floratest1
/
SpireCV
1
0
Fork 1
Code Issues Pull Requests Packages Projects Releases Wiki Activity

add drawSpecificTargetsInFrame and findClosestTargetID function,add confs dictionary to repository

This commit is contained in:
Eason Yi 2024-05-31 10:44:36 +08:00 committed by 王世豪
parent 34367b5e0f
commit 2bd20331d5
23 changed files with 2292 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

19
algorithm/sv_algorithm_base.cpp
View File

@ -800,6 +800,8 @@ void SingleObjectTrackerBase::init(cv::Mat img_, const cv::Rect& bounding_box_)
}
void SingleObjectTrackerBase::track(cv::Mat img_, TargetsInFrame& tgts_)
{
Rect rect;
bool ok = trackImpl(img_, rect);
@ -809,6 +811,10 @@ void SingleObjectTrackerBase::track(cv::Mat img_, TargetsInFrame& tgts_)
tgts_.setFPS(1000.0 / std::chrono::duration_cast<std::chrono::milliseconds>(t1 - this->_t0).count());
this->_t0 = std::chrono::system_clock::now();
tgts_.setTimeNow();
double z = 0;
double x = 0;
double y = 0;
if (ok)
{
@ -818,6 +824,10 @@ void SingleObjectTrackerBase::track(cv::Mat img_, TargetsInFrame& tgts_)
tgt.setLOS(tgt.cx, tgt.cy, this->camera_matrix, img_.cols, img_.rows);
int ow = int(round(rect.width));
int oh = int(round(rect.height));
if (this->_use_width_or_height == 0)
{
double z = this->camera_matrix.at<double>(0, 0) * this->_object_ws / ow;
@ -1199,14 +1209,5 @@ void CommonObjectDetectorBase::_load()
}

20
confs/calib_219_1080.yaml Executable file
View File

@ -0,0 +1,20 @@
%YAML:1.0
---
calibration_time: "Mon 19 Feb 2024 12:26:41 CST"
image_width: 1920
image_height: 1080
flags: 0
camera_matrix: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 1.1499019538499235e+03, 0., 8.9571442596734767e+02, 0.,
1.1521262836695837e+03, 4.1676362109157282e+02, 0., 0., 1. ]
distortion_coefficients: !!opencv-matrix
rows: 1
cols: 5
dt: d
data: [ -3.2652765002575385e-01, 1.1930967472505005e-01,
1.1874516620581086e-03, -4.4657438605475813e-04,
-2.0542911771362624e-02 ]
avg_reprojection_error: 1.2404343913457176e+00

20
confs/calib_219_480.yaml Executable file
View File

@ -0,0 +1,20 @@
%YAML:1.0
---
calibration_time: "Mon 19 Feb 2024 09:47:20 CST"
image_width: 640
image_height: 480
flags: 0
camera_matrix: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 3.9479472615087843e+02, 0., 3.1680548645658507e+02, 0.,
5.3258234195695456e+02, 2.2560303647955251e+02, 0., 0., 1. ]
distortion_coefficients: !!opencv-matrix
rows: 1
cols: 5
dt: d
data: [ -3.0654200332908565e-01, 8.5703751899094405e-02,
7.9399589635363447e-04, -2.2386130390877925e-04,
8.3664876215281108e-03 ]
avg_reprojection_error: 3.5349928023572558e-01

20
confs/calib_219_720.yaml Executable file
View File

@ -0,0 +1,20 @@
%YAML:1.0
---
calibration_time: "Mon 19 Feb 2024 10:54:42 CST"
image_width: 1280
image_height: 720
flags: 0
camera_matrix: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 8.1366718040158514e+02, 0., 6.3675814156135323e+02, 0.,
8.1971372883272659e+02, 3.4681895215003095e+02, 0., 0., 1. ]
distortion_coefficients: !!opencv-matrix
rows: 1
cols: 5
dt: d
data: [ -3.4242823662593191e-01, 1.5751500244397093e-01,
-1.3264288102205965e-03, 1.2231724419136888e-03,
-4.2459124145250125e-02 ]
avg_reprojection_error: 5.9403475506306169e-01

20
confs/calib_305_1080.yaml Executable file
View File

@ -0,0 +1,20 @@
%YAML:1.0
---
calibration_time: "Tue 05 Mar 2024 00:16:05 CST"
image_width: 1920
image_height: 1080
flags: 0
camera_matrix: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 1.0792305238523386e+03, 0., 9.6402699186014104e+02, 0.,
1.0789154594652043e+03, 5.2143171148859722e+02, 0., 0., 1. ]
distortion_coefficients: !!opencv-matrix
rows: 1
cols: 5
dt: d
data: [ -3.2399749923006838e-01, 1.4009707192270629e-01,
-5.0929293744069739e-04, 7.7449516370686658e-04,
-3.3041284237351247e-02 ]
avg_reprojection_error: 4.8428655304348994e-01

20
confs/calib_305_480.yaml Executable file
View File

@ -0,0 +1,20 @@
%YAML:1.0
---
calibration_time: "Tue 05 Mar 2024 00:09:28 CST"
image_width: 640
image_height: 480
flags: 0
camera_matrix: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 3.5104728433883020e+02, 0., 3.2056231183068672e+02, 0.,
4.6752631853837141e+02, 2.3765446898850004e+02, 0., 0., 1. ]
distortion_coefficients: !!opencv-matrix
rows: 1
cols: 5
dt: d
data: [ -3.2042681898621755e-01, 1.3161967829089724e-01,
-2.5004100102887805e-04, 3.2425073118156353e-04,
-2.8315520843532581e-02 ]
avg_reprojection_error: 2.9118844690529377e-01

