void trackAndDrawObjects(cv::Mat& image, int frameNumber, std::vector<cv::LatentSvmDetector::ObjectDetection> detections,
std::vector<kstate>& kstates, std::vector<bool>& active,
std::vector<cv::Scalar> colors, const sensor_msgs::Image& image_source)
{
std::vector<kstate> tracked_detections;
cv::TickMeter tm;
tm.start();
//std::cout << endl << "START tracking...";
doTracking(detections, frameNumber, kstates, active, image, tracked_detections, colors);
tm.stop();
//std::cout << "END Tracking time = " << tm.getTimeSec() << " sec" << endl;
//ROS
int num = tracked_detections.size();
std::vector<cv_tracker::image_rect_ranged> rect_ranged_array;
std::vector<int> real_data(num,0);
std::vector<int> obj_id(num, 0);
std::vector<int> lifespan(num, 0);
//ENDROS
for (size_t i = 0; i < tracked_detections.size(); i++)
{
kstate od = tracked_detections[i];
cv_tracker::image_rect_ranged rect_ranged;
//od.rect contains x,y, width, height
rectangle(image, od.pos, od.color, 3);
putText(image, SSTR(od.id), cv::Point(od.pos.x + 4, od.pos.y + 13), cv::FONT_HERSHEY_SIMPLEX, 0.55, od.color, 2);
//ROS
obj_id[i] = od.id; // ?
rect_ranged.rect.x = od.pos.x;
rect_ranged.rect.y = od.pos.y;
rect_ranged.rect.width = od.pos.width;
rect_ranged.rect.height = od.pos.height;
rect_ranged.range = od.range;
rect_ranged.min_height = od.min_height;
rect_ranged.max_height = od.max_height;
rect_ranged_array.push_back(rect_ranged);
real_data[i] = od.real_data;
lifespan[i] = od.lifespan;
//ENDROS
}
//more ros
cv_tracker::image_obj_tracked kf_objects_msg;
kf_objects_msg.type = object_type;
kf_objects_msg.total_num = num;
copy(rect_ranged_array.begin(), rect_ranged_array.end(), back_inserter(kf_objects_msg.rect_ranged)); // copy vector
copy(real_data.begin(), real_data.end(), back_inserter(kf_objects_msg.real_data)); // copy vector
copy(obj_id.begin(), obj_id.end(), back_inserter(kf_objects_msg.obj_id)); // copy vector
copy(lifespan.begin(), lifespan.end(), back_inserter(kf_objects_msg.lifespan)); // copy vector
kf_objects_msg.header = image_source.header;
image_objects.publish(kf_objects_msg);
//cout << "."<< endl;
}
int extract_write_MotionFeatures(char* video, string vocabshotfile,string dirname,int num_examples)
{
cout<<"Start reading videos and extracting features"<<endl;
vector<int> startframes;
vector<int> endframes;
vector<int> keyframes;
vector<int> sizes;
readInputShotsFile(vocabshotfile,startframes,endframes,keyframes,sizes,num_examples);
cout<<"The total number of shots are "<<startframes.size()<<endl;
int vidn = 0;
for(; vidn<startframes.size(); vidn++)
{
int start_frame = startframes[vidn];
int end_frame = endframes[vidn];
int key_frame = keyframes[vidn];
cv::Mat hogFeat = cvCreateMat(0,featureDimension_hog,CV_32FC1);
cv::Mat hofFeat = cvCreateMat(0,featureDimension_hof,CV_32FC1);
cv::Mat mbhXYFeat = cvCreateMat(0,featureDimension_mbhXY,CV_32FC1);
cout<<"In the "<<vidn<<" video"<<" Start frame "<<start_frame<<" End Frame "<<end_frame<<endl;
doTracking(start_frame+FRAME_OFFSET,end_frame+FRAME_OFFSET,video,hogFeat,hofFeat,mbhXYFeat,key_frame+FRAME_OFFSET);
write_feat_to_file_motion(hogFeat, start_frame, end_frame, "hog", dirname);
write_feat_to_file_motion(hofFeat, start_frame, end_frame, "hof", dirname);
write_feat_to_file_motion(mbhXYFeat, start_frame, end_frame, "mbh", dirname);
cout<<"Tracking and writing done for shot "<<vidn<<endl;
hogFeat.release();
hofFeat.release();
mbhXYFeat.release();
}
cout<<"All tracking and writing of features done for "<< dirname<<endl;
return 0;
}
