Remove grab thread

deepseg.cc

@@ -153,9 +153,8 @@ typedef struct {
 	timestamp_t maskns;
 	timestamp_t postns;
 	timestamp_t v4l2ns;
-	// these are already converted to ns
-	long grabns;
-	long retrns;
+	timestamp_t grabns;
+	timestamp_t retrns;
 } timinginfo_t;
 
 timestamp_t timestamp() {
@@ -165,16 +164,6 @@ long diffnanosecs(timestamp_t t1, timestamp_t t2) {
 	return std::chrono::duration_cast<std::chrono::nanoseconds>(t1-t2).count();
 }
 
-// threaded capture shared state
-typedef struct {
-	cv::VideoCapture *cap;
-	cv::Mat *grab;
-	cv::Mat *raw;
-	int64 cnt;
-	timinginfo_t *pti;
-	std::mutex lock;
-} capinfo_t;
-
 enum class modeltype_t {
 	Unknown,
 	BodyPix,
@@ -208,29 +197,6 @@ typedef struct {
 	float ratio;
 } calcinfo_t;
 
-// capture thread function
-void grab_thread(capinfo_t *ci) {
-	bool done = false;
-	// while we have a grab frame.. grab frames
-	while (!done) {
-		timestamp_t ts = timestamp();
-		ci->cap->grab();
-		long ns = diffnanosecs(timestamp(),ts);
-		{
-			std::lock_guard<std::mutex> hold(ci->lock);
-			ci->pti->grabns = ns;
-			if (ci->grab!=NULL) {
-				ts = timestamp();
-				ci->cap->retrieve(*ci->grab);
-				ci->pti->retrns = diffnanosecs(timestamp(),ts);
-			} else {
-				done = true;
-			}
-			ci->cnt++;
-		}
-	}
-}
-
 modeltype_t get_modeltype(const char* modelname) {
 	if (strstr(modelname, "body-pix")) {
 		return modeltype_t::BodyPix;
@@ -576,35 +542,25 @@ int main(int argc, char* argv[]) {
 	calcinfo_t calcinfo = { modelname, modeltype, norm, threads, width, height, debug };
 	init_tensorflow(calcinfo);
 
-	// kick off separate grabber thread to keep OpenCV/FFMpeg happy (or it lags badly)
-	cv::Mat buf1;
-	cv::Mat buf2;
-	int64 oldcnt = 0;
-	capinfo_t capinfo = { &cap, &buf1, &buf2, 0, &ti };
-	std::thread grabber(grab_thread, &capinfo);
 	ti.lastns = timestamp();
 	printf("Startup: %ldns\n", diffnanosecs(ti.lastns,ti.bootns));
 
 	bool filterActive = true;
 
 	// mainloop
 	for(bool running = true; running; ) {
-		// wait for next frame
-		while (capinfo.cnt == oldcnt) usleep(10000);
-		oldcnt = capinfo.cnt;
-		ti.waitns=timestamp();
-
-		// switch buffer pointers in capture thread
-		{
-			std::lock_guard<std::mutex> hold(capinfo.lock);
-			ti.lockns=timestamp();
-			cv::Mat *tmat = capinfo.grab;
-			capinfo.grab = capinfo.raw;
-			capinfo.raw = tmat;
-		}
-		// we can now guarantee capinfo.raw will remain unchanged while we process it..
-		calcinfo.raw = *capinfo.raw;
-		ti.copyns=timestamp();
+		int e1 = cv::getTickCount();
+
+		// grab new frame from cam
+		cap.grab();
+		ti.grabns =  timestamp();
+
+		// copy new frame to buffer
+		cap.retrieve(calcinfo.raw);
+		ti.retrns = timestamp();
+		ti.copyns = timestamp();
+		ti.lockns=timestamp();
+
 		if (calcinfo.raw.rows == 0 || calcinfo.raw.cols == 0) continue; // sanity check
 
 		if (blur_strength) {
@@ -651,11 +607,10 @@ int main(int argc, char* argv[]) {
 		}
 
 		// timing details..
-		printf("wait:%9ld lock:%9ld [grab:%9ld retr:%9ld] copy:%9ld prep:%9ld tflt:%9ld mask:%9ld post:%9ld v4l2:%9ld FPS: %5.2f\e[K\r",
-			diffnanosecs(ti.waitns,ti.lastns),
-			diffnanosecs(ti.lockns,ti.waitns),
-			ti.grabns,
-			ti.retrns,
+		printf("lock:%9ld [grab:%9ld retr:%9ld] copy:%9ld open:%9ld tflt:%9ld mask:%9ld post:%9ld v4l2:%9ld FPS: %5.2f\e[K\r",
+			diffnanosecs(ti.lockns,ti.retrns),
+			diffnanosecs(ti.grabns, ti.lastns),
+			diffnanosecs(ti.retrns,ti.grabns),
 			diffnanosecs(ti.copyns,ti.lockns),
 			diffnanosecs(ti.prepns,ti.copyns),
 			diffnanosecs(ti.tfltns,ti.prepns),
@@ -688,12 +643,6 @@ int main(int argc, char* argv[]) {
 		}
 	}
 
-	{
-		std::lock_guard<std::mutex> hold(capinfo.lock);
-		capinfo.grab = NULL;
-	}
-	grabber.join();
-
 	printf("\n");
 	return 0;
 }