20
confs/calib_305_720.yaml Normal file
View File

@ -0,0 +1,20 @@
%YAML:1.0
---
calibration_time: "2024年04月09日 星期二 17时16分01秒"
image_width: 1280
image_height: 720
flags: 0
camera_matrix: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 6.5981810777030012e+02, 0., 6.3625030971425269e+02, 0.,
6.5921929597654923e+02, 3.5825666624930159e+02, 0., 0., 1. ]
distortion_coefficients: !!opencv-matrix
rows: 1
cols: 5
dt: d
data: [ -5.1997977213625930e-02, -1.8689595668025512e-03,
3.4576738666496700e-04, -1.8120564025011093e-03,
1.4197596521055530e-04 ]
avg_reprojection_error: 2.2034927383015476e-01

20
confs/calib_305_720_old.yaml Executable file
View File

@ -0,0 +1,20 @@
%YAML:1.0
---
calibration_time: "Tue 05 Mar 2024 00:28:04 CST"
image_width: 1280
image_height: 720
flags: 0
camera_matrix: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 6.9634892550210350e+02, 0., 6.2891897989953964e+02, 0.,
6.9549429715646966e+02, 3.5944020158257149e+02, 0., 0., 1. ]
distortion_coefficients: !!opencv-matrix
rows: 1
cols: 5
dt: d
data: [ -3.3624079866383610e-01, 1.6372128751453890e-01,
-1.2684750265022919e-04, 8.4251208193061985e-04,
-4.7102080237572910e-02 ]
avg_reprojection_error: 3.9725005915610290e-01

20
confs/calib_webcam_1280x720.yaml Executable file
View File

@ -0,0 +1,20 @@
%YAML:1.0
---
calibration_time: "2021年01月12日 星期二 18时08分01秒"
image_width: 1280
image_height: 720
flags: 0
camera_matrix: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 7.9379415710551370e+02, 0., 2.9783879354295328e+02, 0.,
7.9491985564466654e+02, 3.0942416136837386e+02, 0., 0., 1. ]
distortion_coefficients: !!opencv-matrix
rows: 1
cols: 5
dt: d
data: [ 2.0950200339181715e-01, -1.1587468096518483e+00,
5.5342063671841328e-03, 2.2214393775334758e-04,
1.7127431916651392e+00 ]
avg_reprojection_error: 2.8342964851391211e-01

20
confs/calib_webcam_1920x1080.yaml Executable file
View File

@ -0,0 +1,20 @@
%YAML:1.0
---
calibration_time: "2021年01月12日 星期二 18时08分01秒"
image_width: 1920
image_height: 1080
flags: 0
camera_matrix: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 7.9379415710551370e+02, 0., 2.9783879354295328e+02, 0.,
7.9491985564466654e+02, 3.0942416136837386e+02, 0., 0., 1. ]
distortion_coefficients: !!opencv-matrix
rows: 1
cols: 5
dt: d
data: [ 2.0950200339181715e-01, -1.1587468096518483e+00,
5.5342063671841328e-03, 2.2214393775334758e-04,
1.7127431916651392e+00 ]
avg_reprojection_error: 2.8342964851391211e-01

20
confs/calib_webcam_640x480.yaml Executable file
View File

@ -0,0 +1,20 @@
%YAML:1.0
---
calibration_time: "2021年01月12日 星期二 18时08分01秒"
image_width: 640
image_height: 480
flags: 0
camera_matrix: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 7.9379415710551370e+02, 0., 2.9783879354295328e+02, 0.,
7.9491985564466654e+02, 3.0942416136837386e+02, 0., 0., 1. ]
distortion_coefficients: !!opencv-matrix
rows: 1
cols: 5
dt: d
data: [ 2.0950200339181715e-01, -1.1587468096518483e+00,
5.5342063671841328e-03, 2.2214393775334758e-04,
1.7127431916651392e+00 ]
avg_reprojection_error: 2.8342964851391211e-01

