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d/ht: Tidy view creation

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This commit is contained in:
Jakob Bornecrantz 2021-09-03 22:46:41 +01:00
parent 79fe29f674
commit 4cdfadf3e0
1 changed files with 28 additions and 13 deletions
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41
src/xrt/drivers/ht/ht_algorithm.hpp
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@ -290,40 +290,55 @@ htRunAlgorithm(struct ht_device *htd)
htd->current_frame_timestamp = htd->frame_for_process->timestamp; htd->current_frame_timestamp = htd->frame_for_process->timestamp;
int64_t start, end; int64_t start, end;
start = os_monotonic_get_ns(); start = os_monotonic_get_ns();
/*
* Setup views.
*/
cv::Mat full_frame(960, 960 * 2, CV_8UC3, htd->frame_for_process->data, htd->frame_for_process->stride); const int full_width = htd->frame_for_process->width;
htd->views[0].run_model_on_this = const int full_height = htd->frame_for_process->height;
full_frame(cv::Rect(0, 0, htd->camera.one_view_size_px.w, htd->camera.one_view_size_px.h)); const int view_width = htd->camera.one_view_size_px.w;
htd->views[1].run_model_on_this = full_frame(cv::Rect( const int view_height = htd->camera.one_view_size_px.h;
htd->camera.one_view_size_px.w, 0, htd->camera.one_view_size_px.w, htd->camera.one_view_size_px.h));
assert(full_width == view_width * 2);
assert(full_height == view_height);
const cv::Size full_size = cv::Size(full_width, full_height);
const cv::Size view_size = cv::Size(view_width, view_height);
const cv::Point view_offsets[2] = {cv::Point(0, 0), cv::Point(view_width, 0)};
cv::Mat full_frame(full_size, CV_8UC3, htd->frame_for_process->data, htd->frame_for_process->stride);
htd->views[0].run_model_on_this = full_frame(cv::Rect(view_offsets[0], view_size));
htd->views[1].run_model_on_this = full_frame(cv::Rect(view_offsets[1], view_size));
// Check this every frame. We really, really, really don't want it to ever suddenly be null. // Check this every frame. We really, really, really don't want it to ever suddenly be null.
htd->debug_scribble = htd->debug_sink != nullptr; htd->debug_scribble = htd->debug_sink != nullptr;
cv::Mat debug_output; cv::Mat debug_output = {};
xrt_frame *debug_frame = nullptr; // only use if htd->debug_scribble xrt_frame *debug_frame = nullptr; // only use if htd->debug_scribble
if (htd->debug_scribble) { if (htd->debug_scribble) {
u_frame_clone(htd->frame_for_process, &debug_frame); u_frame_clone(htd->frame_for_process, &debug_frame);
debug_output = cv::Mat(960, 960 * 2, CV_8UC3, debug_frame->data, debug_frame->stride); debug_output = cv::Mat(full_size, CV_8UC3, debug_frame->data, debug_frame->stride);
htd->views[0].debug_out_to_this = htd->views[0].debug_out_to_this = debug_output(cv::Rect(view_offsets[0], view_size));
debug_output(cv::Rect(0, 0, htd->camera.one_view_size_px.w, htd->camera.one_view_size_px.h)); htd->views[1].debug_out_to_this = debug_output(cv::Rect(view_offsets[1], view_size));
htd->views[1].debug_out_to_this = debug_output(cv::Rect(
htd->camera.one_view_size_px.w, 0, htd->camera.one_view_size_px.w, htd->camera.one_view_size_px.h));
} }
/*
* Do the hand tracking!
*/
std::future<std::vector<Hand2D>> future_left = std::future<std::vector<Hand2D>> future_left =
std::async(std::launch::async, htImageToKeypoints, &htd->views[0]); std::async(std::launch::async, htImageToKeypoints, &htd->views[0]);
std::future<std::vector<Hand2D>> future_right = std::future<std::vector<Hand2D>> future_right =
std::async(std::launch::async, htImageToKeypoints, &htd->views[1]); std::async(std::launch::async, htImageToKeypoints, &htd->views[1]);
std::vector<Hand2D> hands_in_left_view = future_left.get(); std::vector<Hand2D> hands_in_left_view = future_left.get();
std::vector<Hand2D> hands_in_right_view = future_right.get(); std::vector<Hand2D> hands_in_right_view = future_right.get();
end = os_monotonic_get_ns(); end = os_monotonic_get_ns();