
private class CameraStreamerRunnable extends LoopingRunnable {
final CameraStreamer streamer;
private Mat bufferMat = new Mat();
private CameraStreamerRunnable(int cameraFPS, CameraStreamer streamer) {
// add 2 FPS to allow for a bit of overhead
@@ -295,7 +298,16 @@ public class VisionProcess {
protected void process() {
if (!streamFrameQueue.isEmpty()) {
try {
streamer.runStream(streamFrameQueue.take());
bufferMat = streamFrameQueue.take();
try {
streamer.runStream(bufferMat);
bufferMat.release();
} catch (Exception e) {
// do nothing
}
} 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);
}

7
chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/DriverVisionPipeline.java
View File

@@ -1,6 +1,5 @@
package com.chameleonvision.vision.pipeline;
import com.chameleonvision.Main;
import com.chameleonvision.util.MemoryManager;
import com.chameleonvision.vision.camera.CameraCapture;
import com.chameleonvision.vision.pipeline.pipes.Draw2dContoursPipe;
@@ -20,7 +19,7 @@ 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);
@@ -38,15 +37,13 @@ public class DriverVisionPipeline extends CVPipeline<DriverPipelineResult, CVPip
@Override
public DriverPipelineResult runPipeline(Mat inputMat) {
// inputMat.copyTo(outputMat);
rotateFlipPipe.setConfig(settings.rotationMode, settings.flipMode);
draw2dContoursPipe.setConfig(false, cameraCapture.getProperties().getStaticProperties());
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
View File

@@ -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
View File

@@ -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
View File

@@ -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);
}
}

4
chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/GroupContoursPipe.java
View File

@@ -128,17 +128,13 @@ public class GroupContoursPipe implements Pipe<List<MatOfPoint>, List<RotatedRec
switch (intersection) {
case Up: {
if (intersectionY < massY) {
if (mA > 0 && mB < 0) {
return true;
}
}
break;
}
case Down: {
if (intersectionY > massY) {
if (mA < 0 && mB > 0) {
return true;
}
}
break;

9
chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/HsvPipe.java
View File

@@ -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);
}