From b98f07d984dff6718d7184ed1bf68709f4dae348 Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Fri, 12 Apr 2013 11:40:43 +0200
Subject: reduce CPU usage during tracking

---
 facetracknoir/tracker.cpp               | 13 ++++++-------
 ftnoir_tracker_ht/ftnoir_tracker_ht.cpp |  1 +
 ftnoir_tracker_pt/camera.cpp            |  4 ++--
 ftnoir_tracker_pt/ftnoir_tracker_pt.cpp | 15 +++++++--------
 qfunctionconfigurator/functionconfig.h  |  2 +-
 5 files changed, 17 insertions(+), 18 deletions(-)

diff --git a/facetracknoir/tracker.cpp b/facetracknoir/tracker.cpp
index 15b36f69..f624d6a1 100644
--- a/facetracknoir/tracker.cpp
+++ b/facetracknoir/tracker.cpp
@@ -143,15 +143,14 @@ void Tracker::run() {
     bool bTracker2Confid = false;
     
     THeadPoseData last;
+    THeadPoseData newpose;
+    THeadPoseData last_post_filter;
     
     forever
 	{
         if (should_quit)
             break;
 
-        // Check event for stop thread
-
-        THeadPoseData newpose;
         newpose.pitch = 0.0f;
         newpose.roll = 0.0f;
         newpose.yaw = 0.0f;
@@ -199,7 +198,7 @@ void Tracker::run() {
             //
             // Only copy valid values
             //
-            if (Tracker::confid) {
+            if (confid) {
                 offset_camera.x     = GlobalPose->X.headPos;
                 offset_camera.y     = GlobalPose->Y.headPos;
                 offset_camera.z     = GlobalPose->Z.headPos;
@@ -222,7 +221,7 @@ void Tracker::run() {
             do_game_zero = false;
         }
 
-        if (Tracker::do_tracking && Tracker::confid) {
+        if (do_tracking && confid) {
             // get values
             target_camera.x     = GlobalPose->X.headPos;
             target_camera.y     = GlobalPose->Y.headPos;
@@ -238,7 +237,7 @@ void Tracker::run() {
             // Use advanced filtering, when a filter was selected.
             //
             if (Libraries->pFilter) {
-                THeadPoseData last_post_filter = gameoutput_camera;
+                last_post_filter = gameoutput_camera;
                 Libraries->pFilter->FilterHeadPoseData(&current_camera, &target_camera, &new_camera, &last_post_filter, newp);
             }
             else {
@@ -261,7 +260,7 @@ void Tracker::run() {
             //
             // Reverse Axis.
             //
-            if (Tracker::do_axis_reverse) {
+            if (do_axis_reverse) {
                 output_camera.z = Z_PosWhenReverseAxis;	// Set the desired Z-position
             }
 
diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
index 4f7d68f0..33b4c944 100644
--- a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
+++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
@@ -228,6 +228,7 @@ bool Tracker::GiveHeadPoseData(THeadPoseData* data)
         videoWidget->updateImage(shm->frame.frame, shm->frame.width, shm->frame.height);
         //memcpy(foo, shm->frame.frame, shm->frame.width * shm->frame.height * 3);
         fresh = true;
+        shm->frame.width = 0;
     }
     if (shm->result.filled) {
         if (enableRX)
diff --git a/ftnoir_tracker_pt/camera.cpp b/ftnoir_tracker_pt/camera.cpp
index 96ba3b89..90fcfaaf 100644
--- a/ftnoir_tracker_pt/camera.cpp
+++ b/ftnoir_tracker_pt/camera.cpp
@@ -92,8 +92,8 @@ bool CVCamera::_get_frame(Mat* frame)
 {
     Mat tmp;
     bool ret = cap->read(tmp);
-    if (ret)
-        flip(tmp, *frame, 0);
+    //if (ret)
+    //    flip(tmp, *frame, 0);
     return ret;
 }
 
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
index b4cb613b..96017d52 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -66,7 +66,6 @@ void Tracker::run()
 	{
 		{	
             
-            refreshVideo();
 			QMutexLocker lock(&mutex);
             if (should_quit)
                 break;
@@ -84,14 +83,16 @@ void Tracker::run()
 				const std::vector<cv::Vec2f>& points = point_extractor.extract_points(frame, dt, draw_frame);
 				tracking_valid = point_tracker.track(points, camera.get_info().f, dt);
 				frame_count++;
+                fresh = true;
 			}
 #ifdef PT_PERF_LOG
 			log_stream<<"dt: "<<dt;
 			if (!frame.empty()) log_stream<<" fps: "<<camera.get_info().fps;
 			log_stream<<"\n";
 #endif
+            refreshVideo();
 		}
-		msleep(sleep_time);
+        msleep(sleep_time);
 	}
 
 	qDebug()<<"Tracker:: Thread stopping";
@@ -143,12 +144,12 @@ void Tracker::center()
 
 void Tracker::refreshVideo()
 {	
-	if (video_widget)
+    if (video_widget && fresh)
 	{
 		Mat frame_copy;
 		std::auto_ptr< vector<Vec2f> > points;
 		{
-			QMutexLocker lock(&mutex);
+//QMutexLocker lock(&mutex);
 			if (!draw_frame || frame.empty()) return;
 		
 			// copy the frame and points from the tracker thread
@@ -157,8 +158,7 @@ void Tracker::refreshVideo()
 		}
 		
 		video_widget->update_image(frame_copy, points);
-        fresh = true;
-	}
+    }
 }
 
 void Tracker::StartTracker(QFrame* videoframe)
@@ -194,7 +194,6 @@ void Tracker::paint_widget() {
 
 bool Tracker::GiveHeadPoseData(THeadPoseData *data)
 {
-    refreshVideo();
 	const float rad2deg = 180.0/3.14159265;
 	const float deg2rad = 1.0/rad2deg;
 	{
@@ -245,7 +244,7 @@ bool Tracker::GiveHeadPoseData(THeadPoseData *data)
 			data->yaw   = rad2deg * alpha;
 		}
 		if (bEnablePitch) {
-            data->pitch = -rad2deg * beta;
+            data->pitch = rad2deg * beta;
 		}
 		if (bEnableRoll) {
 			data->roll  = rad2deg * gamma;
diff --git a/qfunctionconfigurator/functionconfig.h b/qfunctionconfigurator/functionconfig.h
index d81711a7..9f380000 100644
--- a/qfunctionconfigurator/functionconfig.h
+++ b/qfunctionconfigurator/functionconfig.h
@@ -28,7 +28,7 @@ private:
 	QString _title;
     float getValueInternal(int x);
 	QPointF lastValueTracked;								// The last input value requested by the Tracker, with it's output-value.
-	bool _tracking_active;
+    volatile bool _tracking_active;
 	int _max_Input;
 	int _max_Output;
 
-- 
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