void detectAndDrawObjects( Mat& image, LatentSvmDetector& detector, const vector<Scalar>& colors, float overlapThreshold, int numThreads )
{
vector<LatentSvmDetector::ObjectDetection> detections;
TickMeter tm;
tm.start();
detector.detect( image, detections, overlapThreshold, numThreads);
tm.stop();
cout << "Detection time = " << tm.getTimeSec() << " sec" << endl;
const vector<string> classNames = detector.getClassNames();
CV_Assert( colors.size() == classNames.size() );
for( size_t i = 0; i < detections.size(); i++ )
{
const LatentSvmDetector::ObjectDetection& od = detections[i];
rectangle( image, od.rect, colors[od.classID], 3 );
}
// put text over the all rectangles
for( size_t i = 0; i < detections.size(); i++ )
{
const LatentSvmDetector::ObjectDetection& od = detections[i];
putText( image, classNames[od.classID], Point(od.rect.x+4,od.rect.y+13), FONT_HERSHEY_SIMPLEX, 0.55, colors[od.classID], 2 );
}
}
static void detectarobjetos(Mat& image, LatentSvmDetector& detector, float overlapThreshold, int numThreads, Mat& imageMapaDisp)
{
int cont = 1;
Mat mapaDisparidad = imread("mapaDisparidad.png", CV_8UC1);
vector<LatentSvmDetector::ObjectDetection> detections;
detector.detect(image, detections, overlapThreshold, numThreads);
FileStorage distancias("distancias.yml", FileStorage::WRITE);
for( size_t i = 0; i < detections.size(); i++ )
{
const LatentSvmDetector::ObjectDetection& od = detections[i];
rectangle(image, od.rect, CV_RGB(255, 0, 0), 2);
rectangle(imageMapaDisp, od.rect, CV_RGB(255, 0, 0), 2);
int height = od.rect.height;
int width = od.rect.width;
int x = od.rect.y;
int y = od.rect.x;
int dispMax = -1;
int disp;
for(int h = x; h<=height+x; h++)
{
for(int w = y; w<=width+y; w++)
{
disp = mapaDisparidad.at<uchar>(h,w);
if(disp>dispMax)
dispMax = disp;
}
}
int Distancia = ((1100*85)/dispMax)/10;
string DistanciaObj = static_cast<ostringstream*>(&(ostringstream() << Distancia << " cm."))->str();
putText(image, DistanciaObj, Point(od.rect.x+4, od.rect.y+13), FONT_HERSHEY_SIMPLEX, 0.55, CV_RGB(255, 255, 255), 2);
putText(imageMapaDisp, DistanciaObj, Point(od.rect.x+4, od.rect.y+13), FONT_HERSHEY_SIMPLEX, 0.55, CV_RGB(255, 255, 255), 2);
//Guardar distancias en archivo
Point coordenada;
coordenada.x = x;
coordenada.y = y;
Size dimension;
dimension.height = height;
dimension.width = width;
distancias << "Objeto" << cont;
distancias << "Distancia" << Distancia;
distancias << "Coordenada" << coordenada;
distancias << "Dimension" << dimension;
cont++;
}
distancias.release();
}