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Pipe profiling (#50)

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This class helps profile pipelines by measuring individual pipe processing times
This commit is contained in:
Banks T
2020-07-19 13:04:52 -04:00
committed by GitHub
parent 9f18467a08
commit ffec3ac4eb
3 changed files with 178 additions and 24 deletions
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100
photon-server/src/main/java/org/photonvision/vision/pipeline/PipelineProfiler.java Normal file
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@@ -0,0 +1,100 @@
/*
* Copyright (C) 2020 Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
package org.photonvision.vision.pipeline;
import org.photonvision.common.logging.LogGroup;
import org.photonvision.common.logging.Logger;
import org.photonvision.common.util.math.MathUtils;
public class PipelineProfiler {
private static final Logger reflectiveLogger =
new Logger(ReflectivePipeline.class, LogGroup.VisionModule);
private static final Logger coloredShapeLogger =
new Logger(ColoredShapePipeline.class, LogGroup.VisionModule);
public static final int ReflectivePipeCount = 19;
/**
* Indices for Reflective profiling 0 - rotateImagePipe 1 - inputCopy (not a pipe) 2 -
* erodeDilatePipe 3 - hsvPipe 4 - findContoursPipe 5 - speckleRejectPipe 6 - filterContoursPipe 7
* - groupContoursPipe 8 - sortContoursPipe 9 - collect2dTargetsPipe 10 - cornerDetectionPipe
* (OPTIONAL) 11 - solvePNPPipe (OPTIONAL) 12 - outputMatPipe 13 - draw2dCrosshairPipe (on input)
* 14 - draw2dCrosshairPipe (on output) 15 - draw2dTargetsPipe (on input) 16 - draw2dTargetsPipe
* (on output) 17 - draw3dTargetsPipe (OPTIONAL, on input) 18 - draw3dTargetsPipe (OPTIONAL, on
* output)
*/
private static final String[] ReflectivePipeNames =
new String[] {
"RotateImage",
"InputCopy",
"ErodeDilate",
"HSV",
"FindContours",
"SpeckleReject",
"FilterContours",
"GroupContours",
"SortContours",
"Collect2dTargets",
"CornerDetection",
"SolvePNP",
"OutputConversion",
"Draw2dCrosshairInput",
"Draw2dCrosshairOutput",
"Draw2dTargetsInput",
"Draw2dTargetsOutput",
"Draw3dTargetsInput",
"Draw3dTargetsOutput",
};
protected static String getReflectiveProfileString(long[] nanos) {
if (nanos.length != ReflectivePipeCount) {
return "Invalid data";
}
var sb = new StringBuilder("Profiling - ");
double totalMs = 0;
for (int i = 0; i < nanos.length; i++) {
if ((i == 10 || i == 11 || i == 17 || i == 18) && nanos[i] == 0) {
continue; // skip empty pipe profiles
}
sb.append(ReflectivePipeNames[i]);
sb.append(": ");
var ms = MathUtils.roundTo(nanos[i] / 1e+6, 3);
totalMs += ms;
sb.append(ms);
sb.append("ms");
// boolean isLast = (i + 1 == 17 && nanos[i+1] == 0) || i == 18;
// if (isLast) {
// var foo = "bar";
// } else {
sb.append(", ");
// }
}
sb.append("Total: ");
sb.append(MathUtils.roundTo(totalMs, 3));
sb.append("ms");
return sb.toString();
}
public static void printReflectiveProfile(long[] nanos) {
reflectiveLogger.trace(() -> getReflectiveProfileString(nanos));
}
}

61
photon-server/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java
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@@ -52,7 +52,6 @@ public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectiveP
private final RotateImagePipe rotateImagePipe = new RotateImagePipe();
private final ErodeDilatePipe erodeDilatePipe = new ErodeDilatePipe();
private final HSVPipe hsvPipe = new HSVPipe();
private final OutputMatPipe outputMatPipe = new OutputMatPipe();
