Function buffer_and_order

rtpose_wrapper/apps/rtpose.cpp:1730–1803

}

void* buffer_and_order(void* threadargs) { //only one thread can execute this
  FrameCompare comp;
  std::priority_queue<Frame, std::vector<Frame>, FrameCompare> buffer(comp);
  Frame frame;

  int sleep_time = 10 * 1000;

  int frame_waited = 1;
  while(1) {
    ROS_INFO_STREAM_COND(DEBUG > 1, "BFRORDER: Wait");
    std::unique_lock<std::mutex> lk(global.output_queue_mated_mutex);
    global.output_queue_mated_cond.wait(lk, [](){return
          global.output_queue_mated.size() > 0;});
    ROS_INFO_STREAM_COND(DEBUG > 1, "BFRORDER: Gooo");
    frame = global.output_queue_mated.pop();
    if (global.quit_threads or !ros::ok())
      break;
    frame.buffer_start_time = get_wall_time();
    VLOG(4) << "buffer getting " << frame.index << ", waiting for "
            << frame_waited;
    {
      std::lock_guard<std::mutex> lock{global.mutex};

      while(global.dropped_index.size()!=0 && global.dropped_index.top() ==
            frame_waited and not (global.quit_threads or not ros::ok())) {
        frame_waited++;
        global.dropped_index.pop();
      }
    }
    //LOG(ERROR) << "while end";

    if (frame.index == frame_waited) {  // if this is the frame we want,
      // just push it
      frame.buffer_end_time = get_wall_time();
      global.output_queue_ordered.push(frame);
      frame_waited++;
      while(buffer.size() != 0 && buffer.top().index == frame_waited and not
            (global.quit_threads or not ros::ok())) {
        Frame next = buffer.top();
        buffer.pop();
        next.buffer_end_time = get_wall_time();
        global.output_queue_ordered.push(next);
        frame_waited++;
      }
    }
    else {
      buffer.push(frame);
    }

    if (buffer.size() > BUFFER_SIZE) {
      //LOG(ERROR) << "buffer squeezed";
      Frame extra = buffer.top();
      buffer.pop();
      //LOG(ERROR) << "popping " << get<0>(extra);
      extra.buffer_end_time = get_wall_time();
      global.output_queue_ordered.push(extra);
      frame_waited = extra.index + 1;
      while(buffer.size() != 0 && buffer.top().index == frame_waited and not