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-   -   image processing - robot code crash after a few seconds (http://www.chiefdelphi.com/forums/showthread.php?t=154220)

Noam 25-01-2017 07:37
image processing - robot code crash after a few seconds
 
I'm trying to do image processing with opencv, but the code crash after a few seconds
this is the code

Code:

package org.usfirst.frc.team3034.robot;


import java.util.ArrayList;
import java.util.List;

import org.opencv.core.Core;
import org.opencv.core.CvType;
import org.opencv.core.Mat;
import org.opencv.core.MatOfPoint;
import org.opencv.core.MatOfPoint2f;
import org.opencv.core.Point;
import org.opencv.core.Rect;
import org.opencv.core.Scalar;
import org.opencv.imgcodecs.Imgcodecs;
import org.opencv.imgproc.Imgproc;
import org.opencv.videoio.VideoCapture;

import com.ctre.CANTalon;

import edu.wpi.cscore.UsbCamera;
import edu.wpi.first.wpilibj.CameraServer;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;

public class Robot extends IterativeRobot {
       
        public void mySleep(long time) {
                try {
                        Thread.sleep(time);
                } catch (InterruptedException e) {
                }
        }
       
        RobotDrive robot1;
        Joystick js1;
        //Compressor cop1;
       
        CANTalon drive1;
        CANTalon drive2;
        public static UsbCamera cam1;
        public static VideoCapture cap1;

    public void robotInit() {
            // CameraServer.getInstance().startAutomaticCapture("cam0", 0);
            // CameraServer.getInstance().startAutomaticCapture(0);
            // CameraServer.getInstance().startAutomaticCapture(1);
           
            js1 = new Joystick(0);
            drive1 = new CANTalon(3);
            drive2 = new CANTalon(1);
            robot1 = new RobotDrive(drive1, drive2);
            // VideoCapture vd1 = new VideoCapture(0);
            // CameraServer.getInstance().startAutomaticCapture(1);
            // cam1 = CameraServer.getInstance().startAutomaticCapture(1);
            cap1 = new VideoCapture();
            cap1.open(0);
    }
   
    public void autonomousInit() {
    }
   
    public void autonomousPeriodic() {
    }
   
    public void teleopInit(){
    }
   
    public void teleopPeriodic() {
            // robot1.arcadeDrive(js1);
            // System.out.println(cap1.grab());
            Mat feed = new Mat();
            try {
                    cap1.retrieve(feed);
            } catch (Exception e) {
                    System.out.println("thr1 error1");
            }
            System.out.println("before1");
                proc1 thr1 = new proc1(feed);
            proc1.start();
            System.out.println("after1");
    }
   
    public void testPeriodic() {
            LiveWindow.run();
    }

        static int largestContour(List<MatOfPoint> contours){
                int returnIndex = 0;//the index of the biggest contour
                int maxSize = 0;//holds the biggest size
                for(int i = 0; i < contours.size(); i++){//iterate through the list
                        MatOfPoint contour = contours.get(i);//get the contour at index i
                        int size = (int) contour.total();//get the amount of points in the matrix (Might not work, havn't tried it)
                        /**int size = contour.toList().size();*/ //another way of getting the size. this will work for sure
                        if(size > maxSize){//if the size of the current size is bigger than the maximum size
                                returnIndex = i;//saving the current index as largest
                                maxSize = size;//saving the size of the current
                        }
                }
                return returnIndex;//return the size of the largest contour
        }
       
        static Point centerPoint(MatOfPoint contour){
                int sumX = 0, sumY = 0;//variables to hold the sum of each coordinate
                List<Point> points = contour.toList();//convert to list to iterate through the points
                for(int i = 0; i < points.size(); i++){//You can change the i increase (i++) to minimize runtime!
                        Point p = points.get(i);
                        sumX += p.x;
                        sumY += p.y;
                }
                //returning the average of each coordinate as a point
                return new Point(sumX / points.size(), sumY / points.size());
        }
       
        static Point centerPoint2(MatOfPoint contour){
                Rect rect = Imgproc.boundingRect(contour);//creating a bounding rect
                return new Point(rect.x + rect.width/2, rect.y + rect.height/2);//getting its center
        }
}
and proc1 code (the image processing (in a new thread))

