Limit blob debug output in 2022 camera_reader
If we got a huge number of blobs, camera reader would crash because of
trying to allocate too large of a flatbuffer message.
Also, the TargetEstimate message does need to make it across the network
without too high of latency, so excessive debug information in it would
be sub-optimal.
Change-Id: I394c909b4c66940451b3ea2b90f6dc8d383420f6
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2022/vision/blob_detector.cc b/y2022/vision/blob_detector.cc
index 6949dd0..2d5ae63 100644
--- a/y2022/vision/blob_detector.cc
+++ b/y2022/vision/blob_detector.cc
@@ -221,8 +221,10 @@
cv::Scalar(0, 0, 255), 0);
}
- cv::drawContours(view_image, blob_result.filtered_blobs, -1,
- cv::Scalar(0, 100, 0), cv::FILLED);
+ if (blob_result.filtered_blobs.size() > 0) {
+ cv::drawContours(view_image, blob_result.filtered_blobs, -1,
+ cv::Scalar(0, 100, 0), cv::FILLED);
+ }
static constexpr double kCircleRadius = 2.0;
// Draw blob centroids
diff --git a/y2022/vision/camera_reader.cc b/y2022/vision/camera_reader.cc
index 2be2ef1..f1cb4e8 100644
--- a/y2022/vision/camera_reader.cc
+++ b/y2022/vision/camera_reader.cc
@@ -50,6 +50,8 @@
return builder->fbb()->CreateVectorOfStructs(points_fbs);
}
+constexpr size_t kMaxBlobsForDebug = 100;
+
// Converts a vector of cv::Point to PointT for the flatbuffer
flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<Blob>>>
CvBlobsToFbs(const std::vector<std::vector<cv::Point>> &blobs,
@@ -60,6 +62,9 @@
auto blob_builder = builder->MakeBuilder<Blob>();
blob_builder.add_points(points_offset);
blobs_fbs.emplace_back(blob_builder.Finish());
+ if (blobs_fbs.size() == kMaxBlobsForDebug) {
+ break;
+ }
}
return builder->fbb()->CreateVector(blobs_fbs.data(), blobs_fbs.size());
}
diff --git a/y2022/vision/viewer.cc b/y2022/vision/viewer.cc
index dfcd49d..24c8fc6 100644
--- a/y2022/vision/viewer.cc
+++ b/y2022/vision/viewer.cc
@@ -50,9 +50,12 @@
}
std::vector<std::vector<cv::Point>> FbsToCvBlobs(
- const flatbuffers::Vector<flatbuffers::Offset<Blob>> &blobs_fbs) {
+ const flatbuffers::Vector<flatbuffers::Offset<Blob>> *blobs_fbs) {
+ if (blobs_fbs == nullptr) {
+ return {};
+ }
std::vector<std::vector<cv::Point>> blobs;
- for (const auto blob : blobs_fbs) {
+ for (const auto blob : *blobs_fbs) {
blobs.emplace_back(FbsToCvPoints(*blob->points()));
}
return blobs;
@@ -86,8 +89,8 @@
// Store the TargetEstimate data so we can match timestamp with image
target_est_map[target_timestamp] = BlobDetector::BlobResult{
cv::Mat(),
- FbsToCvBlobs(*target_est->blob_result()->filtered_blobs()),
- FbsToCvBlobs(*target_est->blob_result()->unfiltered_blobs()),
+ FbsToCvBlobs(target_est->blob_result()->filtered_blobs()),
+ FbsToCvBlobs(target_est->blob_result()->unfiltered_blobs()),
FbsToBlobStats(*target_est->blob_result()->blob_stats()),
FbsToBlobStats(*target_est->blob_result()->filtered_stats()),
cv::Point{target_est->blob_result()->centroid()->x(),