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