reduce CPU usage during tracking

1 files changed, 7 insertions, 8 deletions

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;