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Reduce cv::Mat copy #165

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f9f4277
Builds untested
yasen5 Apr 18, 2026
af21862
Merge branch 'main' into reduce-cvmat-copy
yasen5 Apr 18, 2026
b8dee6d
Cleanup yolo test
yasen5 Apr 18, 2026
98d8249
Fix camera_source
yasen5 Apr 18, 2026
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6 changes: 0 additions & 6 deletions src/CMakeLists.txt
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Expand Up @@ -21,12 +21,6 @@ add_subdirectory(yolo)
add_subdirectory(test)
add_subdirectory(pathing)

add_executable(main_bot_main main_bot_main.cc)
target_link_libraries(main_bot_main PRIVATE camera localization utils)

add_executable(second_bot_main second_bot_main.cc)
target_link_libraries(second_bot_main PRIVATE camera localization utils)

add_executable(unambiguous_second unambiguous_second.cc)
target_link_libraries(unambiguous_second PRIVATE ${OpenCV_LIBS} apriltag ntcore camera nlohmann_json::nlohmann_json Eigen3::Eigen localization utils)

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12 changes: 7 additions & 5 deletions src/calibration/focus_calibrate.cc
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Expand Up @@ -10,15 +10,17 @@ auto main(int argc, char* argv[]) -> int {
std::unique_ptr<camera::ICamera> camera =
camera::SelectCameraConfig(camera::GetCameraConstants());

camera::timestamped_frame_t timestamped_frame;
camera->GetFrame(&timestamped_frame);
camera::CscoreStreamer streamer("focus_calibrate", 5801, 30,
camera->GetFrame().frame);
timestamped_frame.frame);

cv::Mat frame, gray, laplace;
cv::Mat gray, laplace;
while (true) {
frame = camera->GetFrame().frame;
streamer.WriteFrame(frame);
camera->GetFrame(&timestamped_frame);
streamer.WriteFrame(timestamped_frame.frame);

cv::cvtColor(frame, gray, cv::COLOR_BGR2GRAY);
cv::cvtColor(timestamped_frame.frame, gray, cv::COLOR_BGR2GRAY);
cv::Laplacian(gray, laplace, CV_64F);
cv::Scalar mean, stddev;
cv::meanStdDev(laplace, mean, stddev, cv::Mat());
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11 changes: 6 additions & 5 deletions src/calibration/frame_shower.cc
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Expand Up @@ -18,17 +18,18 @@ auto main(int argc, char* argv[]) -> int {
std::unique_ptr<camera::ICamera> camera = camera::SelectCameraConfig(
absl::GetFlag(FLAGS_camera_name), camera::GetCameraConstants());

camera::timestamped_frame_t timestamped_frame;
camera->GetFrame(&timestamped_frame);
camera::CscoreStreamer streamer("frame_shower",
absl::GetFlag(FLAGS_port).value_or(5801), 30,
camera->GetFrame().frame);
timestamped_frame.frame);

LOG(INFO) << "Camera opened successfully" << std::endl;

cv::Mat frame = camera->GetFrame().frame;
LOG(INFO) << "Size of frame: " << frame.size;
LOG(INFO) << "Size of frame: " << timestamped_frame.frame.size;
while (true) {
frame = camera->GetFrame().frame;
streamer.WriteFrame(frame);
camera->GetFrame(&timestamped_frame);
streamer.WriteFrame(timestamped_frame.frame);
}
return 0;
}
4 changes: 2 additions & 2 deletions src/camera/camera.h
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Expand Up @@ -28,8 +28,8 @@ using timestamped_frame_t = struct TimestampedFrame {

class ICamera {
public:
virtual auto GetFrame() -> timestamped_frame_t = 0;
virtual auto Restart() -> void = 0;
virtual void GetFrame(timestamped_frame_t* output) = 0;
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@charliehuang09 charliehuang09 Apr 19, 2026

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Can we use a reference instead of a pointer?

