Parallelised texture extraction

Wrapped the extraction of a triangle in a lambda and calling all lambdas with std::async

include/eos/render/texture_extraction.hpp

@@ -32,6 +32,7 @@
 
 #include <tuple>
 #include <cassert>
+#include <future>
 
 namespace eos {
 	namespace render {
@@ -112,7 +113,11 @@ inline cv::Mat extract_texture(Mesh mesh, cv::Mat affine_camera_matrix, cv::Mat
 	Mat isomap = Mat::zeros(isomap_resolution, isomap_resolution, CV_8UC4); // #Todo: We do want an alpha channel. Will be added soon-ish.
 	// #Todo: We should handle gray images, but output a 4-channel isomap nevertheless I think.
 
+	std::vector<std::future<void>> results;
 	for (const auto& triangle_indices : mesh.tvi) {
+
+		auto extract_triangle = [&mesh, &affine_camera_matrix, triangle_indices = triangle_indices, &depthbuffer, &isomap, &mapping_type, &image]() {
+
 			// Find out if the current triangle is visible:
 			// We do a second rendering-pass here. We use the depth-buffer of the final image, and then, here,
 			// check if each pixel in a triangle is visible. If the whole triangle is visible, we use it to extract
@@ -130,7 +135,8 @@ inline cv::Mat extract_texture(Mesh mesh, cv::Mat affine_camera_matrix, cv::Mat
 
 			if (!detail::is_triangle_visible(v0, v1, v2, depthbuffer))
 			{
-			continue;
+				//continue;
+				return;
 			}
 
 			// Todo: Documentation
@@ -255,7 +261,12 @@ inline cv::Mat extract_texture(Mesh mesh, cv::Mat affine_camera_matrix, cv::Mat
 					}
 				}
 			}
-		}
+		}; // end lambda auto extract_triangle();
+		results.emplace_back(std::async(extract_triangle));
+	} // end for all mesh.tvi
+	// Collect all the launched tasks:
+	for (auto&& r : results) {
+		r.get();
 	}
 	return isomap;
 };