fps: move FPS printing to stderr

With --print-pipes there will be a potential shitload of stuff
getting printed out, and it'd be nice to easily distinguish that
content from the FPS counter.

Since stderr is normally less buffered than stdout (line
buffered) not lose debugging information, just put the
low-bandwidth periodic FPS print there instead.  This leaves
stdout for --print-pipes output which occurs every frame *and*
may have a lot of content per print.

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