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-rw-r--r--tracker-easy/preview.cpp5
-rw-r--r--tracker-easy/preview.h3
-rw-r--r--tracker-easy/tracker-easy.cpp36
-rw-r--r--tracker-easy/tracker-easy.h10
-rw-r--r--tracker-kinect-face/camera_kinect_ir.cpp40
-rw-r--r--tracker-kinect-face/camera_kinect_ir.h6
6 files changed, 74 insertions, 26 deletions
diff --git a/tracker-easy/preview.cpp b/tracker-easy/preview.cpp
index 364e45ca..4d6b7c61 100644
--- a/tracker-easy/preview.cpp
+++ b/tracker-easy/preview.cpp
@@ -100,6 +100,11 @@ namespace EasyTracker
QImage::Format_ARGB32);
}
+ void Preview::DrawInfo(const std::string& aString)
+ {
+ cv::putText(iFrameRgb, aString, cv::Point(4,iFrameRgb.size().height-4), cv::FONT_HERSHEY_PLAIN, 2, cv::Scalar(0, 255, 0),2);
+ }
+
void Preview::DrawCross(cv::Point aPoint)
{
constexpr int len = 9;
diff --git a/tracker-easy/preview.h b/tracker-easy/preview.h
index 979d272b..74ef89aa 100644
--- a/tracker-easy/preview.h
+++ b/tracker-easy/preview.h
@@ -22,10 +22,11 @@ namespace EasyTracker
Preview& operator=(const cv::Mat& frame);
QImage get_bitmap();
void DrawCross(cv::Point aPoint);
+ void DrawInfo(const std::string& aString);
operator cv::Mat&() { return iFrameResized; }
operator cv::Mat const&() const { return iFrameResized; }
-
+
private:
static void ensure_size(cv::Mat& frame, int w, int h, int type);
diff --git a/tracker-easy/tracker-easy.cpp b/tracker-easy/tracker-easy.cpp
index 8bae883a..68e3be36 100644
--- a/tracker-easy/tracker-easy.cpp
+++ b/tracker-easy/tracker-easy.cpp
@@ -27,8 +27,10 @@ using namespace options;
// Disable debug
#define dbgout if (true) {} else std::cout
+//#define infout if (true) {} else std::cout
// Enable debug
//#define dbgout if (false) {} else std::cout
+#define infout if (false) {} else std::cout
namespace EasyTracker
{
@@ -125,10 +127,13 @@ namespace EasyTracker
{
maybe_reopen_camera();
+ iFpsTimer.start();
+
while (!isInterruptionRequested())
{
- bool new_frame = false;
+ iTimer.start();
+ bool new_frame = false;
{
QMutexLocker l(&camera_mtx);
@@ -144,7 +149,7 @@ namespace EasyTracker
// Create OpenCV matrix from our frame
// TODO: Assert channel size is one or two
iMatFrame = cv::Mat(iFrame.height, iFrame.width, CV_MAKETYPE((iFrame.channelSize == 2 ? CV_16U : CV_8U), iFrame.channels), iFrame.data, iFrame.stride);
-
+ iFrameCount++;
const bool preview_visible = check_is_visible();
if (preview_visible)
@@ -268,7 +273,11 @@ namespace EasyTracker
}
if (preview_visible)
- {
+ {
+ std::ostringstream ss;
+ ss << "FPS: " << iFps << "/" << iSkippedFps;
+ iPreview.DrawInfo(ss.str());
+
//
if (topPointIndex != -1)
{
@@ -302,6 +311,27 @@ namespace EasyTracker
cv::destroyWindow("Preview");
}
}
+
+ dbgout << "Frame time:" << iTimer.elapsed_seconds() << "\n";
+ }
+ else
+ {
+ iSkippedFrameCount++;
+ }
+
+ // Pace ourselves, drastically reduce CPU usage
+ // TODO: Consider using QTimer instead of QThread
+ msleep(1000 / 55);
+
+ // Compute FPS
+ double elapsed = iFpsTimer.elapsed_seconds();
+ if (elapsed >= 1.0)
+ {
+ iFps = iFrameCount / elapsed;
+ iSkippedFps = iSkippedFrameCount / elapsed;
+ iFrameCount = 0;
+ iSkippedFrameCount = 0;
+ iFpsTimer.start();
}
}
}
diff --git a/tracker-easy/tracker-easy.h b/tracker-easy/tracker-easy.h
index 00e24811..257dd6ca 100644
--- a/tracker-easy/tracker-easy.h
+++ b/tracker-easy/tracker-easy.h
@@ -12,6 +12,8 @@
#include "cv/numeric.hpp"
#include "video/video-widget.hpp"
#include "video/camera.hpp"
+#include "compat/timer.hpp"