197
confs/sv_algorithm_params.json Executable file
View File

@ -0,0 +1,197 @@
{
"CommonObjectDetector": {
"dataset": "CAR",
"inputSize": 640,
"nmsThrs": 0.6,
"scoreThrs": 0.6,
"useWidthOrHeight": 1,
"withSegmentation": false,
"datasetPersonVehicle": {
"person": [0.5, 1.8],
"car": [4.1, 1.5],
"bus": [10, 3],
"truck": [-1, -1],
"bike": [-1, -1],
"train": [-1, -1],
"boat": [-1, -1],
"aeroplane": [-1, -1]
},
"datasetCAR": {
"kk_car": [0.12, 0.105]
},
"datasetCOCO": {
"person": [-1, -1],
"bicycle": [-1, -1],
"car": [-1, -1],
"motorcycle": [-1, -1],
"airplane": [-1, -1],
"bus": [-1, -1],
"train": [-1, -1],
"truck": [-1, -1],
"boat": [-1, -1],
"traffic light": [-1, -1],
"fire hydrant": [-1, -1],
"stop sign": [-1, -1],
"parking meter": [-1, -1],
"bench": [-1, -1],
"bird": [-1, -1],
"cat": [-1, -1],
"dog": [-1, -1],
"horse": [-1, -1],
"sheep": [-1, -1],
"cow": [-1, -1],
"elephant": [-1, -1],
"bear": [-1, -1],
"zebra": [-1, -1],
"giraffe": [-1, -1],
"backpack": [-1, -1],
"umbrella": [-1, -1],
"handbag": [-1, -1],
"tie": [-1, -1],
"suitcase": [-1, -1],
"frisbee": [-1, -1],
"skis": [-1, -1],
"snowboard": [-1, -1],
"sports ball": [-1, -1],
"kite": [-1, -1],
"baseball bat": [-1, -1],
"baseball glove": [-1, -1],
"skateboard": [-1, -1],
"surfboard": [-1, -1],
"tennis racket": [-1, -1],
"bottle": [-1, -1],
"wine glass": [-1, -1],
"cup": [-1, -1],
"fork": [-1, -1],
"knife": [-1, -1],
"spoon": [-1, -1],
"bowl": [-1, -1],
"banana": [-1, -1],
"apple": [-1, -1],
"sandwich": [-1, -1],
"orange": [-1, -1],
"broccoli": [-1, -1],
"carrot": [-1, -1],
"hot dog": [-1, -1],
"pizza": [-1, -1],
"donut": [-1, -1],
"cake": [-1, -1],
"chair": [-1, -1],
"couch": [-1, -1],
"potted plant": [-1, -1],
"bed": [-1, -1],
"dining table": [-1, -1],
"toilet": [-1, -1],
"tv": [-1, -1],
"laptop": [-1, -1],
"mouse": [-1, -1],
"remote": [-1, -1],
"keyboard": [-1, -1],
"cell phone": [-1, -1],
"microwave": [-1, -1],
"oven": [-1, -1],
"toaster": [-1, -1],
"sink": [-1, -1],
"refrigerator": [-1, -1],
"book": [-1, -1],
"clock": [-1, -1],
"vase": [-1, -1],
"scissors": [-1, -1],
"teddy bear": [-1, -1],
"hair drier": [-1, -1],
"toothbrush": [-1, -1]
}
},
"AutoFocusObjectDetector": {
"lock_thres": 5,
"unlock_thres": 5,
"lock_scale_init": 12.0,
"lock_scale": 8.0,
"categories_filter": [],
"keep_unlocked": false,
"use_square_region": false
},
"SingleObjectTracker": {
"algorithm": "nano",
"backend": 0,
"target": 0,
"useWidthOrHeight": 0,
"sigleobjectW": 0.12,
"sigleobjectH": 0.105,
},
"MultipleObjectTracker": {
"algorithm": "sort",
"with_reid": false,
"reid_input_size": [128, 128],
"reid_num_samples": 10,
"reid_match_thres": 2.0,
"iou_thres": 0.5,
"max_age": 10,
"min_hits": 3
},
"LandingMarkerDetector": {
"labels": ["h"],
"maxCandidates": 5
},
"EllipseDetector": {
"radiusInMeter": 0.134,
"preProcessingGaussKernel": 5,
"preProcessingGaussSigma": 1.306,
"thPosition": 1.0,
"maxCenterDistance": 0.05,
"minEdgeLength": 9,
"minOrientedRectSide": 2.984,
"distanceToEllipseContour": 0.111,
"minScore": 0.511,
"minReliability": 0.470,
"ns": 22,
"percentNe": 0.946,
"T_CNC": 0.121,
"T_TCN_L": 0.468,
"T_TCN_P": 0.560,
"thRadius": 0.202
},
"ArucoDetector": {
"dictionaryId": 10,
"markerIds": [-1],
"markerLengths": [0.051],
"adaptiveThreshConstant": 7,
"adaptiveThreshWinSizeMax": 23,
"adaptiveThreshWinSizeMin": 3,
"adaptiveThreshWinSizeStep": 10,
"aprilTagCriticalRad": 0.17453292519,
"aprilTagDeglitch": 0,
"aprilTagMaxLineFitMse": 10.0,
"aprilTagMaxNmaxima": 10,
"aprilTagMinClusterPixels": 5,
"aprilTagMinWhiteBlackDiff": 5,
"aprilTagQuadDecimate": 0.0,
"aprilTagQuadSigma": 0.0,
"cornerRefinementMaxIterations": 30,
"cornerRefinementMethod": 0,
"cornerRefinementMinAccuracy": 0.1,
"cornerRefinementWinSize": 5,
"detectInvertedMarker": false,
"errorCorrectionRate": 0.6,
"markerBorderBits": 1,
"maxErroneousBitsInBorderRate": 0.35,
"maxMarkerPerimeterRate": 4.0,
"minCornerDistanceRate": 0.05,
"minDistanceToBorder": 3,
"minMarkerDistanceRate": 0.05,
"minMarkerLengthRatioOriginalImg": 0,
"minMarkerPerimeterRate": 0.03,
"minOtsuStdDev": 5.0,
"minSideLengthCanonicalImg": 32,
"perspectiveRemoveIgnoredMarginPerCell": 0.13,
"perspectiveRemovePixelPerCell": 4,
"polygonalApproxAccuracyRate": 0.03,
"useAruco3Detection": false
},
"ColorLineDetector": {
"line_color": "black",
"line_location": 0.5,
"line_location_a1": 0.3,
"line_location_a2": 0.7
}
}

