void BatchMode()
{
vector<double> frame_rates;
for (size_t i = 0; i < rawlogs.size(); i++)
{
CRawlog rawlog;
rawlog.loadFromRawLogFile(string(rawlogsDir + rawlogs[i] + ".rawlog"));
cout << "Processing Rawlog [" << i + 1 << "/" << rawlogs.size()
<< "]: " << rawlogs[i] << endl;
const unsigned int size = rawlog.size();
mrpt::utils::CTicTac tictac;
size_t counter = 0;
// PROCESS RAWLOG
for (unsigned int j = 1; j < size; j++)
{
if (!counter) tictac.Tic();
CObservation3DRangeScan::Ptr o =
std::dynamic_pointer_cast<CObservation3DRangeScan>(
rawlog.getAsObservation(j));
ASSERT_(o);
vector_detectable_object detected;
faceDetector.detectObjects(o, detected);
if (++counter == 10)
{
double t = tictac.Tac();
frame_rates.push_back(counter / t);
counter = 0;
}
std::this_thread::sleep_for(2ms);
}
unsigned int falsePositivesDeleted, realFacesDeleted;
faceDetector.debug_returnResults(
falsePositives[i], ignored[i], falsePositivesDeleted,
realFacesDeleted);
cout << "False positives deleted: " << falsePositivesDeleted << endl;
cout << "Real faces delted: " << realFacesDeleted << endl << endl;
}
cout << "Mean frame rate: " << sum(frame_rates) / frame_rates.size();
// faceDetector.experimental_showMeasurements();
system::pause();
}
void getImages( CRawlog &i_rawlog, vector<CImage> &v_images,
size_t imgWidth, size_t width, size_t height, size_t N_channels,
string textToAdd, size_t N_sensors )
{
vector<CObservation3DRangeScanPtr> v_obs(4);
vector<bool> v_imagesLoaded(4,false);
// Insert a few frames to show the
CImage preImage(width,height,N_channels);
preImage.textOut(10,20,textToAdd,TColor(255,0,255));
for ( size_t i=0; i < 10; i++ )
v_images.push_back(preImage);
for ( size_t obsIndex = 0; obsIndex < i_rawlog.size(); obsIndex++ )
{
CObservationPtr obs = i_rawlog.getAsObservation(obsIndex);
if ( IS_CLASS(obs, CObservation3DRangeScan) )
{
CObservation3DRangeScanPtr obs3D = CObservation3DRangeScanPtr(obs);
obs3D->load();
size_t inserted;
if ( obs3D->sensorLabel == "RGBD_1" )
{
v_obs[0] = obs3D;
v_imagesLoaded[0] = true;
inserted = 0;
}
else if ( obs3D->sensorLabel == "RGBD_2" )
{
v_obs[1] = obs3D;
v_imagesLoaded[1] = true;
inserted = 1;
}
else if ( obs3D->sensorLabel == "RGBD_3" )
{
v_obs[2] = obs3D;
v_imagesLoaded[2] = true;
inserted = 2;
}
else if ( obs3D->sensorLabel == "RGBD_4" )
{
v_obs[3] = obs3D;
v_imagesLoaded[3] = true;
inserted = 3;
}
double sum = v_imagesLoaded[0] + v_imagesLoaded[1]
+ v_imagesLoaded[2] + v_imagesLoaded[3];
for ( size_t i = 0; i < 4; i++ )
{
if (( i == inserted ) || (v_obs[i].null()))
continue;
if ( timeDifference( v_obs[i]->timestamp, v_obs[inserted]->timestamp )
> 0.5 )
v_imagesLoaded[i] = 0;
}
if ( sum == 4 )
{
CImage img(height,width,N_channels);
size_t imagesDrawn = 0;
vector<size_t> v_imgsOrder(4);
v_imgsOrder[0] = 2;
v_imgsOrder[1] = 0;
v_imgsOrder[2] = 1;
v_imgsOrder[3] = 3;
for ( size_t i = 0; i < 4; i++ )
{
if ( v_sensorsToUse[i] )
{
if ( useDepthImg )
{
CImage imgDepth;
imgDepth.setFromMatrix(v_obs[v_imgsOrder[i]]->rangeImage);
img.drawImage(0,imgWidth*imagesDrawn,imgDepth);
}
else
img.drawImage(0,imgWidth*imagesDrawn,v_obs[v_imgsOrder[i]]->intensityImage);
imagesDrawn++;
}
}
CImage rotatedImg(width,height,N_channels);
for ( size_t row = 0; row < 320; row++ )
for ( size_t col = 0; col < imgWidth*N_sensors; col++ )
{
u_int8_t r, g,b;
if ( useDepthImg )
{
r = g = b = *(img.get_unsafe(row,col,0));
}
else
{
r = *(img.get_unsafe(row,col,2));
g = *(img.get_unsafe(row,col,1));
b = *(img.get_unsafe(row,col,0));
}
TColor color(r,g,b);
rotatedImg.setPixel(col,320-row,color);
}
rotatedImg.textOut(10,20,textToAdd,TColor(255,0,255));
v_images.push_back( rotatedImg );
v_imagesLoaded.clear();
v_imagesLoaded.resize(4,0);
}
}
}
}