private final FindContoursPipe findContoursPipe = new FindContoursPipe();
private final SpeckleRejectPipe speckleRejectPipe = new SpeckleRejectPipe();
private final FilterContoursPipe filterContoursPipe = new FilterContoursPipe();
@@ -61,11 +60,13 @@ public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectiveP
private final Collect2dTargetsPipe collect2dTargetsPipe = new Collect2dTargetsPipe();
private final CornerDetectionPipe cornerDetectionPipe = new CornerDetectionPipe();
private final SolvePNPPipe solvePNPPipe = new SolvePNPPipe();
private final OutputMatPipe outputMatPipe = new OutputMatPipe();
private final Draw2dCrosshairPipe draw2dCrosshairPipe = new Draw2dCrosshairPipe();
private final Draw2dTargetsPipe draw2DTargetsPipe = new Draw2dTargetsPipe();
private final Draw2dTargetsPipe draw2dTargetsPipe = new Draw2dTargetsPipe();
private final Draw3dTargetsPipe draw3dTargetsPipe = new Draw3dTargetsPipe();
private final Mat rawInputMat = new Mat();
private final long[] pipeProfileNanos = new long[PipelineProfiler.ReflectivePipeCount];
public ReflectivePipeline() {
settings = new ReflectivePipelineSettings();
@@ -141,7 +142,7 @@ public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectiveP
Draw2dTargetsPipe.Draw2dContoursParams draw2dContoursParams =
new Draw2dTargetsPipe.Draw2dContoursParams(settings.outputShowMultipleTargets);
draw2DTargetsPipe.setParams(draw2dContoursParams);
draw2dTargetsPipe.setParams(draw2dContoursParams);
Draw2dCrosshairPipe.Draw2dCrosshairParams draw2dCrosshairParams =
new Draw2dCrosshairPipe.Draw2dCrosshairParams(
@@ -166,87 +167,99 @@ public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectiveP
long sumPipeNanosElapsed = 0L;
var rotateImageResult = rotateImagePipe.run(frame.image.getMat());
sumPipeNanosElapsed += rotateImageResult.nanosElapsed;
sumPipeNanosElapsed += pipeProfileNanos[0] = rotateImageResult.nanosElapsed;
// TODO: make this a pipe?
long inputCopyStartNanos = System.nanoTime();
rawInputMat.release();
frame.image.getMat().copyTo(rawInputMat);
long inputCopyElapsedNanos = System.nanoTime() - inputCopyStartNanos;
sumPipeNanosElapsed += pipeProfileNanos[1] = inputCopyElapsedNanos;
var erodeDilateResult = erodeDilatePipe.run(rawInputMat);
sumPipeNanosElapsed += erodeDilateResult.nanosElapsed;
sumPipeNanosElapsed += pipeProfileNanos[2] = erodeDilateResult.nanosElapsed;
CVPipeResult<Mat> hsvPipeResult = hsvPipe.run(rawInputMat);
sumPipeNanosElapsed += hsvPipeResult.nanosElapsed;
pipeProfileNanos[3] = pipeProfileNanos[3] = hsvPipeResult.nanosElapsed;
CVPipeResult<List<Contour>> findContoursResult = findContoursPipe.run(hsvPipeResult.output);
sumPipeNanosElapsed += findContoursResult.nanosElapsed;
sumPipeNanosElapsed += pipeProfileNanos[4] = findContoursResult.nanosElapsed;
CVPipeResult<List<Contour>> speckleRejectResult =
speckleRejectPipe.run(findContoursResult.output);
sumPipeNanosElapsed += speckleRejectResult.nanosElapsed;
sumPipeNanosElapsed += pipeProfileNanos[5] = speckleRejectResult.nanosElapsed;
CVPipeResult<List<Contour>> filterContoursResult =
filterContoursPipe.run(speckleRejectResult.output);
sumPipeNanosElapsed += filterContoursResult.nanosElapsed;
sumPipeNanosElapsed += pipeProfileNanos[6] = filterContoursResult.nanosElapsed;
CVPipeResult<List<PotentialTarget>> groupContoursResult =
groupContoursPipe.run(filterContoursResult.output);
sumPipeNanosElapsed += groupContoursResult.nanosElapsed;
sumPipeNanosElapsed += pipeProfileNanos[7] = groupContoursResult.nanosElapsed;