194
confs/sv_algorithm_params_1280_wo_mask.json Executable file
View File

@ -0,0 +1,194 @@
{
"CommonObjectDetector": {
"dataset": "COCO",
"inputSize": 1280,
"nmsThrs": 0.6,
"scoreThrs": 0.4,
"useWidthOrHeight": 1,
"withSegmentation": false,
"datasetPersonVehicle": {
"person": [0.5, 1.8],
"car": [4.1, 1.5],
"bus": [10, 3],
"truck": [-1, -1],
"bike": [-1, -1],
"train": [-1, -1],
"boat": [-1, -1],
"aeroplane": [-1, -1]
},
"datasetDrone": {
"drone": [0.4, 0.2]
},
"datasetCOCO": {
"person": [-1, -1],
"bicycle": [-1, -1],
"car": [-1, -1],
"motorcycle": [-1, -1],
"airplane": [-1, -1],
"bus": [-1, -1],
"train": [-1, -1],
"truck": [-1, -1],
"boat": [-1, -1],
"traffic light": [-1, -1],
"fire hydrant": [-1, -1],
"stop sign": [-1, -1],
"parking meter": [-1, -1],
"bench": [-1, -1],
"bird": [-1, -1],
"cat": [-1, -1],
"dog": [-1, -1],
"horse": [-1, -1],
"sheep": [-1, -1],
"cow": [-1, -1],
"elephant": [-1, -1],
"bear": [-1, -1],
"zebra": [-1, -1],
"giraffe": [-1, -1],
"backpack": [-1, -1],
"umbrella": [-1, -1],
"handbag": [-1, -1],
"tie": [-1, -1],
"suitcase": [-1, -1],
"frisbee": [-1, -1],
"skis": [-1, -1],
"snowboard": [-1, -1],
"sports ball": [-1, -1],
"kite": [-1, -1],
"baseball bat": [-1, -1],
"baseball glove": [-1, -1],
"skateboard": [-1, -1],
"surfboard": [-1, -1],
"tennis racket": [-1, -1],
"bottle": [-1, -1],
"wine glass": [-1, -1],
"cup": [-1, -1],
"fork": [-1, -1],
"knife": [-1, -1],
"spoon": [-1, -1],
"bowl": [-1, -1],
"banana": [-1, -1],
"apple": [-1, -1],
"sandwich": [-1, -1],
"orange": [-1, -1],
"broccoli": [-1, -1],
"carrot": [-1, -1],
"hot dog": [-1, -1],
"pizza": [-1, -1],
"donut": [-1, -1],
"cake": [-1, -1],
"chair": [-1, -1],
"couch": [-1, -1],
"potted plant": [-1, -1],
"bed": [-1, -1],
"dining table": [-1, -1],
"toilet": [-1, -1],
"tv": [-1, -1],
"laptop": [-1, -1],
"mouse": [-1, -1],
"remote": [-1, -1],
"keyboard": [-1, -1],
"cell phone": [-1, -1],
"microwave": [-1, -1],
"oven": [-1, -1],
"toaster": [-1, -1],
"sink": [-1, -1],
"refrigerator": [-1, -1],
"book": [-1, -1],
"clock": [-1, -1],
"vase": [-1, -1],
"scissors": [-1, -1],
"teddy bear": [-1, -1],
"hair drier": [-1, -1],
"toothbrush": [-1, -1]
}
},
"AutoFocusObjectDetector": {
"lock_thres": 5,
"unlock_thres": 5,
"lock_scale_init": 12.0,
"lock_scale": 8.0,
"categories_filter": [],
"keep_unlocked": false,
"use_square_region": false
},
"SingleObjectTracker": {
"algorithm": "siamrpn",
"backend": 0,
"target": 0
},
"MultipleObjectTracker": {
"algorithm": "sort",
"with_reid": false,
"reid_input_size": [128, 128],
"reid_num_samples": 10,
"reid_match_thres": 2.0,
"iou_thres": 0.5,
"max_age": 10,
"min_hits": 3
},
"LandingMarkerDetector": {
"labels": ["x", "h"],
"maxCandidates": 5
},
"EllipseDetector": {
"radiusInMeter": 0.5,
"preProcessingGaussKernel": 5,
"preProcessingGaussSigma": 1.306,
"thPosition": 1.0,
"maxCenterDistance": 0.05,
"minEdgeLength": 9,
"minOrientedRectSide": 2.984,
"distanceToEllipseContour": 0.111,
"minScore": 0.511,
"minReliability": 0.470,
"ns": 22,
"percentNe": 0.946,
"T_CNC": 0.121,
"T_TCN_L": 0.468,
"T_TCN_P": 0.560,
"thRadius": 0.202
},
"ArucoDetector": {
"dictionaryId": 10,
"markerIds": [-1],
"markerLengths": [0.2],
"adaptiveThreshConstant": 7,
"adaptiveThreshWinSizeMax": 23,
"adaptiveThreshWinSizeMin": 3,
"adaptiveThreshWinSizeStep": 10,
"aprilTagCriticalRad": 0.17453292519,
"aprilTagDeglitch": 0,
"aprilTagMaxLineFitMse": 10.0,
"aprilTagMaxNmaxima": 10,
"aprilTagMinClusterPixels": 5,
"aprilTagMinWhiteBlackDiff": 5,
"aprilTagQuadDecimate": 0.0,
"aprilTagQuadSigma": 0.0,
"cornerRefinementMaxIterations": 30,
"cornerRefinementMethod": 0,
"cornerRefinementMinAccuracy": 0.1,
"cornerRefinementWinSize": 5,
"detectInvertedMarker": false,
"errorCorrectionRate": 0.6,
"markerBorderBits": 1,
"maxErroneousBitsInBorderRate": 0.35,
"maxMarkerPerimeterRate": 4.0,
"minCornerDistanceRate": 0.05,
"minDistanceToBorder": 3,
"minMarkerDistanceRate": 0.05,
"minMarkerLengthRatioOriginalImg": 0,
"minMarkerPerimeterRate": 0.03,
"minOtsuStdDev": 5.0,
"minSideLengthCanonicalImg": 32,
"perspectiveRemoveIgnoredMarginPerCell": 0.13,
"perspectiveRemovePixelPerCell": 4,
"polygonalApproxAccuracyRate": 0.03,
"useAruco3Detection": false
},
"ColorLineDetector": {
"line_color": "black",
"line_location": 0.5,
"line_location_a1": 0.3,
"line_location_a2": 0.7
}
}

