PT: remove sleep interval

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

4 files changed, 81 insertions, 127 deletions

diff --git a/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui b/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui
index 6cd17e8d..ce708849 100644
--- a/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui
+++ b/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui
@@ -10,7 +10,7 @@
     <x>0</x>

     <y>0</y>

     <width>459</width>

-    <height>590</height>

+    <height>621</height>

    </rect>

   </property>

   <property name="sizePolicy">

@@ -66,105 +66,65 @@
          <property name="title">

           <string>Tracker Thread</string>

          </property>

-         <layout class="QVBoxLayout" name="verticalLayout_6">

-          <item>

-           <layout class="QGridLayout" name="gridLayout">

-            <item row="1" column="3">

-             <layout class="QHBoxLayout" name="horizontalLayout_12">

-              <item>

-               <widget class="QSpinBox" name="reset_spin">

-                <property name="toolTip">

-                 <string>Time until automatic reset of tracker's internal state when no valid tracking result is found</string>

-                </property>

-                <property name="maximum">

-                 <number>9999</number>

-                </property>

-               </widget>

-              </item>

-              <item>

-               <widget class="QLabel" name="label_42">

-                <property name="text">

-                 <string>ms</string>

-                </property>

-               </widget>

-              </item>

-             </layout>

-            </item>

-            <item row="2" column="3">

-             <widget class="QCheckBox" name="dynpose_check">

-              <property name="toolTip">

-               <string/>

-              </property>

-              <property name="text">

-               <string/>

-              </property>

-             </widget>

-            </item>

-            <item row="2" column="2">

-             <widget class="QLabel" name="label_17">

-              <property name="text">

-               <string>Dynamic Pose Resolution</string>

-              </property>

-             </widget>

-            </item>

-            <item row="0" column="2">

-             <widget class="QLabel" name="label_39">

-              <property name="text">

-               <string>Sleep time</string>

-              </property>

-              <property name="buddy">

-               <cstring>sleep_spin</cstring>

-              </property>

-             </widget>

-            </item>

-            <item row="1" column="2">

-             <widget class="QLabel" name="label_43">

-              <property name="text">

-               <string>Auto-reset time</string>

-              </property>

-              <property name="buddy">

-               <cstring>reset_spin</cstring>

-              </property>

-             </widget>

-            </item>

-            <item row="0" column="3">

-             <layout class="QHBoxLayout" name="horizontalLayout_11">

-              <item>

-               <widget class="QSpinBox" name="sleep_spin">

-                <property name="toolTip">

-                 <string>Time the tracker thread sleeps after each processed frame</string>

-                </property>

-                <property name="suffix">

-                 <string/>

-                </property>

-                <property name="maximum">

-                 <number>9999</number>

-                </property>

-               </widget>

-              </item>

-              <item>

-               <widget class="QLabel" name="label_40">

-                <property name="text">

-                 <string>ms</string>

-                </property>

-               </widget>

-              </item>

-             </layout>

-            </item>

-            <item row="3" column="3">

-             <widget class="QPushButton" name="reset_button">

-              <property name="enabled">

-               <bool>false</bool>

-              </property>

-              <property name="toolTip">

-               <string>Reset the tracker's internal state</string>

-              </property>

-              <property name="text">

-               <string>Reset</string>

-              </property>

-             </widget>

-            </item>

-           </layout>

+         <layout class="QGridLayout" name="gridLayout">

+          <item row="0" column="0">

+           <widget class="QLabel" name="label_43">

+            <property name="text">

+             <string>Auto-reset time</string>

+            </property>

+            <property name="buddy">

+             <cstring>reset_spin</cstring>

+            </property>

+           </widget>

+          </item>

+          <item row="0" column="1">

+           <widget class="QSpinBox" name="reset_spin">

+            <property name="sizePolicy">

+             <sizepolicy hsizetype="Expanding" vsizetype="Minimum">

+              <horstretch>0</horstretch>

+              <verstretch>0</verstretch>

+             </sizepolicy>

+            </property>

+            <property name="toolTip">

+             <string>Time until automatic reset of tracker's internal state when no valid tracking result is found</string>

+            </property>

+            <property name="suffix">

+             <string>ms</string>

+            </property>

+            <property name="maximum">

+             <number>9999</number>

+            </property>

+           </widget>

+          </item>

+          <item row="1" column="0">

+           <widget class="QLabel" name="label_17">

+            <property name="text">

+             <string>Dynamic Pose Resolution</string>

+            </property>

+           </widget>

+          </item>

+          <item row="1" column="1">

+           <widget class="QCheckBox" name="dynpose_check">

+            <property name="toolTip">

+             <string/>

+            </property>

+            <property name="text">

+             <string/>

+            </property>

+           </widget>

+          </item>

+          <item row="2" column="1">

+           <widget class="QPushButton" name="reset_button">

+            <property name="enabled">

+             <bool>false</bool>

+            </property>

+            <property name="toolTip">

+             <string>Reset the tracker's internal state</string>

+            </property>

+            <property name="text">

+             <string>Reset</string>

+            </property>

+           </widget>

           </item>

          </layout>

         </widget>

@@ -1759,7 +1719,6 @@
  </widget>

  <tabstops>

   <tabstop>tabWidget</tabstop>

-  <tabstop>sleep_spin</tabstop>

   <tabstop>reset_spin</tabstop>

   <tabstop>chkEnableRoll</tabstop>

   <tabstop>chkEnablePitch</tabstop>

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";

diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp
index a88e3a07..06f7b2c6 100644
--- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp
+++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp
@@ -43,7 +43,6 @@ TrackerDialog::TrackerDialog()
     ui.camroll_combo->addItem("90");

 

     tie_setting(s.dyn_pose_res, ui.dynpose_check);

-    tie_setting(s.sleep_time, ui.sleep_spin);

     tie_setting(s.reset_time, ui.reset_spin);

 

     tie_setting(s.cam_index, ui.camdevice_combo);

diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h
index a828ea48..564e1264 100644
--- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h
+++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h
@@ -36,7 +36,7 @@ struct settings
 

     value<int> t_MH_x, t_MH_y, t_MH_z;

 

-    value<int> sleep_time, reset_time;

+    value<int> reset_time;

 

     value<bool> bEnableYaw, bEnablePitch, bEnableRoll;

     value<bool> bEnableX, bEnableY, bEnableZ;

@@ -69,7 +69,6 @@ struct settings
         t_MH_x(b, "model-centroid-x", 0),

         t_MH_y(b, "model-centroid-y", 0),

         t_MH_z(b, "model-centroid-z", 0),

-        sleep_time(b, "sleep-time", 0),

         reset_time(b, "reset-time", 0),

         bEnableYaw(b, "enable-yaw", true),

         bEnablePitch(b, "enable-pitch", true),