virtual void Restart() = 0;
[[nodiscard]] virtual auto GetCameraConstant() const -> camera_constant_t = 0;
virtual auto IsDone() -> bool { return false; }
virtual ~ICamera() = default;
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4 changes: 2 additions & 2 deletions src/camera/camera_source.cc
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Expand Up @@ -7,15 +7,15 @@ CameraSource::CameraSource(std::string name, std::unique_ptr<ICamera> camera,
: name_(std::move(name)),
camera_(std::move(camera)),
simulation_(simulation) {
timestamped_frame_ = camera_->GetFrame();
camera_->GetFrame(&timestamped_frame_);
thread_ = std::thread([this] {
while (true) {
if (camera_->IsDone()) {
exit(0);
return;
}
timestamped_frame_t timestamped_frame;
timestamped_frame = camera_->GetFrame();
camera_->GetFrame(&timestamped_frame);
mutex_.lock();
timestamped_frame_ = timestamped_frame;
mutex_.unlock();
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19 changes: 8 additions & 11 deletions src/camera/cv_camera.cc
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Expand Up @@ -63,29 +63,26 @@ CVCamera::CVCamera(const CameraConstant& c, std::optional<std::string> log_path)
}
}

auto CVCamera::GetFrame() -> timestamped_frame_t {
timestamped_frame_t timestamped_frame;
void CVCamera::GetFrame(timestamped_frame_t* output) {
cv::Mat raw_image;
if (!cap_.grab()) {
Restart();
LOG(WARNING) << "Restarting camera";
}
timestamped_frame.timestamp = frc::Timer::GetFPGATimestamp().to<double>();
output->timestamp = frc::Timer::GetFPGATimestamp().to<double>();
cap_.retrieve(raw_image);

raw_image.copyTo(timestamped_frame.frame);
raw_image.copyTo(output->frame);

if (timestamped_frame.frame.empty()) {
timestamped_frame.frame = backup_image_;
if (output->frame.empty()) {
output->frame = backup_image_;
}
if (timestamped_frame.frame.channels() == 4) {
cv::cvtColor(timestamped_frame.frame, timestamped_frame.frame,
cv::COLOR_BGRA2BGR);
if (output->frame.channels() == 4) {
cv::cvtColor(output->frame, output->frame, cv::COLOR_BGRA2BGR);
}
if (log_path_.has_value()) {
WriteFrame(log_path_.value(), timestamped_frame);
WriteFrame(log_path_.value(), *output);
}
return timestamped_frame;
}

auto CVCamera::Restart() -> void {
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2 changes: 1 addition & 1 deletion src/camera/cv_camera.h
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Expand Up @@ -11,7 +11,7 @@ class CVCamera : public ICamera {
public:
CVCamera(const CameraConstant& camera_constant,
std::optional<std::string> log_path = std::nullopt);
auto GetFrame() -> timestamped_frame_t override;
void GetFrame(timestamped_frame_t* output) override;
auto Restart() -> void override;
[[nodiscard]] auto GetCameraConstant() const -> camera_constant_t override;

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12 changes: 5 additions & 7 deletions src/camera/disk_camera.cc
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Expand Up @@ -55,27 +55,25 @@ DiskCamera::DiskCamera(std::string image_folder_path,
}
image_paths_ = std::move(normalized);
}
auto DiskCamera::GetFrame() -> timestamped_frame_t {
void DiskCamera::GetFrame(timestamped_frame_t* output) {
if (image_paths_.empty()) {
std::cout << "Finished reading all frames from DiskCamera. Folder path: "
<< image_folder_path_ << std::endl;
frc::DataLogManager::Stop();
return {.invalid = true};
output->invalid = true;
return;
}

double recorded_ts = image_paths_.top().timestamp;
std::cout << "Recorded ts: " << recorded_ts + start_.value_or(0) << std::endl;
timestamped_frame_t timestamped_frame{
.frame = cv::imread(image_paths_.top().path),
.timestamp = recorded_ts + start_.value_or(0)};
output->frame = cv::imread(image_paths_.top().path);
output->timestamp = recorded_ts + start_.value_or(0);
image_paths_.pop();