Code:

package org.usfirst.frc.team3034.robot;

import java.util.ArrayList;
import java.util.List;

import org.opencv.core.Core;
import org.opencv.core.CvType;
import org.opencv.core.Mat;
import org.opencv.core.MatOfPoint;
import org.opencv.core.MatOfPoint2f;
import org.opencv.core.Point;
import org.opencv.core.Scalar;
import org.opencv.imgproc.Imgproc;

public class proc1 implements Runnable {
        Mat feed;
       
        public proc1(Mat feed) {
                this.feed = feed;
        }
       
        public void run() {
                try {
                        // Thread.sleep(500);
                    // System.out.println(feed.height() + " | " + feed.width());
                        Mat hsv = new Mat();
                        Mat thres = new Mat();
                        // feed2 = feed.clone();
                        Imgproc.cvtColor(feed, hsv, Imgproc.COLOR_RGB2HSV);
                        Core.inRange(hsv,
                                        new Scalar(0, 0, 240),
                                        new Scalar(255, 255, 255),
                                        thres);
                        // morphOps(mat3);
                        List<MatOfPoint> contours = new ArrayList<MatOfPoint>();
                        //
                        Mat hierarchy = new Mat();
                        Imgproc.findContours(thres, contours, hierarchy, Imgproc.RETR_CCOMP, Imgproc.CHAIN_APPROX_SIMPLE);
                        for(int i = 0; i < contours.size(); i++) {
                                Imgproc.drawContours(feed, contours, i, new Scalar(15, 15, 15), -1);
                        }
                        /**/
                        if (contours.size() > 0) {
                                MatOfPoint contour = contours.get(0);
                                // Rect rect = Imgproc.boundingRect(contour);
                                MatOfPoint2f approxCurve = new MatOfPoint2f();
                                MatOfPoint2f contour2f = new MatOfPoint2f();
                                contour2f.fromList(contour.toList());
                                Imgproc.approxPolyDP(contour2f//Input Matrix
                                                ,approxCurve//Output Matrix
                                                ,Imgproc.arcLength(contour2f, true) * 0.02
                                                ,true//Indicates whether the shape is a closed shape or not
                                                );
                                //Getting the amount of vertices of the shape
                                // long verteciesCount = approxCurve.total();
                                MatOfPoint p = new MatOfPoint();
                            approxCurve.convertTo(p, CvType.CV_32S);
                                List<MatOfPoint> drawPoints = new ArrayList<MatOfPoint>();
                                drawPoints.add(p);
                                Imgproc.drawContours(feed, drawPoints, 0, new Scalar(9, 87, 255));
                                /**/
                                int largestIndex = Robot.largestContour(contours);//get the largest contour
                                Imgproc.drawContours(feed, contours, largestIndex, new Scalar(15, 150, 4), 4);//draw the largest contour
                                Point centerLargest = Robot.centerPoint(contours.get(largestIndex));//get the center pointt
                                Imgproc.circle(feed, centerLargest, 3, new Scalar(55, 0, 100), 3);//draw a circle where the center point i;
                                /**/
                                if (centerLargest.x <= feed.width()) {
                                        System.out.println("left1");
                                } else if (centerLargest.x >= feed.height()) {
                                        System.out.println("right1");
                                } else {
                                        System.out.println("else1");
                                }
                        } else {
                                // System.out.println("else1");
                        }
                } catch (Exception e) {
                        // System.out.println("error1");
                }
=        }
        private Thread thr1 = null;
       
        public void start () {
                if (thr1 == null) {
                        System.out.println("proc1- start new thread");
                        thr1 = new Thread(this);
                        thr1.start();
                }
        }       
}
and this is the log

Code:

