reduce CPU usage during tracking

5 files changed, 17 insertions, 18 deletions

diff --git a/facetracknoir/tracker.cpp b/facetracknoir/tracker.cpp
index 15b36f69..f624d6a1 100644
--- a/facetracknoir/tracker.cpp
+++ b/facetracknoir/tracker.cpp
@@ -143,15 +143,14 @@ void Tracker::run() {
     bool bTracker2Confid = false;

     

     THeadPoseData last;

+    THeadPoseData newpose;

+    THeadPoseData last_post_filter;

     

     forever

 	{

         if (should_quit)

             break;

 

-        // Check event for stop thread

-

-        THeadPoseData newpose;

         newpose.pitch = 0.0f;

         newpose.roll = 0.0f;

         newpose.yaw = 0.0f;

@@ -199,7 +198,7 @@ void Tracker::run() {
             //

             // Only copy valid values

             //

-            if (Tracker::confid) {

+            if (confid) {

                 offset_camera.x     = GlobalPose->X.headPos;

                 offset_camera.y     = GlobalPose->Y.headPos;

                 offset_camera.z     = GlobalPose->Z.headPos;

@@ -222,7 +221,7 @@ void Tracker::run() {
             do_game_zero = false;

         }

 

-        if (Tracker::do_tracking && Tracker::confid) {

+        if (do_tracking && confid) {

             // get values

             target_camera.x     = GlobalPose->X.headPos;

             target_camera.y     = GlobalPose->Y.headPos;

@@ -238,7 +237,7 @@ void Tracker::run() {
             // Use advanced filtering, when a filter was selected.

             //

             if (Libraries->pFilter) {

-                THeadPoseData last_post_filter = gameoutput_camera;

+                last_post_filter = gameoutput_camera;

                 Libraries->pFilter->FilterHeadPoseData(&current_camera, &target_camera, &new_camera, &last_post_filter, newp);

             }

             else {

@@ -261,7 +260,7 @@ void Tracker::run() {
             //

             // Reverse Axis.

             //

-            if (Tracker::do_axis_reverse) {

+            if (do_axis_reverse) {

                 output_camera.z = Z_PosWhenReverseAxis;	// Set the desired Z-position

             }

 

diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
index 4f7d68f0..33b4c944 100644
--- a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
+++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
@@ -228,6 +228,7 @@ bool Tracker::GiveHeadPoseData(THeadPoseData* data)
         videoWidget->updateImage(shm->frame.frame, shm->frame.width, shm->frame.height);
         //memcpy(foo, shm->frame.frame, shm->frame.width * shm->frame.height * 3);
         fresh = true;
+        shm->frame.width = 0;
     }
     if (shm->result.filled) {
         if (enableRX)
diff --git a/ftnoir_tracker_pt/camera.cpp b/ftnoir_tracker_pt/camera.cpp
index 96ba3b89..90fcfaaf 100644
--- a/ftnoir_tracker_pt/camera.cpp
+++ b/ftnoir_tracker_pt/camera.cpp
@@ -92,8 +92,8 @@ bool CVCamera::_get_frame(Mat* frame)
 {

     Mat tmp;

     bool ret = cap->read(tmp);

-    if (ret)

-        flip(tmp, *frame, 0);

+    //if (ret)

+    //    flip(tmp, *frame, 0);

     return ret;

 }

 

diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
index b4cb613b..96017d52 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -66,7 +66,6 @@ void Tracker::run()
 	{

 		{	

             

-            refreshVideo();

 			QMutexLocker lock(&mutex);

             if (should_quit)

                 break;

@@ -84,14 +83,16 @@ void Tracker::run()
 				const std::vector<cv::Vec2f>& points = point_extractor.extract_points(frame, dt, draw_frame);

 				tracking_valid = point_tracker.track(points, camera.get_info().f, dt);

 				frame_count++;

+                fresh = true;

 			}

 #ifdef PT_PERF_LOG

 			log_stream<<"dt: "<<dt;

 			if (!frame.empty()) log_stream<<" fps: "<<camera.get_info().fps;

 			log_stream<<"\n";

 #endif

+            refreshVideo();

 		}

-		msleep(sleep_time);

+        msleep(sleep_time);

 	}

 

 	qDebug()<<"Tracker:: Thread stopping";

@@ -143,12 +144,12 @@ void Tracker::center()
 

 void Tracker::refreshVideo()

 {	

-	if (video_widget)

+    if (video_widget && fresh)

 	{

 		Mat frame_copy;

 		std::auto_ptr< vector<Vec2f> > points;

 		{

-			QMutexLocker lock(&mutex);

+//QMutexLocker lock(&mutex);

 			if (!draw_frame || frame.empty()) return;

 		

 			// copy the frame and points from the tracker thread

@@ -157,8 +158,7 @@ void Tracker::refreshVideo()
 		}

 		

 		video_widget->update_image(frame_copy, points);

-        fresh = true;

-	}

+    }

 }

 

 void Tracker::StartTracker(QFrame* videoframe)

@@ -194,7 +194,6 @@ void Tracker::paint_widget() {
 

 bool Tracker::GiveHeadPoseData(THeadPoseData *data)

 {

-    refreshVideo();

 	const float rad2deg = 180.0/3.14159265;

 	const float deg2rad = 1.0/rad2deg;

 	{

@@ -245,7 +244,7 @@ bool Tracker::GiveHeadPoseData(THeadPoseData *data)
 			data->yaw   = rad2deg * alpha;

 		}

 		if (bEnablePitch) {

-            data->pitch = -rad2deg * beta;

+            data->pitch = rad2deg * beta;

 		}

 		if (bEnableRoll) {

 			data->roll  = rad2deg * gamma;

diff --git a/qfunctionconfigurator/functionconfig.h b/qfunctionconfigurator/functionconfig.h
index d81711a7..9f380000 100644
--- a/qfunctionconfigurator/functionconfig.h
+++ b/qfunctionconfigurator/functionconfig.h
@@ -28,7 +28,7 @@ private:
 	QString _title;

     float getValueInternal(int x);

 	QPointF lastValueTracked;								// The last input value requested by the Tracker, with it's output-value.

-	bool _tracking_active;

+    volatile bool _tracking_active;

 	int _max_Input;

 	int _max_Output;