CVPipeResult<List<PotentialTarget>> sortContoursResult =
sortContoursPipe.run(groupContoursResult.output);
sumPipeNanosElapsed += sortContoursResult.nanosElapsed;
sumPipeNanosElapsed += pipeProfileNanos[8] = sortContoursResult.nanosElapsed;
CVPipeResult<List<TrackedTarget>> collect2dTargetsResult =
collect2dTargetsPipe.run(sortContoursResult.output);
sumPipeNanosElapsed += collect2dTargetsResult.nanosElapsed;
sumPipeNanosElapsed += pipeProfileNanos[9] = collect2dTargetsResult.nanosElapsed;
List<TrackedTarget> targetList;
// 3d stuff
if (settings.solvePNPEnabled) {
var cornerDetectionResult = cornerDetectionPipe.run(collect2dTargetsResult.output);
sumPipeNanosElapsed += cornerDetectionResult.nanosElapsed;
sumPipeNanosElapsed += pipeProfileNanos[10] = cornerDetectionResult.nanosElapsed;
var solvePNPResult = solvePNPPipe.run(cornerDetectionResult.output);
sumPipeNanosElapsed += solvePNPResult.nanosElapsed;
sumPipeNanosElapsed += pipeProfileNanos[11] = solvePNPResult.nanosElapsed;
targetList = solvePNPResult.output;
} else {
pipeProfileNanos[10] = 0;
pipeProfileNanos[11] = 0;
targetList = collect2dTargetsResult.output;
}
// Convert single-channel HSV output mat to 3-channel BGR in preparation for streaming
var outputMatPipeResult = outputMatPipe.run(hsvPipeResult.output);
sumPipeNanosElapsed += outputMatPipeResult.nanosElapsed;
sumPipeNanosElapsed += pipeProfileNanos[12] = outputMatPipeResult.nanosElapsed;
// Draw 2D Crosshair on input and output
var draw2dCrosshairResultOnInput = draw2dCrosshairPipe.run(Pair.of(rawInputMat, targetList));
sumPipeNanosElapsed += draw2dCrosshairResultOnInput.nanosElapsed;
sumPipeNanosElapsed += pipeProfileNanos[13] = draw2dCrosshairResultOnInput.nanosElapsed;
var draw2dCrosshairResultOnOutput =
draw2dCrosshairPipe.run(Pair.of(hsvPipeResult.output, targetList));
sumPipeNanosElapsed += draw2dCrosshairResultOnOutput.nanosElapsed;
sumPipeNanosElapsed += pipeProfileNanos[14] = draw2dCrosshairResultOnOutput.nanosElapsed;
// Draw 2D contours on input and output
var draw2dContoursResultOnInput =
draw2DTargetsPipe.run(Pair.of(rawInputMat, collect2dTargetsResult.output));
sumPipeNanosElapsed += draw2dContoursResultOnInput.nanosElapsed;
var draw2dTargetsOnInput =
draw2dTargetsPipe.run(Pair.of(rawInputMat, collect2dTargetsResult.output));
sumPipeNanosElapsed += pipeProfileNanos[15] = draw2dTargetsOnInput.nanosElapsed;
var draw2dContoursResultOnOutput =
draw2DTargetsPipe.run(Pair.of(hsvPipeResult.output, collect2dTargetsResult.output));
sumPipeNanosElapsed += draw2dContoursResultOnOutput.nanosElapsed;
var draw2dTargetsOnOutput =
draw2dTargetsPipe.run(Pair.of(hsvPipeResult.output, collect2dTargetsResult.output));
sumPipeNanosElapsed += pipeProfileNanos[16] = draw2dTargetsOnOutput.nanosElapsed;
// Draw 3D Targets on input and output if necessary
if (settings.solvePNPEnabled) {
var drawOnInputResult =
draw3dTargetsPipe.run(Pair.of(rawInputMat, collect2dTargetsResult.output));
sumPipeNanosElapsed += drawOnInputResult.nanosElapsed;
sumPipeNanosElapsed += pipeProfileNanos[17] = drawOnInputResult.nanosElapsed;
var drawOnOutputResult =
draw3dTargetsPipe.run(Pair.of(hsvPipeResult.output, collect2dTargetsResult.output));
sumPipeNanosElapsed += drawOnOutputResult.nanosElapsed;
sumPipeNanosElapsed += pipeProfileNanos[18] = drawOnOutputResult.nanosElapsed;
} else {
pipeProfileNanos[17] = 0;
pipeProfileNanos[18] = 0;
}
PipelineProfiler.printReflectiveProfile(pipeProfileNanos);
return new CVPipelineResult(
MathUtils.nanosToMillis(sumPipeNanosElapsed),
targetList,