void DepthFilter::updateSeedsLoop()
{
while(!boost::this_thread::interruption_requested())
{
FramePtr frame;
{
lock_t lock(frame_queue_mut_);
while(frame_queue_.empty() && new_keyframe_set_ == false)
frame_queue_cond_.wait(lock);
if(new_keyframe_set_)
{
new_keyframe_set_ = false;
seeds_updating_halt_ = false;
clearFrameQueue();
frame = new_keyframe_;
}
else
{
frame = frame_queue_.front();
frame_queue_.pop();
}
}
updateSeeds(frame);
if(frame->isKeyframe())
initializeSeeds(frame);
}
}
void DepthFilter::addKeyframe(FramePtr frame, double depth_mean, double depth_min)
{
new_keyframe_min_depth_ = depth_min;
new_keyframe_mean_depth_ = depth_mean;
if(thread_ != NULL)
{
new_keyframe_ = frame;
new_keyframe_set_ = true;
seeds_updating_halt_ = true;
frame_queue_cond_.notify_one();
}
else
initializeSeeds(frame);
}
void DepthFilter::addKeyframe(FramePtr frame, double depth_mean, double depth_min)
{
new_keyframe_min_depth_ = depth_min;
new_keyframe_mean_depth_ = depth_mean;
// if there exists an parallel thread for Depth-Filter just setup the control variables to jump into it
if(thread_ != NULL)
{
new_keyframe_ = frame;
new_keyframe_set_ = true;
seeds_updating_halt_ = true;
frame_queue_cond_.notify_one();
}
// if there is no independent thread for Depth-Filter call the initialization of seeds explicitly (same effect)
else
initializeSeeds(frame);
}