if (!image_paths_.empty()) {
double delta = image_paths_.top().timestamp - recorded_ts;
std::this_thread::sleep_for(std::chrono::duration<double>(delta / speed_));
}

return timestamped_frame;
}

auto DiskCamera::Restart() -> void {}
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2 changes: 1 addition & 1 deletion src/camera/disk_camera.h
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Expand Up @@ -29,7 +29,7 @@ class DiskCamera : public ICamera {
std::optional<camera_constant_t> camera_constant = std::nullopt,
double speed = 1.0, std::optional<double> start = std::nullopt,
std::optional<double> end = std::nullopt);
auto GetFrame() -> timestamped_frame_t override;
void GetFrame(timestamped_frame_t* output) override;
auto Restart() -> void override;
auto IsDone() -> bool override { return image_paths_.empty(); }
[[nodiscard]] auto GetCameraConstant() const -> camera_constant_t override;
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2 changes: 1 addition & 1 deletion src/camera/multi_camera_source.cc
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Expand Up @@ -22,7 +22,7 @@ MultiCameraSource::MultiCameraSource(
}
}
timestamped_frame_t timestamped_frame;
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@charliehuang09 charliehuang09 Apr 19, 2026

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Do we need to construct a new timestamped frame every time?

timestamped_frame = cameras_[i]->GetFrame();
cameras_[i]->GetFrame(&timestamped_frame);
mutex_.lock();
timestamped_frames_[i] = timestamped_frame;
frames_used_ = false;
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17 changes: 7 additions & 10 deletions src/camera/uvc_camera.cc
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Expand Up @@ -104,25 +104,22 @@ UVCCamera::UVCCamera(const CameraConstant& camera_constant,
}
}

auto UVCCamera::GetFrame() -> timestamped_frame_t {
timestamped_frame_t copied_timestamped_frame;
void UVCCamera::GetFrame(timestamped_frame_t* output) {
while (frame_index_ == previous_frame_index_) {
std::this_thread::yield();
}
mutex_.lock();
if (frame_buffer.frame.empty()) {
backup_image_.copyTo(copied_timestamped_frame.frame);
copied_timestamped_frame.invalid = true;
copied_timestamped_frame.timestamp =
frc::Timer::GetFPGATimestamp().to<double>();
backup_image_.copyTo(output->frame);
output->invalid = true;
output->timestamp = frc::Timer::GetFPGATimestamp().to<double>();
} else {
frame_buffer.frame.copyTo(copied_timestamped_frame.frame);
copied_timestamped_frame.invalid = frame_buffer.invalid;
copied_timestamped_frame.timestamp = frame_buffer.timestamp;
frame_buffer.frame.copyTo(output->frame);
output->invalid = frame_buffer.invalid;
output->timestamp = frame_buffer.timestamp;
}
mutex_.unlock();
previous_frame_index_ = frame_index_;
return copied_timestamped_frame;
}

auto UVCCamera::Restart() -> void {
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2 changes: 1 addition & 1 deletion src/camera/uvc_camera.h
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Expand Up @@ -12,7 +12,7 @@ class UVCCamera : public ICamera {
public:
UVCCamera(const CameraConstant& camera_constant, absl::Status& status,
std::optional<std::string> log_path = std::nullopt);
auto GetFrame() -> timestamped_frame_t override;
void GetFrame(timestamped_frame_t* output) override;
auto Restart() -> void override;
~UVCCamera() override;
[[nodiscard]] auto GetCameraConstant() const -> camera_constant_t override;
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100 changes: 0 additions & 100 deletions src/main_bot_main.cc
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@charliehuang09 charliehuang09 Apr 19, 2026

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Now that we have removed the old way of running localization, can we update the unambigous main to support only multi-tag or only square solve? This should probably be a seperate pr though. Also, can you clean up some of the code in multi tag solver?

This file was deleted.

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