Function postProcessFrame

rtpose_wrapper/apps/rtpose.cpp:1690–1728

};

void* postProcessFrame(void *i) {
  //int tid = *((int *) i);
  Frame frame;

  while(1) {
    ROS_INFO_STREAM_COND(DEBUG > 1, "PSTPROC: Wait");
    std::unique_lock<std::mutex> lk(global.output_queue_mutex);
    global.output_queue_cond.wait(lk, [](){return
          global.output_queue.size() > 0;});
    ROS_INFO_STREAM_COND(DEBUG > 1, "PSTPROC: Gooo");
    if (global.quit_threads or !ros::ok())
      break;
    frame = global.output_queue.pop();
    frame.postprocesse_begin_time = get_wall_time();

    //Mat visualize(NET_RESOLUTION_HEIGHT, NET_RESOLUTION_WIDTH, CV_8UC3);

    int offset = DISPLAY_RESOLUTION_WIDTH * DISPLAY_RESOLUTION_HEIGHT;
    for(int c = 0; c < 3 and not (global.quit_threads or not ros::ok()); c++) {
      for(int i = 0; i < DISPLAY_RESOLUTION_HEIGHT and not
          (global.quit_threads or not ros::ok()); i++) {
        for(int j = 0; j < DISPLAY_RESOLUTION_WIDTH and not
            (global.quit_threads or not ros::ok()); j++) {
          int value =
              int(frame.data_for_mat[c*offset + i*DISPLAY_RESOLUTION_WIDTH + j]
              + 0.5);
          value = value<0 ? 0 : (value > 255 ? 255 : value);
          frame.data_for_wrap[3*(i*DISPLAY_RESOLUTION_WIDTH + j) + c] =
              (unsigned char)(value);
        }
      }
    }
    frame.postprocesse_end_time = get_wall_time();
    global.output_queue_mated.push(frame);
    ROS_INFO_STREAM_COND(DEBUG > 1, "PSTPROC: Notify BFRORDER");
    global.output_queue_mated_cond.notify_one();
  }
  return nullptr;
}

void* buffer_and_order(void* threadargs) { //only one thread can execute this
  FrameCompare comp;