194
confs/sv_algorithm_params_640_w_mask.json Executable file
View File

@ -0,0 +1,194 @@
{
"CommonObjectDetector": {
"dataset": "COCO",
"inputSize": 640,
"nmsThrs": 0.6,
"scoreThrs": 0.4,
"useWidthOrHeight": 1,
"withSegmentation": true,
"datasetPersonVehicle": {
"person": [0.5, 1.8],
"car": [4.1, 1.5],
"bus": [10, 3],
"truck": [-1, -1],
"bike": [-1, -1],
"train": [-1, -1],
"boat": [-1, -1],
"aeroplane": [-1, -1]
},
"datasetDrone": {
"drone": [0.4, 0.2]
},
"datasetCOCO": {
"person": [-1, -1],
"bicycle": [-1, -1],
"car": [-1, -1],
"motorcycle": [-1, -1],
"airplane": [-1, -1],
"bus": [-1, -1],
"train": [-1, -1],
"truck": [-1, -1],
"boat": [-1, -1],
"traffic light": [-1, -1],
"fire hydrant": [-1, -1],
"stop sign": [-1, -1],
"parking meter": [-1, -1],
"bench": [-1, -1],
"bird": [-1, -1],
"cat": [-1, -1],
"dog": [-1, -1],
"horse": [-1, -1],
"sheep": [-1, -1],
"cow": [-1, -1],
"elephant": [-1, -1],
"bear": [-1, -1],
"zebra": [-1, -1],
"giraffe": [-1, -1],
"backpack": [-1, -1],
"umbrella": [-1, -1],
"handbag": [-1, -1],
"tie": [-1, -1],
"suitcase": [-1, -1],
"frisbee": [-1, -1],
"skis": [-1, -1],
"snowboard": [-1, -1],
"sports ball": [-1, -1],
"kite": [-1, -1],
"baseball bat": [-1, -1],
"baseball glove": [-1, -1],
"skateboard": [-1, -1],
"surfboard": [-1, -1],
"tennis racket": [-1, -1],
"bottle": [-1, -1],
"wine glass": [-1, -1],
"cup": [-1, -1],
"fork": [-1, -1],
"knife": [-1, -1],
"spoon": [-1, -1],
"bowl": [-1, -1],
"banana": [-1, -1],
"apple": [-1, -1],
"sandwich": [-1, -1],
"orange": [-1, -1],
"broccoli": [-1, -1],
"carrot": [-1, -1],
"hot dog": [-1, -1],
"pizza": [-1, -1],
"donut": [-1, -1],
"cake": [-1, -1],
"chair": [-1, -1],
"couch": [-1, -1],
"potted plant": [-1, -1],
"bed": [-1, -1],
"dining table": [-1, -1],
"toilet": [-1, -1],
"tv": [-1, -1],
"laptop": [-1, -1],
"mouse": [-1, -1],
"remote": [-1, -1],
"keyboard": [-1, -1],
"cell phone": [-1, -1],
"microwave": [-1, -1],
"oven": [-1, -1],
"toaster": [-1, -1],
"sink": [-1, -1],
"refrigerator": [-1, -1],
"book": [-1, -1],
"clock": [-1, -1],
"vase": [-1, -1],
"scissors": [-1, -1],
"teddy bear": [-1, -1],
"hair drier": [-1, -1],
"toothbrush": [-1, -1]
}
},
"AutoFocusObjectDetector": {
"lock_thres": 5,
"unlock_thres": 5,
"lock_scale_init": 12.0,
"lock_scale": 8.0,
"categories_filter": [],
"keep_unlocked": false,
"use_square_region": false
},
"SingleObjectTracker": {
"algorithm": "siamrpn",
"backend": 0,
"target": 0
},
"MultipleObjectTracker": {
"algorithm": "sort",
"with_reid": false,
"reid_input_size": [128, 128],
"reid_num_samples": 10,
"reid_match_thres": 2.0,
"iou_thres": 0.5,
"max_age": 10,
"min_hits": 3
},
"LandingMarkerDetector": {
"labels": ["x", "h"],
"maxCandidates": 5
},
"EllipseDetector": {
"radiusInMeter": 0.5,
"preProcessingGaussKernel": 5,
"preProcessingGaussSigma": 1.306,
"thPosition": 1.0,
"maxCenterDistance": 0.05,
"minEdgeLength": 9,
"minOrientedRectSide": 2.984,
"distanceToEllipseContour": 0.111,
"minScore": 0.511,
"minReliability": 0.470,
"ns": 22,
"percentNe": 0.946,
"T_CNC": 0.121,
"T_TCN_L": 0.468,
"T_TCN_P": 0.560,
"thRadius": 0.202
},
"ArucoDetector": {
"dictionaryId": 10,
"markerIds": [-1],
"markerLengths": [0.2],
"adaptiveThreshConstant": 7,
"adaptiveThreshWinSizeMax": 23,
"adaptiveThreshWinSizeMin": 3,
"adaptiveThreshWinSizeStep": 10,
"aprilTagCriticalRad": 0.17453292519,
"aprilTagDeglitch": 0,
"aprilTagMaxLineFitMse": 10.0,
"aprilTagMaxNmaxima": 10,
"aprilTagMinClusterPixels": 5,
"aprilTagMinWhiteBlackDiff": 5,
"aprilTagQuadDecimate": 0.0,
"aprilTagQuadSigma": 0.0,
"cornerRefinementMaxIterations": 30,
"cornerRefinementMethod": 0,
"cornerRefinementMinAccuracy": 0.1,
"cornerRefinementWinSize": 5,
"detectInvertedMarker": false,
"errorCorrectionRate": 0.6,
"markerBorderBits": 1,
"maxErroneousBitsInBorderRate": 0.35,
"maxMarkerPerimeterRate": 4.0,
"minCornerDistanceRate": 0.05,
"minDistanceToBorder": 3,
"minMarkerDistanceRate": 0.05,
"minMarkerLengthRatioOriginalImg": 0,
"minMarkerPerimeterRate": 0.03,
"minOtsuStdDev": 5.0,
"minSideLengthCanonicalImg": 32,
"perspectiveRemoveIgnoredMarginPerCell": 0.13,
"perspectiveRemovePixelPerCell": 4,
"polygonalApproxAccuracyRate": 0.03,
"useAruco3Detection": false
},
"ColorLineDetector": {
"line_color": "black",
"line_location": 0.5,
"line_location_a1": 0.3,
"line_location_a2": 0.7
}
}

