tracker/pt: reduce locking

7 files changed, 46 insertions, 27 deletions

diff --git a/tracker-pt/camera.cpp b/tracker-pt/camera.cpp
index 85a5a93b..beac9d24 100644
--- a/tracker-pt/camera.cpp
+++ b/tracker-pt/camera.cpp
@@ -112,7 +112,7 @@ void CVCamera::stop()
         // give opencv time to exit camera threads, etc.
         if (opened)
             portable::sleep(500);
-        qDebug() << "pt camera: assuming stopped";
+        qDebug() << "pt camera: stopped";
     }
 }
 
diff --git a/tracker-pt/ftnoir_tracker_pt.cpp b/tracker-pt/ftnoir_tracker_pt.cpp
index c58f3f6f..48dc19c5 100644
--- a/tracker-pt/ftnoir_tracker_pt.cpp
+++ b/tracker-pt/ftnoir_tracker_pt.cpp
@@ -20,10 +20,11 @@
 
 //-----------------------------------------------------------------------------
 Tracker_PT::Tracker_PT() :
-      video_widget(NULL),
-      video_frame(NULL),
-      ever_success(false),
-      commands(0)
+      video_widget(nullptr),
+      video_frame(nullptr),
+      point_count(0),
+      commands(0),
+      ever_success(false)
 {
     connect(s.b.get(), SIGNAL(saving()), this, SLOT(apply_settings()));
 }
@@ -102,9 +103,11 @@ void Tracker_PT::run()
 
         if (new_frame && !frame_.empty())
         {
-            const auto& points = point_extractor.extract_points(frame_);
+            point_extractor.extract_points(frame_, points);
+            point_count = points.size();
 
             f fx;
+
             if (!get_focal_length(fx))
                 continue;
 
@@ -116,8 +119,6 @@ void Tracker_PT::run()
                 ever_success = true;
             }
 
-            Affine X_CM = pose();
-
             std::function<void(const vec2&, const cv::Scalar)> fun = [&](const vec2& p, const cv::Scalar color)
             {
                 using std::round;
@@ -141,6 +142,12 @@ void Tracker_PT::run()
             }
 
             {
+                Affine X_CM;
+                {
+                    QMutexLocker l(&data_mtx);
+                    X_CM = point_tracker.pose();
+                }
+
                 Affine X_MH(mat33::eye(), vec3(s.t_MH_x, s.t_MH_y, s.t_MH_z)); // just copy pasted these lines from below
                 Affine X_GH = X_CM * X_MH;
                 vec3 p = X_GH.t; // head (center?) position in global space
@@ -236,6 +243,25 @@ void Tracker_PT::data(double *data)
     }
 }
 
+Affine Tracker_PT::pose()
+{
+    QMutexLocker l(&data_mtx);
+
+    return point_tracker.pose();
+}
+
+int Tracker_PT::get_n_points()
+{
+    return int(point_count);
+}
+
+bool Tracker_PT::get_cam_info(CamInfo* info)
+{
+    QMutexLocker lock(&camera_mtx);
+
+    return camera.get_info(*info);
+}
+
 #include "ftnoir_tracker_pt_dialog.h"
 OPENTRACK_DECLARE_TRACKER(Tracker_PT, TrackerDialog_PT, TrackerDll)
 
diff --git a/tracker-pt/ftnoir_tracker_pt.h b/tracker-pt/ftnoir_tracker_pt.h
index d2f69ac2..b5e11157 100644
--- a/tracker-pt/ftnoir_tracker_pt.h
+++ b/tracker-pt/ftnoir_tracker_pt.h
@@ -44,9 +44,9 @@ public:
     void start_tracker(QFrame* parent_window) override;
     void data(double* data) override;
 
-    Affine pose() { return point_tracker.pose(); }
-    int  get_n_points() { return point_extractor.get_n_points(); }
-    bool get_cam_info(CamInfo* info) { QMutexLocker lock(&camera_mtx); return camera.get_info(*info); }
+    Affine pose();
+    int  get_n_points();
+    bool get_cam_info(CamInfo* info);
 public slots:
     void apply_settings();
 protected:
@@ -63,6 +63,7 @@ private:
     bool get_focal_length(f& ret);
 
     QMutex camera_mtx;
+    QMutex data_mtx;
     CVCamera       camera;
     PointExtractor point_extractor;
     PointTracker   point_tracker;
@@ -73,9 +74,11 @@ private:
     settings_pt s;
     Timer time;
     cv::Mat frame;
+    std::vector<vec2> points;
 
