disable hysteresis debug; throttle frame update rate

3 files changed, 22 insertions, 6 deletions

diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
index e8bc7208..6bcad861 100644
--- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
+++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
@@ -83,9 +83,9 @@ void Tracker::run()
         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());

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

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

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

+            video_widget->update_image(frame);

         }

 #ifdef PT_PERF_LOG

         log_stream<<"dt: "<<dt;

diff --git a/FTNoIR_Tracker_PT/pt_video_widget.cpp b/FTNoIR_Tracker_PT/pt_video_widget.cpp
index 5ac002f4..38c49567 100644
--- a/FTNoIR_Tracker_PT/pt_video_widget.cpp
+++ b/FTNoIR_Tracker_PT/pt_video_widget.cpp
@@ -18,7 +18,15 @@ using namespace std;
 void PTVideoWidget::update_image(const cv::Mat& frame)

 {

     QMutexLocker foo(&mtx);

-    _frame = frame;

+    const int rate = 40;

+    if (freshp)

+        return;

+    if (!update_throttler.isValid() || update_throttler.elapsed() > rate)

+    {

+        _frame = frame.clone();

+        update_throttler.restart();

+        freshp = true;

+    }

 }

 

 // ----------------------------------------------------------------------------

@@ -42,8 +50,9 @@ VideoWidgetDialog::VideoWidgetDialog(QWidget *parent, FrameProvider* provider)
 void PTVideoWidget::update_and_repaint()

 {

     QMutexLocker foo(&mtx);

-    if (_frame.empty())

+    if (_frame.empty() || !freshp)

         return;

+    freshp = false;

     QImage qframe = QImage(_frame.cols, _frame.rows, QImage::Format_RGB888);

     uchar* data = qframe.bits();

     const int pitch = qframe.bytesPerLine();

diff --git a/FTNoIR_Tracker_PT/pt_video_widget.h b/FTNoIR_Tracker_PT/pt_video_widget.h
index acff43fb..c47198db 100644
--- a/FTNoIR_Tracker_PT/pt_video_widget.h
+++ b/FTNoIR_Tracker_PT/pt_video_widget.h
@@ -24,15 +24,20 @@
 #include <QPainter>

 #include <QPaintEvent>

 #include <QTimer>

+#include <QElapsedTimer>

 

 class PTVideoWidget : public QWidget, public FrameObserver

 {

     Q_OBJECT

 

 public:

-    PTVideoWidget(QWidget *parent, FrameProvider* provider) : QWidget(parent), /* to avoid linker errors */ FrameObserver(provider) {

+    PTVideoWidget(QWidget *parent, FrameProvider* provider) :

+        QWidget(parent),

+        /* to avoid linker errors */ FrameObserver(provider),

+        freshp(false)

+    {

         connect(&timer, SIGNAL(timeout()), this, SLOT(update_and_repaint()));

-        timer.start(45);

+        timer.start(40);

     }

     void update_image(const cv::Mat &frame);

     void update_frame_and_points() {}

@@ -48,6 +53,8 @@ private:
     QImage texture;

     QTimer timer;

     cv::Mat _frame;

+    QElapsedTimer update_throttler;

+    bool freshp;

 };

 

 // ----------------------------------------------------------------------------