194
confs/sv_algorithm_params_640_wo_mask.json Executable file
View File

@ -0,0 +1,194 @@
{
"CommonObjectDetector": {
"dataset": "COCO",
"inputSize": 640,
"nmsThrs": 0.6,
"scoreThrs": 0.4,
"useWidthOrHeight": 1,
"withSegmentation": false,
"datasetPersonVehicle": {
"person": [0.5, 1.8],
"car": [4.1, 1.5],
"bus": [10, 3],
"truck": [-1, -1],
"bike": [-1, -1],
"train": [-1, -1],
"boat": [-1, -1],
"aeroplane": [-1, -1]
},
"datasetDrone": {
"drone": [0.4, 0.2]
},
"datasetCOCO": {
"person": [-1, -1],
"bicycle": [-1, -1],
"car": [-1, -1],
"motorcycle": [-1, -1],
"airplane": [-1, -1],
"bus": [-1, -1],
"train": [-1, -1],
"truck": [-1, -1],
"boat": [-1, -1],
"traffic light": [-1, -1],
"fire hydrant": [-1, -1],
"stop sign": [-1, -1],
"parking meter": [-1, -1],
"bench": [-1, -1],
"bird": [-1, -1],
"cat": [-1, -1],
"dog": [-1, -1],
"horse": [-1, -1],
"sheep": [-1, -1],
"cow": [-1, -1],
"elephant": [-1, -1],
"bear": [-1, -1],
"zebra": [-1, -1],
"giraffe": [-1, -1],
"backpack": [-1, -1],
"umbrella": [-1, -1],
"handbag": [-1, -1],
"tie": [-1, -1],
"suitcase": [-1, -1],
"frisbee": [-1, -1],
"skis": [-1, -1],
"snowboard": [-1, -1],
"sports ball": [-1, -1],
"kite": [-1, -1],
"baseball bat": [-1, -1],
"baseball glove": [-1, -1],
"skateboard": [-1, -1],
"surfboard": [-1, -1],
"tennis racket": [-1, -1],
"bottle": [-1, -1],
"wine glass": [-1, -1],
"cup": [-1, -1],
"fork": [-1, -1],
"knife": [-1, -1],
"spoon": [-1, -1],
"bowl": [-1, -1],
"banana": [-1, -1],
"apple": [-1, -1],
"sandwich": [-1, -1],
"orange": [-1, -1],
"broccoli": [-1, -1],
"carrot": [-1, -1],
"hot dog": [-1, -1],
"pizza": [-1, -1],
"donut": [-1, -1],
"cake": [-1, -1],
"chair": [-1, -1],
"couch": [-1, -1],
"potted plant": [-1, -1],
"bed": [-1, -1],
"dining table": [-1, -1],
"toilet": [-1, -1],
"tv": [-1, -1],
"laptop": [-1, -1],
"mouse": [-1, -1],
"remote": [-1, -1],
"keyboard": [-1, -1],
"cell phone": [-1, -1],
"microwave": [-1, -1],
"oven": [-1, -1],
"toaster": [-1, -1],
"sink": [-1, -1],
"refrigerator": [-1, -1],
"book": [-1, -1],
"clock": [-1, -1],
"vase": [-1, -1],
"scissors": [-1, -1],
"teddy bear": [-1, -1],
"hair drier": [-1, -1],
"toothbrush": [-1, -1]
}
},
"AutoFocusObjectDetector": {
"lock_thres": 5,
"unlock_thres": 5,
"lock_scale_init": 12.0,
"lock_scale": 8.0,
"categories_filter": [],
"keep_unlocked": false,
"use_square_region": false
},
"SingleObjectTracker": {
"algorithm": "siamrpn",
"backend": 0,
"target": 0
},
"MultipleObjectTracker": {
"algorithm": "sort",
"with_reid": false,
"reid_input_size": [128, 128],
"reid_num_samples": 10,
"reid_match_thres": 2.0,
"iou_thres": 0.5,
"max_age": 10,
"min_hits": 3
},
"LandingMarkerDetector": {
"labels": ["x", "h"],
"maxCandidates": 5
},
"EllipseDetector": {
"radiusInMeter": 0.5,
"preProcessingGaussKernel": 5,
"preProcessingGaussSigma": 1.306,
"thPosition": 1.0,
"maxCenterDistance": 0.05,
"minEdgeLength": 9,
"minOrientedRectSide": 2.984,
"distanceToEllipseContour": 0.111,
"minScore": 0.511,
"minReliability": 0.470,
"ns": 22,
"percentNe": 0.946,
"T_CNC": 0.121,
"T_TCN_L": 0.468,
"T_TCN_P": 0.560,
"thRadius": 0.202
},
"ArucoDetector": {
"dictionaryId": 10,
"markerIds": [-1],
"markerLengths": [0.2],
"adaptiveThreshConstant": 7,
"adaptiveThreshWinSizeMax": 23,
"adaptiveThreshWinSizeMin": 3,
"adaptiveThreshWinSizeStep": 10,
"aprilTagCriticalRad": 0.17453292519,
"aprilTagDeglitch": 0,
"aprilTagMaxLineFitMse": 10.0,
"aprilTagMaxNmaxima": 10,
"aprilTagMinClusterPixels": 5,
"aprilTagMinWhiteBlackDiff": 5,
"aprilTagQuadDecimate": 0.0,
"aprilTagQuadSigma": 0.0,
"cornerRefinementMaxIterations": 30,
"cornerRefinementMethod": 0,
"cornerRefinementMinAccuracy": 0.1,
"cornerRefinementWinSize": 5,
"detectInvertedMarker": false,
"errorCorrectionRate": 0.6,
"markerBorderBits": 1,
"maxErroneousBitsInBorderRate": 0.35,
"maxMarkerPerimeterRate": 4.0,
"minCornerDistanceRate": 0.05,
"minDistanceToBorder": 3,
"minMarkerDistanceRate": 0.05,
"minMarkerLengthRatioOriginalImg": 0,
"minMarkerPerimeterRate": 0.03,
"minOtsuStdDev": 5.0,
"minSideLengthCanonicalImg": 32,
"perspectiveRemoveIgnoredMarginPerCell": 0.13,
"perspectiveRemovePixelPerCell": 4,
"polygonalApproxAccuracyRate": 0.03,
"useAruco3Detection": false
},
"ColorLineDetector": {
"line_color": "black",
"line_location": 0.5,
"line_location_a1": 0.3,
"line_location_a2": 0.7
}
}

