void ObservationManager::preprocess() { #ifdef HAVE_TBB tbb::parallel_for(tbb::blocked_range<int>(0, nodes_.size()), PreprocessInvoker(nodes_)); #else // may need to consider running in multiple threads std::vector<ObservationNode*>::iterator it; for(it = nodes_.begin(); it < nodes_.end(); it++) { (*it)->preprocess(); } #endif }
void ObservationManager::preprocess() { #ifdef HAVE_TBB tbb::parallel_for(tbb::blocked_range<int>(0, nodes_.size()), PreprocessInvoker(nodes_)); #else std::vector<ObservationNode*>::iterator it; for(it = nodes_.begin(); it < nodes_.end(); it++) { (*it)->preprocess(); } #endif assert(feat_tracker_ != NULL); feat_tracker_->setDetectorType("SURF"); cv::Mat img_cropped(img_mono_, cv::Rect(0, floor(img_mono_.rows / 2), img_mono_.cols, floor(img_mono_.rows / 2))); feat_tracker_->setNewImage(img_cropped, time_sec_); feat_tracker_->processTracking(); }