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use a local cache for the last proccessed image since we don't lock a…
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…ll the processing threads
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@goldbattle
goldbattle committed Mar 27, 2020
1 parent 85987c5 commit 092bafc
Showing 1 changed file with 20 additions and 12 deletions.
32 changes: 20 additions & 12 deletions ov_core/src/track/TrackBase.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -31,11 +31,15 @@ void TrackBase::display_active(cv::Mat &img_out, int r1, int g1, int b1, int r2,
//for(size_t i=0; i<mtx_feeds.size(); i++) {
// lcks.push_back(std::unique_lock<std::mutex>(mtx_feeds.at(i)));
//}
std::map<size_t, cv::Mat> img_last_cache;
for(auto const& pair : img_last) {
img_last_cache.insert({pair.first,pair.second.clone()});
}

// Get the largest width and height
int max_width = -1;
int max_height = -1;
for(auto const& pair : img_last) {
for(auto const& pair : img_last_cache) {
if(max_width < pair.second.cols) max_width = pair.second.cols;
if(max_height < pair.second.rows) max_height = pair.second.rows;
}
Expand All @@ -46,19 +50,19 @@ void TrackBase::display_active(cv::Mat &img_out, int r1, int g1, int b1, int r2,

// If the image is "new" then draw the images from scratch
// Otherwise, we grab the subset of the main image and draw on top of it
bool image_new = ((int)img_last.size()*max_width != img_out.cols || max_height != img_out.rows);
bool image_new = ((int)img_last_cache.size()*max_width != img_out.cols || max_height != img_out.rows);

// If new, then resize the current image
if(image_new) img_out = cv::Mat(max_height,(int)img_last.size()*max_width,CV_8UC3,cv::Scalar(0,0,0));
if(image_new) img_out = cv::Mat(max_height,(int)img_last_cache.size()*max_width,CV_8UC3,cv::Scalar(0,0,0));

// Loop through each image, and draw
int index_cam = 0;
for(auto const& pair : img_last) {
for(auto const& pair : img_last_cache) {
// Lock this image
std::unique_lock<std::mutex> lck(mtx_feeds.at(pair.first));
// select the subset of the image
cv::Mat img_temp;
if(image_new) cv::cvtColor(img_last[pair.first], img_temp, CV_GRAY2RGB);
if(image_new) cv::cvtColor(img_last_cache[pair.first], img_temp, CV_GRAY2RGB);
else img_temp = img_out(cv::Rect(max_width*index_cam,0,max_width,max_height));
// draw, loop through all keypoints
for(size_t i=0; i<pts_last[pair.first].size(); i++) {
Expand All @@ -75,7 +79,7 @@ void TrackBase::display_active(cv::Mat &img_out, int r1, int g1, int b1, int r2,
// Draw what camera this is
cv::putText(img_temp, "CAM:"+std::to_string((int)pair.first), cv::Point(30,60), cv::FONT_HERSHEY_COMPLEX_SMALL, 3.0, cv::Scalar(0,255,0),3);
// Replace the output image
img_temp.copyTo(img_out(cv::Rect(max_width*index_cam,0,img_last[pair.first].cols,img_last[pair.first].rows)));
img_temp.copyTo(img_out(cv::Rect(max_width*index_cam,0,img_last_cache[pair.first].cols,img_last_cache[pair.first].rows)));
index_cam++;
}

Expand All @@ -89,11 +93,15 @@ void TrackBase::display_history(cv::Mat &img_out, int r1, int g1, int b1, int r2
//for(size_t i=0; i<mtx_feeds.size(); i++) {
// lcks.push_back(std::unique_lock<std::mutex>(mtx_feeds.at(i)));
//}
std::map<size_t, cv::Mat> img_last_cache;
for(auto const& pair : img_last) {
img_last_cache.insert({pair.first,pair.second.clone()});
}

// Get the largest width and height
int max_width = -1;
int max_height = -1;
for(auto const& pair : img_last) {
for(auto const& pair : img_last_cache) {
if(max_width < pair.second.cols) max_width = pair.second.cols;
if(max_height < pair.second.rows) max_height = pair.second.rows;
}
Expand All @@ -104,10 +112,10 @@ void TrackBase::display_history(cv::Mat &img_out, int r1, int g1, int b1, int r2

// If the image is "new" then draw the images from scratch
// Otherwise, we grab the subset of the main image and draw on top of it
bool image_new = ((int)img_last.size()*max_width != img_out.cols || max_height != img_out.rows);
bool image_new = ((int)img_last_cache.size()*max_width != img_out.cols || max_height != img_out.rows);

// If new, then resize the current image
if(image_new) img_out = cv::Mat(max_height,(int)img_last.size()*max_width,CV_8UC3,cv::Scalar(0,0,0));
if(image_new) img_out = cv::Mat(max_height,(int)img_last_cache.size()*max_width,CV_8UC3,cv::Scalar(0,0,0));


// Max tracks to show (otherwise it clutters up the screen)
Expand All @@ -116,12 +124,12 @@ void TrackBase::display_history(cv::Mat &img_out, int r1, int g1, int b1, int r2

// Loop through each image, and draw
int index_cam = 0;
for(auto const& pair : img_last) {
for(auto const& pair : img_last_cache) {
// Lock this image
std::unique_lock<std::mutex> lck(mtx_feeds.at(pair.first));
// select the subset of the image
cv::Mat img_temp;
if(image_new) cv::cvtColor(img_last[pair.first], img_temp, CV_GRAY2RGB);
if(image_new) cv::cvtColor(img_last_cache[pair.first], img_temp, CV_GRAY2RGB);
else img_temp = img_out(cv::Rect(max_width*index_cam,0,max_width,max_height));
// draw, loop through all keypoints
for(size_t i=0; i<ids_last[pair.first].size(); i++) {
Expand Down Expand Up @@ -157,7 +165,7 @@ void TrackBase::display_history(cv::Mat &img_out, int r1, int g1, int b1, int r2
// Draw what camera this is
cv::putText(img_temp, "CAM:"+std::to_string((int)pair.first), cv::Point(30,60), cv::FONT_HERSHEY_COMPLEX_SMALL, 3.0, cv::Scalar(0,255,0),3);
// Replace the output image
img_temp.copyTo(img_out(cv::Rect(max_width*index_cam,0,img_last[pair.first].cols,img_last[pair.first].rows)));
img_temp.copyTo(img_out(cv::Rect(max_width*index_cam,0,img_last_cache[pair.first].cols,img_last_cache[pair.first].rows)));
index_cam++;
}

Expand Down

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