194
confs/sv_algorithm_params_coco_1280.json Executable file
View File

@ -0,0 +1,194 @@
{
"CommonObjectDetector": {
"dataset": "COCO",
"inputSize": 1280,
"nmsThrs": 0.6,
"scoreThrs": 0.4,
"useWidthOrHeight": 1,
"withSegmentation": false,
"datasetPersonVehicle": {
"person": [0.5, 1.8],
"car": [4.1, 1.5],
"bus": [10, 3],
"truck": [-1, -1],
"bike": [-1, -1],
"train": [-1, -1],
"boat": [-1, -1],
"aeroplane": [-1, -1]
},
"datasetDrone": {
"drone": [0.4, 0.2]
},
"datasetCOCO": {
"person": [-1, -1],
"bicycle": [-1, -1],
"car": [-1, -1],
"motorcycle": [-1, -1],
"airplane": [-1, -1],
"bus": [-1, -1],
"train": [-1, -1],
"truck": [-1, -1],
"boat": [-1, -1],
"traffic light": [-1, -1],
"fire hydrant": [-1, -1],
"stop sign": [-1, -1],
"parking meter": [-1, -1],
"bench": [-1, -1],
"bird": [-1, -1],
"cat": [-1, -1],
"dog": [-1, -1],
"horse": [-1, -1],
"sheep": [-1, -1],
"cow": [-1, -1],
"elephant": [-1, -1],
"bear": [-1, -1],
"zebra": [-1, -1],
"giraffe": [-1, -1],
"backpack": [-1, -1],
"umbrella": [-1, -1],
"handbag": [-1, -1],
"tie": [-1, -1],
"suitcase": [-1, -1],
"frisbee": [-1, -1],
"skis": [-1, -1],
"snowboard": [-1, -1],
"sports ball": [-1, -1],
"kite": [-1, -1],
"baseball bat": [-1, -1],
"baseball glove": [-1, -1],
"skateboard": [-1, -1],
"surfboard": [-1, -1],
"tennis racket": [-1, -1],
"bottle": [-1, -1],
"wine glass": [-1, -1],
"cup": [-1, -1],
"fork": [-1, -1],
"knife": [-1, -1],
"spoon": [-1, -1],
"bowl": [-1, -1],
"banana": [-1, -1],
"apple": [-1, -1],
"sandwich": [-1, -1],
"orange": [-1, -1],
"broccoli": [-1, -1],
"carrot": [-1, -1],
"hot dog": [-1, -1],
"pizza": [-1, -1],
"donut": [-1, -1],
"cake": [-1, -1],
"chair": [-1, -1],
"couch": [-1, -1],
"potted plant": [-1, -1],
"bed": [-1, -1],
"dining table": [-1, -1],
"toilet": [-1, -1],
"tv": [-1, -1],
"laptop": [-1, -1],
"mouse": [-1, -1],
"remote": [-1, -1],
"keyboard": [-1, -1],
"cell phone": [-1, -1],
"microwave": [-1, -1],
"oven": [-1, -1],
"toaster": [-1, -1],
"sink": [-1, -1],
"refrigerator": [-1, -1],
"book": [-1, -1],
"clock": [-1, -1],
"vase": [-1, -1],
"scissors": [-1, -1],
"teddy bear": [-1, -1],
"hair drier": [-1, -1],
"toothbrush": [-1, -1]
}
},
"AutoFocusObjectDetector": {
"lock_thres": 5,
"unlock_thres": 5,
"lock_scale_init": 12.0,
"lock_scale": 8.0,
"categories_filter": [],
"keep_unlocked": false,
"use_square_region": false
},
"SingleObjectTracker": {
"algorithm": "siamrpn",
"backend": 0,
"target": 0
},
"MultipleObjectTracker": {
"algorithm": "sort",
"with_reid": false,
"reid_input_size": [128, 128],
"reid_num_samples": 10,
"reid_match_thres": 2.0,
