tracker/pt: don't copy points array needlessly

3 files changed, 34 insertions, 28 deletions

diff --git a/tracker-pt/ftnoir_tracker_pt.cpp b/tracker-pt/ftnoir_tracker_pt.cpp
index 9a4fa037..88356771 100644
--- a/tracker-pt/ftnoir_tracker_pt.cpp
+++ b/tracker-pt/ftnoir_tracker_pt.cpp
@@ -97,17 +97,13 @@ void Tracker_PT::run()
 
         if (new_frame && !frame_.empty())
         {
-            std::vector<cv::Vec2f> points = point_extractor.extract_points(frame);
-
-            // blobs are sorted in order of circularity
-            if (points.size() > PointModel::N_POINTS)
-                points.resize(PointModel::N_POINTS);
+            const auto& points = point_extractor.extract_points(frame_);
 
             float fx;
             if (!get_focal_length(fx))
                 continue;
             
-            const bool success = points.size() == PointModel::N_POINTS;
+            const bool success = points.size() >= PointModel::N_POINTS;
 
             if (success)
             {
@@ -116,35 +112,36 @@ void Tracker_PT::run()
             }
             
             Affine X_CM = pose();
-
-            {
-                Affine X_MH(cv::Matx33f::eye(), cv::Vec3f(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;
-                cv::Vec3f p = X_GH.t; // head (center?) position in global space
-                cv::Vec2f p_(p[0] / p[2] * fx, p[1] / p[2] * fx);  // projected to screen
-                points.push_back(p_);
-            }
-
-            for (unsigned i = 0; i < points.size(); i++)
+            
+            std::function<void(const cv::Vec2f&, const cv::Scalar)> fun = [&](const cv::Vec2f& p, const cv::Scalar color)
             {
-                auto& p = points[i];
-                auto p2 = cv::Point(p[0] * frame.cols + frame.cols/2, -p[1] * frame.cols + frame.rows/2);
-                cv::Scalar color(0, 255, 0);
-                if (i == points.size()-1)
-                    color = cv::Scalar(0, 0, 255);
-                cv::line(frame,
+                auto p2 = cv::Point(p[0] * frame_.cols + frame_.cols/2, -p[1] * frame_.cols + frame_.rows/2);
+                cv::line(frame_,
                          cv::Point(p2.x - 20, p2.y),
                          cv::Point(p2.x + 20, p2.y),
                          color,
                          4);
-                cv::line(frame,
+                cv::line(frame_,
                          cv::Point(p2.x, p2.y - 20),
                          cv::Point(p2.x, p2.y + 20),
                          color,
-                         4);
+                         4);                
+            };
+
+            for (unsigned i = 0; i < points.size(); i++)
+            {
+                fun(points[i], cv::Scalar(0, 255, 0));
+            }
+            
+            {
+                Affine X_MH(cv::Matx33f::eye(), cv::Vec3f(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;
+                cv::Vec3f p = X_GH.t; // head (center?) position in global space
+                cv::Vec2f p_(p[0] / p[2] * fx, p[1] / p[2] * fx);  // projected to screen
+                fun(p_, cv::Scalar(0, 0, 255));
             }
 
-            video_widget->update_image(frame);
+            video_widget->update_image(frame_);
         }
     }
     qDebug()<<"Tracker:: Thread stopping";
diff --git a/tracker-pt/point_extractor.cpp b/tracker-pt/point_extractor.cpp
index 6118f3d2..3808c408 100644
--- a/tracker-pt/point_extractor.cpp
+++ b/tracker-pt/point_extractor.cpp
@@ -16,10 +16,17 @@
 PointExtractor::PointExtractor()
 {
 }
-std::vector<cv::Vec2f> PointExtractor::extract_points(cv::Mat& frame)
+
+const std::vector<cv::Vec2f>& PointExtractor::extract_points(cv::Mat& frame)
 {
     const int W = frame.cols;
     const int H = frame.rows;
+    
+    if (frame_gray.rows != frame.rows || frame_gray.cols != frame.cols)
+    {
+        frame_gray = cv::Mat(frame.rows, frame.cols, CV_8U);
+        frame_bin = cv::Mat(frame.rows, frame.cols, CV_8U);;
+    }
 
     // convert to grayscale
     cv::Mat frame_gray;
@@ -151,9 +158,11 @@ std::vector<cv::Vec2f> PointExtractor::extract_points(cv::Mat& frame)
     using b = const blob;
     std::sort(blobs.begin(), blobs.end(), [](b& b1, b& b2) {return b1.confid > b2.confid;});
     
+    points.reserve(blobs.size());
+    
     QMutexLocker l(&mtx);
     
-	points.clear();
+    points.clear();
     
     for (auto& b : blobs)
     {
diff --git a/tracker-pt/point_extractor.h b/tracker-pt/point_extractor.h
index 80c1897d..979cc8b6 100644
--- a/tracker-pt/point_extractor.h
+++ b/tracker-pt/point_extractor.h
@@ -21,7 +21,7 @@ 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
-    std::vector<cv::Vec2f> extract_points(cv::Mat &frame);
+    const std::vector<cv::Vec2f> &extract_points(cv::Mat &frame);
     const std::vector<cv::Vec2f>& get_points() { QMutexLocker l(&mtx); return points; }
     PointExtractor();