From 8b845f242495a91aca45cd1bf59d1823517b32c8 Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Sat, 4 Jan 2014 13:41:46 +0100
Subject: disable hysteresis debug; throttle frame update rate

---
 FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp |  4 ++--
 FTNoIR_Tracker_PT/pt_video_widget.cpp   | 13 +++++++++++--
 FTNoIR_Tracker_PT/pt_video_widget.h     | 11 +++++++++--
 3 files changed, 22 insertions(+), 6 deletions(-)

diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
index e8bc7208..6bcad861 100644
--- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
+++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
@@ -83,9 +83,9 @@ void Tracker::run()
         if (new_frame && !frame.empty())
         {
             frame = frame_rotation.rotate_frame(frame);
-            const std::vector<cv::Vec2f>& points = point_extractor.extract_points(frame, dt, has_observers());
+            const std::vector<cv::Vec2f>& points = point_extractor.extract_points(frame, dt, false);
             tracking_valid = point_tracker.track(points, camera.get_info().f, dt);
-            video_widget->update_image(frame.clone());
+            video_widget->update_image(frame);
         }
 #ifdef PT_PERF_LOG
         log_stream<<"dt: "<<dt;
diff --git a/FTNoIR_Tracker_PT/pt_video_widget.cpp b/FTNoIR_Tracker_PT/pt_video_widget.cpp
index 5ac002f4..38c49567 100644
--- a/FTNoIR_Tracker_PT/pt_video_widget.cpp
+++ b/FTNoIR_Tracker_PT/pt_video_widget.cpp
@@ -18,7 +18,15 @@ using namespace std;
 void PTVideoWidget::update_image(const cv::Mat& frame)
 {
     QMutexLocker foo(&mtx);
-    _frame = frame;
+    const int rate = 40;
+    if (freshp)
+        return;
+    if (!update_throttler.isValid() || update_throttler.elapsed() > rate)
+    {
+        _frame = frame.clone();
+        update_throttler.restart();
+        freshp = true;
+    }
 }
 
 // ----------------------------------------------------------------------------
@@ -42,8 +50,9 @@ VideoWidgetDialog::VideoWidgetDialog(QWidget *parent, FrameProvider* provider)
 void PTVideoWidget::update_and_repaint()
 {
     QMutexLocker foo(&mtx);
-    if (_frame.empty())
+    if (_frame.empty() || !freshp)
         return;
+    freshp = false;
     QImage qframe = QImage(_frame.cols, _frame.rows, QImage::Format_RGB888);
     uchar* data = qframe.bits();
     const int pitch = qframe.bytesPerLine();
diff --git a/FTNoIR_Tracker_PT/pt_video_widget.h b/FTNoIR_Tracker_PT/pt_video_widget.h
index acff43fb..c47198db 100644
--- a/FTNoIR_Tracker_PT/pt_video_widget.h
+++ b/FTNoIR_Tracker_PT/pt_video_widget.h
@@ -24,15 +24,20 @@
 #include <QPainter>
 #include <QPaintEvent>
 #include <QTimer>
+#include <QElapsedTimer>
 
 class PTVideoWidget : public QWidget, public FrameObserver
 {
     Q_OBJECT
 
 public:
-    PTVideoWidget(QWidget *parent, FrameProvider* provider) : QWidget(parent), /* to avoid linker errors */ FrameObserver(provider) {
+    PTVideoWidget(QWidget *parent, FrameProvider* provider) :
+        QWidget(parent),
+        /* to avoid linker errors */ FrameObserver(provider),
+        freshp(false)
+    {
         connect(&timer, SIGNAL(timeout()), this, SLOT(update_and_repaint()));
-        timer.start(45);
+        timer.start(40);
     }
     void update_image(const cv::Mat &frame);
     void update_frame_and_points() {}
@@ -48,6 +53,8 @@ private:
     QImage texture;
     QTimer timer;
     cv::Mat _frame;
+    QElapsedTimer update_throttler;
+    bool freshp;
 };
 
 // ----------------------------------------------------------------------------
-- 
cgit v1.2.3