Add double buffer structure for frame Mat

deepseg.cc

@@ -153,7 +153,6 @@ typedef struct {
 	timestamp_t retrns;
 	// values form ai thread are already converted to ns
 	long ai_condns;
-	long ai_copyns;
 	long ai_prens;
 	long ai_tfltns;
 	long ai_postns;
@@ -203,7 +202,10 @@ typedef struct {
 	cv::Rect roidim;
 	cv::Mat mask;
 	cv::Mat mroi;
-	cv::Mat raw;
+	cv::Mat buf1;
+	cv::Mat buf2;
+	cv::Mat *raw_current;
+	cv::Mat *raw_next;
 	cv::Mat ofinal;
 	cv::Size blur;
 	float ratio;
@@ -284,25 +286,28 @@ void init_tensorflow(calcinfo_t &info) {
 	info.lock_mask = PTHREAD_MUTEX_INITIALIZER;
 	info.condition_new_frame = PTHREAD_COND_INITIALIZER;
 	info.running = false;
+
+	info.raw_next = &info.buf1;
+	info.raw_current = &info.buf2;
 }
 
 void calc_mask(calcinfo_t &info) {
 	timestamp_t t = timestamp();
+	cv::Mat *raw_tmp;
 
-	// copy frame from shared buffer
-	cv::Mat raw;
+	// change frame buffer pointer
 	pthread_mutex_lock(&info.lock_raw);
 	timestamp_t t0 = timestamp();
 	pthread_cond_wait(&info.condition_new_frame, &info.lock_raw); // wait for new frame to arrive
 	info.pti->ai_condns = diffnanosecs(timestamp(), t0);
 	t0 = timestamp();
-	raw = info.raw.clone();
+	raw_tmp = info.raw_next;
+	info.raw_next = info.raw_current;
+	info.raw_current = raw_tmp;
 	pthread_mutex_unlock(&info.lock_raw);
-	info.pti->ai_copyns = diffnanosecs(timestamp(), t0);
-	t0 = timestamp();
 
 	// map ROI
-	cv::Mat roi = raw(info.roidim);
+	cv::Mat roi = (*info.raw_current)(info.roidim);
 
 	// resize ROI to input size
 	cv::Mat in_u8_bgr, in_u8_rgb;
@@ -389,7 +394,7 @@ void calc_mask(calcinfo_t &info) {
 
 	// scale up into full-sized mask
 	pthread_mutex_lock(&info.lock_mask);
-	cv::resize(info.ofinal,info.mroi,cv::Size(raw.rows/info.ratio,raw.rows));
+	cv::resize(info.ofinal,info.mroi,cv::Size(info.raw_current->rows/info.ratio,info.raw_current->rows));
 	pthread_mutex_unlock(&info.lock_mask);
 	info.pti->ai_maskns = diffnanosecs(timestamp(), t0);
 
@@ -635,7 +640,7 @@ int main(int argc, char* argv[]) {
 		// copy frame to ai thread local buffer
 		pthread_mutex_lock(&calcinfo.lock_raw);
 		ti.lockns=timestamp();
-		calcinfo.raw = raw.clone();
+		*calcinfo.raw_next = raw.clone();
 		pthread_cond_signal(&calcinfo.condition_new_frame);
 		pthread_mutex_unlock(&calcinfo.lock_raw);
 		ti.copyns=timestamp();
@@ -688,15 +693,14 @@ int main(int argc, char* argv[]) {
 		}
 
 		// timing details..
-		printf("video [grab:%9ld retr:%9ld lock:%9ld copy:%9ld post:%9ld v4l2:%9ld] ai [cond:%9ld copy:%9ld pre:%9ld tflt:%9ld post:%9ld mask:%9ld] ",
+		printf("video [grab:%9ld retr:%9ld lock:%9ld copy:%9ld post:%9ld v4l2:%9ld] ai [cond:%9ld pre:%9ld tflt:%9ld post:%9ld mask:%9ld] ",
 			diffnanosecs(ti.grabns, ti.lastns),
 			diffnanosecs(ti.retrns,ti.grabns),
 			diffnanosecs(ti.lockns,ti.retrns),
 			diffnanosecs(ti.copyns,ti.lockns),
 			diffnanosecs(ti.postns,ti.copyns),
 			diffnanosecs(ti.v4l2ns,ti.postns),
 			ti.ai_condns,
-			ti.ai_copyns,
 			ti.ai_prens,
 			ti.ai_tfltns,
 			ti.ai_postns,