Function processFrame

rtpose_wrapper/apps/rtpose.cpp:1525–1681

void* processFrame(void *i) {
  int tid = *((int *) i);
  warmup(tid);
  LOG(INFO) << "GPU " << tid << " is ready";
  Frame frame;

  int offset = NET_RESOLUTION_WIDTH * NET_RESOLUTION_HEIGHT * 3;
  //bool empty = false;

  Frame frame_batch[BATCH_SIZE];

  std::vector< std::vector<double>> subset;
  std::vector< std::vector< std::vector<double> > > connection;

  const boost::shared_ptr<caffe::Blob<float>> heatmap_blob =
      net_copies[tid].person_net->blob_by_name("resized_map");
  const boost::shared_ptr<caffe::Blob<float>> joints_blob =
      net_copies[tid].person_net->blob_by_name("joints");

  caffe::NmsLayer<float> *nms_layer =
      (caffe::NmsLayer<float>*)net_copies[tid].person_net->
      layer_by_name("nms").get();

  //while(!empty) {
  while(1) {
    //LOG(ERROR) << "start";
    int valid_data = 0;
    //for(int n = 0; n < BATCH_SIZE; n++) {
    ROS_INFO_STREAM_COND(DEBUG > 1, "PRCFRAME: Wait");
    std::unique_lock<std::mutex> lk(global.input_queue_mutex);
    global.input_queue_cond.wait(lk, [](){return
          global.input_queue.size() > 0;});
    ROS_INFO_STREAM_COND(DEBUG > 1, "PRCFRAME: Gooo");
    while(valid_data<1 && global.input_queue.size() > 0) {
      if (global.quit_threads or !ros::ok())
        break;
      frame = global.input_queue.pop();
      global.get_frames_cond.notify_one();
      //consider dropping it
      frame.gpu_fetched_time = get_wall_time();
      double elaspsed_time = frame.gpu_fetched_time - frame.commit_time;
      if (elaspsed_time > 0.1
          && !_no_frame_drops) {//0.1*BATCH_SIZE) { //0.1*BATCH_SIZE
        //drop frame
        VLOG(1) << "skip frame " << frame.index;
        delete [] frame.data;
        delete [] frame.data_for_mat;
        delete [] frame.data_for_wrap;
        {
          ROS_INFO_STREAM_COND(DEBUG > 1, "PRCFRAME: Wait depthQueue");
          std::lock_guard<std::recursive_mutex> lock(_depth_queue_mutex);
          _depth_queue.erase(frame.index);
          ROS_INFO_STREAM_COND(DEBUG > 1, "PRCFRAME: Release depthQueue");
        }
        //n--;

        const std::lock_guard<std::mutex> lock{global.mutex};
        global.dropped_index.push(frame.index);