PT: remove sleep interval

The rationale is that camera blocks while the frame's being retrieved anyway.

1 files changed, 20 insertions, 23 deletions

diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
index fad53d60..e8bc7208 100644
--- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
+++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
@@ -70,31 +70,28 @@ void Tracker::run()
 	bool new_frame;

 	forever

 	{

-		{	

-			QMutexLocker lock(&mutex);

-			

-			if (commands & ABORT) break;

-			if (commands & PAUSE) continue;

-			commands = 0;

-			

-			dt = time.elapsed() / 1000.0;

-			time.restart();

-

-			new_frame = camera.get_frame(dt, &frame);

-			if (new_frame && !frame.empty())

-			{

-				frame = frame_rotation.rotate_frame(frame);

-				const std::vector<cv::Vec2f>& points = point_extractor.extract_points(frame, dt, has_observers());

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

-                video_widget->update_image(frame.clone());

-			}

+        QMutexLocker lock(&mutex);

+        

+        if (commands & ABORT) break;

+        if (commands & PAUSE) continue;

+        commands = 0;

+        

+        dt = time.elapsed() / 1000.0;

+        time.restart();

+

+        new_frame = camera.get_frame(dt, &frame);

+        if (new_frame && !frame.empty())

+        {

+            frame = frame_rotation.rotate_frame(frame);

+            const std::vector<cv::Vec2f>& points = point_extractor.extract_points(frame, dt, has_observers());

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

+            video_widget->update_image(frame.clone());

+        }

 #ifdef PT_PERF_LOG

-			log_stream<<"dt: "<<dt;

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

-			log_stream<<"\n";

+        log_stream<<"dt: "<<dt;

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

+        log_stream<<"\n";

 #endif

-		}

-        msleep(s.sleep_time);

 	}

 

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