summaryrefslogtreecommitdiffhomepage
diff options
context:
space:
mode:
Diffstat
-rw-r--r--compat/time.hpp8
-rw-r--r--compat/timer.hpp16
-rw-r--r--compat/util.hpp2
-rw-r--r--tracker-pt/camera.cpp35
-rw-r--r--tracker-pt/ftnoir_tracker_pt.cpp14
5 files changed, 47 insertions, 28 deletions
diff --git a/compat/time.hpp b/compat/time.hpp
index b560da70..c07f29cb 100644
--- a/compat/time.hpp
+++ b/compat/time.hpp
@@ -1,10 +1,12 @@
#pragma once
+#include "compat/functional.hpp"
+
#include <chrono>
namespace time_units {
-template<typename repr, typename ratio>
+template<typename repr, typename ratio = std::ratio<1>>
using duration = std::chrono::duration<repr, ratio>;
template<typename t, typename u>
@@ -13,8 +15,8 @@ static inline constexpr auto time_cast(const u& in)
return std::chrono::duration_cast<t>(in);
}
-using secs = duration<double, std::ratio<1, 1>>;
-using secs_ = duration<long long, std::ratio<1, 1>>;
+using secs = duration<double>;
+using secs_ = duration<long>;
using ms = duration<double, std::milli>;
using ms_ = duration<long long, std::milli>;
using us = duration<double, std::micro>;
diff --git a/compat/timer.hpp b/compat/timer.hpp
index 6af7430d..ac255a9d 100644
--- a/compat/timer.hpp
+++ b/compat/timer.hpp
@@ -20,6 +20,7 @@
#include <ctime>
#include "time.hpp"
+#include "util.hpp"
class OTR_COMPAT_EXPORT Timer final
{
@@ -43,7 +44,20 @@ public:
t elapsed() const
{
using namespace time_units;
- return static_cast<const t&>(ns(elapsed_nsecs()));
+ return time_cast<t>(ns(elapsed_nsecs()));
+ }
+
+ template<typename t>
+ bool is_elapsed(const t& time_value)
+ {
+ using namespace time_units;
+
+ if (unlikely(elapsed<ns>() >= time_value))
+ {
+ start();
+ return true;
+ }
+ return false;
}
long long elapsed_nsecs() const;
diff --git a/compat/util.hpp b/compat/util.hpp
index 823b83d1..3a53e203 100644
--- a/compat/util.hpp
+++ b/compat/util.hpp
@@ -12,7 +12,7 @@
#include <QSharedPointer>
#include <QDebug>
-#define progn(...) ([&]() { __VA_ARGS__ }())
+#define progn(...) (([&]() { __VA_ARGS__ })())
#define prog1(x, ...) (([&]() { auto _ret1324 = (x); do { __VA_ARGS__; } while (0); return _ret1324; })())
#define once_only(...) progn(static bool once = false; if (!once) { once = true; __VA_ARGS__; })
diff --git a/tracker-pt/camera.cpp b/tracker-pt/camera.cpp
index 6a724fc7..b68fd107 100644
--- a/tracker-pt/camera.cpp
+++ b/tracker-pt/camera.cpp
@@ -7,6 +7,7 @@
#include "camera.h"
#include "compat/sleep.hpp"
+#include "compat/camera-names.hpp"
constexpr double Camera::dt_eps;
@@ -46,7 +47,7 @@ DEFUN_WARN_UNUSED Camera::result Camera::get_info() const
DEFUN_WARN_UNUSED Camera::result Camera::get_frame(cv::Mat& frame)
{
- bool new_frame = _get_frame(frame);
+ const bool new_frame = _get_frame(frame);
if (new_frame)
{
@@ -66,23 +67,26 @@ DEFUN_WARN_UNUSED Camera::result Camera::get_frame(cv::Mat& frame)
cam_info.res_x = frame.cols;
cam_info.res_y = frame.rows;
cam_info.fov = fov;
+
+ return result(true, cam_info);
}
else
- qDebug() << "pt camera: can't get frame";
-
- return result(new_frame, cam_info);
+ return result(false, CamInfo());
}
DEFUN_WARN_UNUSED Camera::open_status Camera::start(int idx, int fps, int res_x, int res_y)
{
if (idx >= 0 && fps >= 0 && res_x >= 0 && res_y >= 0)
{
- if (!cap || !cap->isOpened() ||
- cam_desired.idx != idx ||
+ if (cam_desired.idx != idx ||
cam_desired.fps != fps ||
cam_desired.res_x != res_x ||
- cam_desired.res_y != res_y)
+ cam_desired.res_y != res_y ||
+ !cap || !cap->isOpened() || !cap->grab())
{
+ stop();
+
+ desired_name = get_camera_names().value(idx);
cam_desired.idx = idx;
cam_desired.fps = fps;
cam_desired.res_x = res_x;
@@ -98,15 +102,14 @@ DEFUN_WARN_UNUSED Camera::open_status Camera::start(int idx, int fps, int res_x,
if (cam_desired.fps)
cap->set(cv::CAP_PROP_FPS, cam_desired.fps);
- if (cap->isOpened())
+ if (cap->isOpened() && cap->grab())
{
- qDebug() << "pt: opening camera";
-
cam_info = CamInfo();
active_name = QString();
cam_info.idx = -1;
dt_mean = 0;
active_name = desired_name;
+
t.start();
return open_ok_change;
@@ -117,14 +120,12 @@ DEFUN_WARN_UNUSED Camera::open_status Camera::start(int idx, int fps, int res_x,
return open_error;
}
}
- }
- else
- {
- stop();
- return open_error;
+
+ return open_ok_no_change;
}
- return open_ok_no_change;
+ stop();
+ return open_error;
}
void Camera::stop()
@@ -144,7 +145,7 @@ DEFUN_WARN_UNUSED bool Camera::_get_frame(cv::Mat& frame)
{
if (cap->read(frame))
return true;
- portable::sleep(14);
+ portable::sleep(1);
}
}
return false;
diff --git a/tracker-pt/ftnoir_tracker_pt.cpp b/tracker-pt/ftnoir_tracker_pt.cpp
index 36eabcc9..2862efdb 100644
--- a/tracker-pt/ftnoir_tracker_pt.cpp
+++ b/tracker-pt/ftnoir_tracker_pt.cpp
@@ -59,16 +59,16 @@ void Tracker_PT::run()
QTextStream log_stream(&log_file);
#endif
- maybe_reopen_camera();
-
while((commands & ABORT) == 0)
{
CamInfo cam_info;
- bool new_frame;
+ bool new_frame = false;
{
QMutexLocker l(&camera_mtx);
- std::tie(new_frame, cam_info) = camera.get_frame(frame);
+
+ if (likely(camera))
+ std::tie(new_frame, cam_info) = camera.get_frame(frame);
}
if (new_frame)
@@ -136,7 +136,6 @@ void Tracker_PT::maybe_reopen_camera()
switch (status)
{
case Camera::open_error:
- qDebug() << "can't start camera" << s.camera_name;
break;
case Camera::open_ok_change:
frame = cv::Mat();
@@ -167,7 +166,10 @@ void Tracker_PT::start_tracker(QFrame* video_frame)
video_frame->setLayout(layout.data());
//video_widget->resize(video_frame->width(), video_frame->height());
video_frame->show();
- start();
+
+ maybe_reopen_camera();
+
+ start(QThread::HighPriority);
}
void Tracker_PT::data(double *data)
generated by cgit v1.2.3 (git 2.39.1) at 2024-11-15 02:39:06 +0000