 before1
 proc1 - start new thread
 after1
 before1
 proc1 - start new thread
 after1
 OpenCV Error: Insufficient memory (Failed to allocate 921600 bytes) in OutOfMemoryError, file /var/lib/jenkins/workspace/OpenCV-roborio/modules/core/src/alloc.cpp, line 52
 OpenCV Error: Insufficient memory (Failed to allocate 921600 bytes) in OutOfMemoryError, file /var/lib/jenkins/workspace/OpenCV-roborio/modules/core/src/alloc.cpp, line 52
 OpenCV Error: Assertion failed (u != 0) in create, file /var/lib/jenkins/workspace/OpenCV-roborio/modules/core/src/matrix.cpp, line 424
 OpenCV Error: Assertion failed (u != 0) in create, file /var/lib/jenkins/workspace/OpenCV-roborio/modules/core/src/matrix.cpp, line 424
 thr1 error1
 before1
 proc1 - start new thread
 after1
 OpenCV Error: Insufficient memory (Failed to allocate 921600 bytes) in OutOfMemoryError, file /var/lib/jenkins/workspace/OpenCV-roborio/modules/core/src/alloc.cpp, line 52
 OpenCV Error: Assertion failed (u != 0) in create, file /var/lib/jenkins/workspace/OpenCV-roborio/modules/core/src/matrix.cpp, line 424
 thr1 error1
 before1
 proc1 - start new thread
 OpenCV Error: Insufficient memory (Failed to allocate 921600 bytes) in OutOfMemoryError, file /var/lib/jenkins/workspace/OpenCV-roborio/modules/core/src/alloc.cpp, line 52
 OpenCV Error: Assertion failed (u != 0) in create, file /var/lib/jenkins/workspace/OpenCV-roborio/modules/core/src/matrix.cpp, line 424
 after1
 OpenCV Error: Insufficient memory (Failed to allocate 921600 bytes) in OutOfMemoryError, file /var/lib/jenkins/workspace/OpenCV-roborio/modules/core/src/alloc.cpp, line 52
 OpenCV Error: Assertion failed (u != 0) in create, file /var/lib/jenkins/workspace/OpenCV-roborio/modules/core/src/matrix.cpp, line 424
 thr1 error1
 before1
 proc1 - start new thread
 after1
 OpenCV Error: Insufficient memory (Failed to allocate 921600 bytes) in OutOfMemoryError, file /var/lib/jenkins/workspace/OpenCV-roborio/modules/core/src/alloc.cpp, line 52
 OpenCV Error: Assertion failed (u != 0) in create, file /var/lib/jenkins/workspace/OpenCV-roborio/modules/core/src/matrix.cpp, line 424
 thr1 error1
 before1
 proc1 - start new thread
 Java HotSpot(TM) Embedded Client VM warning: INFO: os::commit_memory(0xabfc7000, 12288, 0) failed; error='Cannot allocate memory' (errno=12)
 #
 after1OpenCV Error: Insufficient memory (Failed to allocate 921600 bytes) in OutOfMemoryError, file /var/lib/jenkins/workspace/OpenCV-roborio/modules/core/src/alloc.cpp, line 52
 OpenCV Error: Assertion failed (u != 0) in create, file /var/lib/jenkins/workspace/OpenCV-roborio/modules/core/src/matrix.cpp, line 424
 Java HotSpot(TM) Embedded Client VM warning: INFO: os::commit_memory(0xab8c1000, 12288, 0) failed; error='Cannot allocate memory' (errno=12)
 # There is insufficient memory for the Java Runtime Environment to continue.
 [thread -1416559520 also had an error]
 # Native memory allocation (mmap) failed to map 12288 bytes for committing reserved memory.
 # An error report file with more information is saved as:
 # //hs_err_pid1605.log
 ➔ Launching «'/usr/local/frc/JRE/bin/java' '-Djava.library.path=/usr/local/frc/lib/' '-jar' '/home/lvuser/FRCUserProgram.jar'»
 ********** Robot program starting **********
 Default IterativeRobot.disabledInit() method... Overload me!
Warning  44003  FRC:  No robot code is currently running.  Driver Station
 Default IterativeRobot.disabledPeriodic() method... Overload me!
 Default IterativeRobot.robotPeriodic() method... Overload me!
 NT: server: client CONNECTED: 10.30.34.17 port 52775
after a few seconds (after about 2-5 seconds) the code crash - the robot code is changing to red, and it restart the code.. why its happening ?
and before I did that with thread, I did that just in the teleop, and I found that if I add a thread.sleep() after the cap1.retrieve, if I write 300 (300 milliseconds) so the robot still working for about 2-3 seconds longer (and if I write 400 or 500 so its longer, but it still crash (and its not a good solution - to add big delay))

Any idea why its happening ? and how to fix that ?
Thanks in advance

wlogeais 25-01-2017 08:57
Re: image processing - robot code crash after a few seconds
 
Quote:
Originally Posted by Noam (Post 1636030)
I'm trying to do image processing with opencv, but the code crash after a few seconds
this is the code

... OpenCV Error: Assertion failed (u != 0) in create, file /var/lib/jenkins/workspace/OpenCV-roborio/modules/core/src/matrix.cpp, line 424
thr1 error1
before1
proc1 - start new thread
Java HotSpot(TM) Embedded Client VM warning: INFO: os::commit_memory(0xabfc7000, 12288, 0) failed; error='Cannot allocate memory' (errno=12)
...#

Any idea why its happening ? and how to fix that ?
Thanks in advance
You Grip-Pipeline code seems to be too large, while it worked on your dev-station when it was created your rio has less memory to work with. see which steps can be removed and still return the similar result.

wlogeais 25-01-2017 09:00
Re: image processing - robot code crash after a few seconds
 
My mistake, not using a grip to generate a pipeline code, I'd recommend you look that up in this years screensteps - it will produce the cv-code for you.

SamCarlberg 25-01-2017 10:22
Re: image processing - robot code crash after a few seconds
 
When you create a new OpenCV mat (Mat, MatOfPoint, MatOfPoint2f, ...), you have to make sure to call its release() method when you're done with it. Otherwise you can run out of memory, like what's happening here.

If you're not familiar with OpenCV, I strongly suggest you use GRIP to generate the OpenCV code for you.


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