Easy Tracker: Cheap way to dramatically improve CPU usage. Now displaying FPS info on frame preview.

6 files changed, 74 insertions, 26 deletions

diff --git a/tracker-easy/preview.cpp b/tracker-easy/preview.cpp
index 364e45ca..4d6b7c61 100644
--- a/tracker-easy/preview.cpp
+++ b/tracker-easy/preview.cpp
@@ -100,6 +100,11 @@ namespace EasyTracker
             QImage::Format_ARGB32);
     }
 
+    void Preview::DrawInfo(const std::string& aString)
+    {
+        cv::putText(iFrameRgb, aString, cv::Point(4,iFrameRgb.size().height-4), cv::FONT_HERSHEY_PLAIN, 2, cv::Scalar(0, 255, 0),2);
+    }
+
     void Preview::DrawCross(cv::Point aPoint)
     {
         constexpr int len = 9;
diff --git a/tracker-easy/preview.h b/tracker-easy/preview.h
index 979d272b..74ef89aa 100644
--- a/tracker-easy/preview.h
+++ b/tracker-easy/preview.h
@@ -22,10 +22,11 @@ namespace EasyTracker
         Preview& operator=(const cv::Mat& frame);
         QImage get_bitmap();
         void DrawCross(cv::Point aPoint);
+        void DrawInfo(const std::string& aString);
 
         operator cv::Mat&() { return iFrameResized; }
         operator cv::Mat const&() const { return iFrameResized; }
-
+       
     private:
         static void ensure_size(cv::Mat& frame, int w, int h, int type);
 
diff --git a/tracker-easy/tracker-easy.cpp b/tracker-easy/tracker-easy.cpp
index 8bae883a..68e3be36 100644
--- a/tracker-easy/tracker-easy.cpp
+++ b/tracker-easy/tracker-easy.cpp
@@ -27,8 +27,10 @@ using namespace options;
 
 // Disable debug
 #define dbgout if (true) {} else std::cout
+//#define infout if (true) {} else std::cout
 // Enable debug
 //#define dbgout if (false) {} else std::cout
+#define infout if (false) {} else std::cout
 
 namespace EasyTracker
 {
@@ -125,10 +127,13 @@ namespace EasyTracker
     {
         maybe_reopen_camera();
 
+        iFpsTimer.start();
+
         while (!isInterruptionRequested())
         {
-            bool new_frame = false;
+            iTimer.start();
 
+            bool new_frame = false;
             {
                 QMutexLocker l(&camera_mtx);
 
@@ -144,7 +149,7 @@ namespace EasyTracker
                 // Create OpenCV matrix from our frame
                 // TODO: Assert channel size is one or two
                 iMatFrame = cv::Mat(iFrame.height, iFrame.width, CV_MAKETYPE((iFrame.channelSize == 2 ? CV_16U : CV_8U), iFrame.channels), iFrame.data, iFrame.stride);
-
+                iFrameCount++;
 
                 const bool preview_visible = check_is_visible();
                 if (preview_visible)
@@ -268,7 +273,11 @@ namespace EasyTracker
                 }
 
                 if (preview_visible)
-                {                    
+                {
+                    std::ostringstream ss;
+                    ss << "FPS: " << iFps << "/" << iSkippedFps;
+                    iPreview.DrawInfo(ss.str());
+
                     //
                     if (topPointIndex != -1)
                     {
@@ -302,6 +311,27 @@ namespace EasyTracker
                         cv::destroyWindow("Preview");
                     }                    
                 }
+
+                dbgout << "Frame time:" << iTimer.elapsed_seconds() << "\n";
+            }
+            else
+            {
+                iSkippedFrameCount++;
+            }
+
+            // Pace ourselves, drastically reduce CPU usage
+            // TODO: Consider using QTimer instead of QThread
+            msleep(1000 / 55);
+
+            // Compute FPS
+            double elapsed = iFpsTimer.elapsed_seconds();
+            if (elapsed >= 1.0)
+            {
+                iFps = iFrameCount / elapsed;
+                iSkippedFps = iSkippedFrameCount / elapsed;
+                iFrameCount = 0;
+                iSkippedFrameCount = 0;
+                iFpsTimer.start();
             }
         }
     }
diff --git a/tracker-easy/tracker-easy.h b/tracker-easy/tracker-easy.h
index 00e24811..257dd6ca 100644
--- a/tracker-easy/tracker-easy.h
+++ b/tracker-easy/tracker-easy.h
@@ -12,6 +12,8 @@
 #include "cv/numeric.hpp"
 #include "video/video-widget.hpp"
 #include "video/camera.hpp"
+#include "compat/timer.hpp"
+
 #include "preview.h"
 #include "settings.h"
 #include "point-extractor.h"
@@ -78,6 +80,14 @@ namespace EasyTracker
         std::atomic<bool> ever_success = false;
         mutable QMutex center_lock, data_lock;
 