+
#include "preview.h"
#include "settings.h"
#include "point-extractor.h"
@@ -78,6 +80,14 @@ namespace EasyTracker
std::atomic<bool> ever_success = false;
mutable QMutex center_lock, data_lock;
+ //
+ Timer iTimer;
+ Timer iFpsTimer;
+ int iFrameCount = 0;
+ int iSkippedFrameCount = 0;
+ int iFps = 0;
+ int iSkippedFps = 0;
+
// Vertices defining the model we are tracking
std::vector<cv::Point3f> iModel;
// Bitmap points corresponding to model vertices
diff --git a/tracker-kinect-face/camera_kinect_ir.cpp b/tracker-kinect-face/camera_kinect_ir.cpp
index 77621076..e170b15a 100644
--- a/tracker-kinect-face/camera_kinect_ir.cpp
+++ b/tracker-kinect-face/camera_kinect_ir.cpp
@@ -96,8 +96,8 @@ std::tuple<const video::impl::frame&, bool> CameraKinectIr::get_frame()
new_frame = get_frame_(iMatFrame);
iFrame.data = iMatFrame.ptr();
- iFrame.width = 512;
- iFrame.height = 424;
+ iFrame.width = iWidth;
+ iFrame.height = iHeight;
iFrame.stride = cv::Mat::AUTO_STEP;
iFrame.channels = iMatFrame.channels();
iFrame.channelSize = iMatFrame.elemSize1();
@@ -115,6 +115,9 @@ inline void SafeRelease(Interface *& pInterfaceToRelease)
}
}
+///
+///
+///
bool CameraKinectIr::start(info& aInfo)
{
stop();
@@ -162,8 +165,8 @@ bool CameraKinectIr::start(info& aInfo)
if (success)
{
// Provide frame info
- aInfo.width = width;
- aInfo.height = height;
+ aInfo.width = iWidth;
+ aInfo.height = iHeight;
CameraIntrinsics intrinsics;
hr = iCoordinateMapper->GetDepthCameraIntrinsics(&intrinsics);
@@ -223,13 +226,7 @@ bool CameraKinectIr::get_frame_(cv::Mat& aFrame)
if (SUCCEEDED(hr))
{
- INT64 nTime = 0;
- UINT nBufferSize = 0;
- UINT16 *pBuffer = NULL;
-
- hr = iInfraredFrame->get_RelativeTime(&nTime);
-
- if (first_frame)
+ if (iFirstFrame)
{
IFrameDescription* frameDescription = NULL;
@@ -238,28 +235,33 @@ bool CameraKinectIr::get_frame_(cv::Mat& aFrame)
hr = iInfraredFrame->get_FrameDescription(&frameDescription);
}
- // TODO: should not request those info for a every frame really
if (SUCCEEDED(hr))
{
- hr = frameDescription->get_Width(&width);
+ hr = frameDescription->get_Width(&iWidth);
}
if (SUCCEEDED(hr))
{
- hr = frameDescription->get_Height(&height);
+ hr = frameDescription->get_Height(&iHeight);
}
if (SUCCEEDED(hr))
{
- hr = frameDescription->get_DiagonalFieldOfView(&fov);
+ hr = frameDescription->get_DiagonalFieldOfView(&iFov);
}
if (SUCCEEDED(hr))
- first_frame = false;
-
+ {
+ iFirstFrame = false;
+ }
+
SafeRelease(frameDescription);
}
-
+
+
+ UINT nBufferSize = 0;
+ UINT16 *pBuffer = NULL;
+
if (SUCCEEDED(hr))
{
hr = iInfraredFrame->AccessUnderlyingBuffer(&nBufferSize, &pBuffer);
@@ -268,7 +270,7 @@ bool CameraKinectIr::get_frame_(cv::Mat& aFrame)
if (SUCCEEDED(hr))
{
// Create an OpenCV matrix with our 16-bits IR buffer
- aFrame = cv::Mat(height, width, CV_16UC1, pBuffer, cv::Mat::AUTO_STEP);
+ aFrame = cv::Mat(iHeight, iWidth, CV_16UC1, pBuffer, cv::Mat::AUTO_STEP);
// Any processing of the frame is left to the user
success = true;
}
diff --git a/tracker-kinect-face/camera_kinect_ir.h b/tracker-kinect-face/camera_kinect_ir.h
index 7cd24651..b88efdcd 100644
--- a/tracker-kinect-face/camera_kinect_ir.h
+++ b/tracker-kinect-face/camera_kinect_ir.h
@@ -71,9 +71,9 @@ private:
video::frame iFrame;
cv::Mat iMatFrame;
- float fov = 0;
- int width = 0, height = 0;
- bool first_frame = true;
+ float iFov = 0;
+ int iWidth = 0, iHeight = 0;
+ bool iFirstFrame = true;
};
}
generated by cgit v1.2.3 (git 2.39.1) at 2024-11-10 08:21:22 +0000