tracker/pt: don't allocate temporary frame

3 files changed, 12 insertions, 16 deletions

diff --git a/tracker-pt/camera.cpp b/tracker-pt/camera.cpp
index ff721557..600ab26a 100644
--- a/tracker-pt/camera.cpp
+++ b/tracker-pt/camera.cpp
@@ -110,19 +110,14 @@ bool CVCamera::_get_frame(cv::Mat* frame)
 {
     if (cap && cap->isOpened())
     {
-        cv::Mat img;
-        for (int i = 0; i < 100 && !cap->read(img); i++)
+        for (int i = 0; i < 100 && !cap->read(*frame); i++)
             ;;
 
-        if (img.empty())
+        if (frame->empty())
             return false;
 
-        if (frame->rows != img.rows || frame->cols != img.cols)
-            *frame = cv::Mat();
-        
-        *frame = img;
-        cam_info.res_x = img.cols;
-        cam_info.res_y = img.rows;
+        cam_info.res_x = frame->cols;
+        cam_info.res_y = frame->rows;
         return true;
     }
     return false;
diff --git a/tracker-pt/ftnoir_tracker_pt.cpp b/tracker-pt/ftnoir_tracker_pt.cpp
index 80227a39..9a4fa037 100644
--- a/tracker-pt/ftnoir_tracker_pt.cpp
+++ b/tracker-pt/ftnoir_tracker_pt.cpp
@@ -14,6 +14,7 @@
 #include <QCoreApplication>
 #include "opentrack-compat/camera-names.hpp"
 #include "opentrack-compat/sleep.hpp"
+#include <functional>
 
 //#define PT_PERF_LOG	//log performance
 
@@ -78,7 +79,7 @@ void Tracker_PT::run()
 #endif
 
     apply_settings();
-    cv::Mat frame;
+    cv::Mat frame_;
 
     while((commands & ABORT) == 0)
     {
@@ -89,9 +90,12 @@ void Tracker_PT::run()
         {
             QMutexLocker l(&camera_mtx);
             new_frame = camera.get_frame(dt, &frame);
+            if (frame.rows != frame_.rows || frame.cols != frame_.cols)
+                frame_ = cv::Mat(frame.rows, frame.cols, CV_8UC3);
+            frame.copyTo(frame_);
         }
 
-        if (new_frame && !frame.empty())
+        if (new_frame && !frame_.empty())
         {
             std::vector<cv::Vec2f> points = point_extractor.extract_points(frame);
 
@@ -142,11 +146,6 @@ void Tracker_PT::run()
 
             video_widget->update_image(frame);
         }
-#ifdef PT_PERF_LOG
-        log_stream<<"dt: "<<dt;
-        if (!frame.empty()) log_stream<<" fps: "<<camera.get_info().fps;
-        log_stream<<"\n";
-#endif
     }
     qDebug()<<"Tracker:: Thread stopping";
 }
@@ -160,6 +159,7 @@ void Tracker_PT::apply_settings()
     camera.set_res(s.cam_res_x, s.cam_res_y);
     camera.set_fps(s.cam_fps);
     camera.start();
+    frame = cv::Mat();
     qDebug()<<"Tracker::apply ends";
 }
 
diff --git a/tracker-pt/ftnoir_tracker_pt.h b/tracker-pt/ftnoir_tracker_pt.h
index 5ec7ea91..dff0c30a 100644
--- a/tracker-pt/ftnoir_tracker_pt.h
+++ b/tracker-pt/ftnoir_tracker_pt.h
@@ -69,6 +69,7 @@ private:
 
     settings_pt s;
     Timer time;
+    cv::Mat frame;
     
     volatile bool ever_success;