-    volatile bool ever_success;
+    volatile unsigned point_count;
     volatile unsigned char commands;
+    volatile bool ever_success;
 
     static constexpr f rad2deg = f(180/OPENTRACK_PI);
     //static constexpr float deg2rad = float(OPENTRACK_PI/180);
diff --git a/tracker-pt/point_extractor.cpp b/tracker-pt/point_extractor.cpp
index 9dc1df6d..b12c139a 100644
--- a/tracker-pt/point_extractor.cpp
+++ b/tracker-pt/point_extractor.cpp
@@ -22,10 +22,9 @@
 PointExtractor::PointExtractor()
 {
     blobs.reserve(max_blobs);
-    points.reserve(max_blobs);
 }
 
-const std::vector<PointExtractor::vec2>& PointExtractor::extract_points(cv::Mat& frame)
+void PointExtractor::extract_points(cv::Mat& frame, std::vector<PointExtractor::vec2>& points)
 {
     const int W = frame.cols;
     const int H = frame.rows;
@@ -149,7 +148,7 @@ const std::vector<PointExtractor::vec2>& PointExtractor::extract_points(cv::Mat&
 
     std::sort(blobs.begin(), blobs.end(), [](const blob& b1, const blob& b2) -> bool { return b2.radius < b1.radius; });
 
-    QMutexLocker l(&mtx);
+    points.reserve(max_blobs);
     points.clear();
 
     for (auto& b : blobs)
@@ -157,5 +156,4 @@ const std::vector<PointExtractor::vec2>& PointExtractor::extract_points(cv::Mat&
         vec2 p((b.pos[0] - W/2)/W, -(b.pos[1] - H/2)/W);
         points.push_back(p);
     }
-    return points;
 }
diff --git a/tracker-pt/point_extractor.h b/tracker-pt/point_extractor.h
index 478418e6..f4839208 100644
--- a/tracker-pt/point_extractor.h
+++ b/tracker-pt/point_extractor.h
@@ -14,7 +14,6 @@
 
 #include "ftnoir_tracker_pt_settings.h"
 #include "opentrack-compat/pi-constant.hpp"
-#include <QMutex>
 
 #include <vector>
 
@@ -24,23 +23,19 @@ public:
     // extracts points from frame and draws some processing info into frame, if draw_output is set
     // dt: time since last call in seconds
     // WARNING: returned reference is valid as long as object
-    const std::vector<vec2>& extract_points(cv::Mat &frame);
-    int get_n_points() { QMutexLocker l(&mtx); return points.size(); }
+    void extract_points(cv::Mat &frame, std::vector<vec2>& points);
     PointExtractor();
 
     settings_pt s;
 private:
     static constexpr double pi = OPENTRACK_PI;
+    static constexpr int max_blobs = 16;
 
-    std::vector<vec2> points;
-    QMutex mtx;
     cv::Mat frame_gray;
     cv::Mat frame_bin;
     cv::Mat hist;
     cv::Mat frame_blobs;
 
-    static constexpr int max_blobs = 16;
-
     struct blob
     {
         double radius;
diff --git a/tracker-pt/point_tracker.cpp b/tracker-pt/point_tracker.cpp
index 61c54fa4..adea578f 100644
--- a/tracker-pt/point_tracker.cpp
+++ b/tracker-pt/point_tracker.cpp
@@ -311,7 +311,6 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order_, f foc
         if (nanp(t[i]))
             return -1;
 
-    QMutexLocker l(&mtx);
     // apply results
     X_CM.R = r;
     X_CM.t[0] = t[0];
diff --git a/tracker-pt/point_tracker.h b/tracker-pt/point_tracker.h
index 559f7963..fab0e9ac 100644
--- a/tracker-pt/point_tracker.h
+++ b/tracker-pt/point_tracker.h
@@ -14,7 +14,6 @@
 #include <memory>
 #include <vector>
 #include <QObject>
-#include <QMutex>
 
 class Affine final : private pt_types
 {
@@ -82,7 +81,7 @@ public:
     // f : (focal length)/(sensor width)
     // dt : time since last call
     void track(const std::vector<vec2>& projected_points, const PointModel& model, f focal_length, bool dynamic_pose, int init_phase_timeout);
-    Affine pose() { QMutexLocker l(&mtx); return X_CM; }
+    Affine pose() { return X_CM; }
     vec2 project(const vec3& v_M, PointTracker::f focal_length);
 
 private:
@@ -104,7 +103,6 @@ private:
     Affine X_CM; // trafo from model to camera
 
     Timer t;
-    QMutex mtx;
     bool init_phase;
 };