+        //
+        Timer iTimer;
+        Timer iFpsTimer;
+        int iFrameCount = 0;
+        int iSkippedFrameCount = 0;
+        int iFps = 0;
+        int iSkippedFps = 0;
+
         // Vertices defining the model we are tracking
         std::vector<cv::Point3f> iModel;
         // Bitmap points corresponding to model vertices
diff --git a/tracker-kinect-face/camera_kinect_ir.cpp b/tracker-kinect-face/camera_kinect_ir.cpp
index 77621076..e170b15a 100644
--- a/tracker-kinect-face/camera_kinect_ir.cpp
+++ b/tracker-kinect-face/camera_kinect_ir.cpp
@@ -96,8 +96,8 @@ std::tuple<const video::impl::frame&, bool> CameraKinectIr::get_frame()
     new_frame = get_frame_(iMatFrame);
         
     iFrame.data = iMatFrame.ptr();
-    iFrame.width = 512;
-    iFrame.height = 424;
+    iFrame.width = iWidth;
+    iFrame.height = iHeight;
     iFrame.stride = cv::Mat::AUTO_STEP;
     iFrame.channels = iMatFrame.channels();
     iFrame.channelSize = iMatFrame.elemSize1();
@@ -115,6 +115,9 @@ inline void SafeRelease(Interface *& pInterfaceToRelease)
     }
 }
 
+///
+///
+///
 bool CameraKinectIr::start(info& aInfo)
 {
     stop();
@@ -162,8 +165,8 @@ bool CameraKinectIr::start(info& aInfo)
         if (success)
         {
             // Provide frame info
-            aInfo.width = width;
-            aInfo.height = height;
+            aInfo.width = iWidth;
+            aInfo.height = iHeight;
 
             CameraIntrinsics intrinsics;
             hr = iCoordinateMapper->GetDepthCameraIntrinsics(&intrinsics);
@@ -223,13 +226,7 @@ bool CameraKinectIr::get_frame_(cv::Mat& aFrame)
 
     if (SUCCEEDED(hr))
     {
-        INT64 nTime = 0;
-        UINT nBufferSize = 0;
-        UINT16 *pBuffer = NULL;
-
-        hr = iInfraredFrame->get_RelativeTime(&nTime);
-
-        if (first_frame)
+        if (iFirstFrame)
         {
             IFrameDescription* frameDescription = NULL;
 
@@ -238,28 +235,33 @@ bool CameraKinectIr::get_frame_(cv::Mat& aFrame)
                 hr = iInfraredFrame->get_FrameDescription(&frameDescription);
             }
 
-            // TODO: should not request those info for a every frame really
             if (SUCCEEDED(hr))
             {
-                hr = frameDescription->get_Width(&width);
+                hr = frameDescription->get_Width(&iWidth);
             }
 
             if (SUCCEEDED(hr))
             {
-                hr = frameDescription->get_Height(&height);
+                hr = frameDescription->get_Height(&iHeight);
             }
 
             if (SUCCEEDED(hr))
             {
-                hr = frameDescription->get_DiagonalFieldOfView(&fov);
+                hr = frameDescription->get_DiagonalFieldOfView(&iFov);
             }
 
             if (SUCCEEDED(hr))
-                first_frame = false;
-
+            {
+                iFirstFrame = false;
+            }
+                
             SafeRelease(frameDescription);
         }
-        
+
+
+        UINT nBufferSize = 0;
+        UINT16 *pBuffer = NULL;
+
         if (SUCCEEDED(hr))
         {
             hr = iInfraredFrame->AccessUnderlyingBuffer(&nBufferSize, &pBuffer);
@@ -268,7 +270,7 @@ bool CameraKinectIr::get_frame_(cv::Mat& aFrame)
         if (SUCCEEDED(hr))
         {
             // Create an OpenCV matrix with our 16-bits IR buffer
-            aFrame = cv::Mat(height, width, CV_16UC1, pBuffer, cv::Mat::AUTO_STEP);
+            aFrame = cv::Mat(iHeight, iWidth, CV_16UC1, pBuffer, cv::Mat::AUTO_STEP);
             // Any processing of the frame is left to the user
             success = true;
         }
diff --git a/tracker-kinect-face/camera_kinect_ir.h b/tracker-kinect-face/camera_kinect_ir.h
index 7cd24651..b88efdcd 100644
--- a/tracker-kinect-face/camera_kinect_ir.h
+++ b/tracker-kinect-face/camera_kinect_ir.h
@@ -71,9 +71,9 @@ private:
     video::frame iFrame;
     cv::Mat iMatFrame;
 
-    float fov = 0;
-    int width = 0, height = 0;
-    bool first_frame = true;
+    float iFov = 0;
+    int iWidth = 0, iHeight = 0;
+    bool iFirstFrame = true;
 };
 
 }