From 99fb0282ba5cdfdb2b889df8916b36207d21ded0 Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Sun, 6 Mar 2016 09:11:19 +0100
Subject: tracker/pt: less malloc/free each frame

---
 tracker-pt/point_extractor.cpp | 29 ++++++-----------------------
 tracker-pt/point_extractor.h   | 19 ++++++++++++++++++-
 2 files changed, 24 insertions(+), 24 deletions(-)

diff --git a/tracker-pt/point_extractor.cpp b/tracker-pt/point_extractor.cpp
index da05feb3..a1294c1e 100644
--- a/tracker-pt/point_extractor.cpp
+++ b/tracker-pt/point_extractor.cpp
@@ -15,6 +15,8 @@
 
 PointExtractor::PointExtractor()
 {
+    blobs.reserve(max_blobs);
+    points.reserve(max_blobs);
 }
 
 const std::vector<cv::Vec2f>& PointExtractor::extract_points(cv::Mat& frame)
@@ -34,23 +36,10 @@ const std::vector<cv::Vec2f>& PointExtractor::extract_points(cv::Mat& frame)
     const double region_size_min = s.min_point_size;
     const double region_size_max = s.max_point_size;
     
-    struct blob
-    {
-        double radius;
-        cv::Vec2d pos;
-        double confid;
-        blob(double radius, const cv::Vec2d& pos, double confid) : radius(radius), pos(pos), confid(confid)
-        {
-            //qDebug() << "radius" << radius << "pos" << pos[0] << pos[1] << "confid" << confid;
-        }
-    };
-    
-    // mask for everything that passes the threshold (or: the upper threshold of the hysteresis)
-    
-    std::vector<blob> blobs;
-    std::vector<std::vector<cv::Point>> contours;
-
     const int thres = s.threshold;
+
+    contours.clear();
+
     if (!s.auto_threshold)
     {
         cv::threshold(frame_gray, frame_bin, thres, 255, cv::THRESH_BINARY);
@@ -88,13 +77,10 @@ const std::vector<cv::Vec2f>& PointExtractor::extract_points(cv::Mat& frame)
         cv::findContours(frame_bin, contours, CV_RETR_LIST, CV_CHAIN_APPROX_SIMPLE);
     }
 
-    int cnt = 0;
+    blobs.clear();
 
     for (auto& c : contours)
     {
-        if (cnt++ > 30)
-            break;
-
         const auto m = cv::moments(cv::Mat(c));
         const cv::Vec2d pos(m.m10 / m.m00, m.m01 / m.m00);
 
@@ -139,8 +125,6 @@ const std::vector<cv::Vec2f>& PointExtractor::extract_points(cv::Mat& frame)
 
         blobs.push_back(blob(radius, pos, confid));
         
-        enum { max_blobs = 16 };
-        
         if (blobs.size() == max_blobs)
             break;
     }
@@ -149,7 +133,6 @@ const std::vector<cv::Vec2f>& PointExtractor::extract_points(cv::Mat& frame)
     std::sort(blobs.begin(), blobs.end(), [](b& b1, b& b2) {return b1.confid > b2.confid;});
     
     QMutexLocker l(&mtx);
-    points.reserve(blobs.size());
     points.clear();
     
     for (auto& b : blobs)
diff --git a/tracker-pt/point_extractor.h b/tracker-pt/point_extractor.h
index ab51762d..3e4661f9 100644
--- a/tracker-pt/point_extractor.h
+++ b/tracker-pt/point_extractor.h
@@ -12,9 +12,10 @@
 #include <opencv2/imgproc/imgproc.hpp>
 
 #include "ftnoir_tracker_pt_settings.h"
-
 #include <QMutex>
 
+#include <vector>
+
 class PointExtractor
 {
 public:
@@ -33,6 +34,22 @@ private:
     cv::Mat frame_gray;
     cv::Mat frame_bin;
     cv::Mat hist;
+
+    enum { max_blobs = 16 };
+
+    struct blob
+    {
+        double radius;
+        cv::Vec2d pos;
+        double confid;
+        blob(double radius, const cv::Vec2d& pos, double confid) : radius(radius), pos(pos), confid(confid)
+        {
+            //qDebug() << "radius" << radius << "pos" << pos[0] << pos[1] << "confid" << confid;
+        }
+    };
+
+    std::vector<blob> blobs;
+    std::vector<std::vector<cv::Point>> contours;
 };
 
 #endif //POINTEXTRACTOR_H
-- 
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