"iou_thres": 0.5,
"max_age": 10,
"min_hits": 3
},
"LandingMarkerDetector": {
"labels": ["x", "h"],
"maxCandidates": 5
},
"EllipseDetector": {
"radiusInMeter": 0.5,
"preProcessingGaussKernel": 5,
"preProcessingGaussSigma": 1.306,
"thPosition": 1.0,
"maxCenterDistance": 0.05,
"minEdgeLength": 9,
"minOrientedRectSide": 2.984,
"distanceToEllipseContour": 0.111,
"minScore": 0.511,
"minReliability": 0.470,
"ns": 22,
"percentNe": 0.946,
"T_CNC": 0.121,
"T_TCN_L": 0.468,
"T_TCN_P": 0.560,
"thRadius": 0.202
},
"ArucoDetector": {
"dictionaryId": 10,
"markerIds": [-1],
"markerLengths": [0.2],
"adaptiveThreshConstant": 7,
"adaptiveThreshWinSizeMax": 23,
"adaptiveThreshWinSizeMin": 3,
"adaptiveThreshWinSizeStep": 10,
"aprilTagCriticalRad": 0.17453292519,
"aprilTagDeglitch": 0,
"aprilTagMaxLineFitMse": 10.0,
"aprilTagMaxNmaxima": 10,
"aprilTagMinClusterPixels": 5,
"aprilTagMinWhiteBlackDiff": 5,
"aprilTagQuadDecimate": 0.0,
"aprilTagQuadSigma": 0.0,
"cornerRefinementMaxIterations": 30,
"cornerRefinementMethod": 0,
"cornerRefinementMinAccuracy": 0.1,
"cornerRefinementWinSize": 5,
"detectInvertedMarker": false,
"errorCorrectionRate": 0.6,
"markerBorderBits": 1,
"maxErroneousBitsInBorderRate": 0.35,
"maxMarkerPerimeterRate": 4.0,
"minCornerDistanceRate": 0.05,
"minDistanceToBorder": 3,
"minMarkerDistanceRate": 0.05,
"minMarkerLengthRatioOriginalImg": 0,
"minMarkerPerimeterRate": 0.03,
"minOtsuStdDev": 5.0,
"minSideLengthCanonicalImg": 32,
"perspectiveRemoveIgnoredMarginPerCell": 0.13,
"perspectiveRemovePixelPerCell": 4,
"polygonalApproxAccuracyRate": 0.03,
"useAruco3Detection": false
},
"ColorLineDetector": {
"line_color": "black",
"line_location": 0.5,
"line_location_a1": 0.3,
"line_location_a2": 0.7
}
}

194
confs/sv_algorithm_params_coco_640.json Executable file
View File

@ -0,0 +1,194 @@
{
"CommonObjectDetector": {
"dataset": "COCO",
"inputSize": 640,
"nmsThrs": 0.6,
"scoreThrs": 0.4,
"useWidthOrHeight": 1,
"withSegmentation": true,
"datasetPersonVehicle": {
"person": [0.5, 1.8],
"car": [4.1, 1.5],
"bus": [10, 3],
"truck": [-1, -1],
"bike": [-1, -1],
"train": [-1, -1],
"boat": [-1, -1],
"aeroplane": [-1, -1]
},
"datasetDrone": {
"drone": [0.4, 0.2]
},
"datasetCOCO": {
"person": [-1, -1],
"bicycle": [-1, -1],
"car": [-1, -1],
"motorcycle": [-1, -1],
"airplane": [-1, -1],
"bus": [-1, -1],
"train": [-1, -1],
"truck": [-1, -1],
"boat": [-1, -1],
"traffic light": [-1, -1],
"fire hydrant": [-1, -1],
"stop sign": [-1, -1],
"parking meter": [-1, -1],
"bench": [-1, -1],
"bird": [-1, -1],
"cat": [-1, -1],
"dog": [-1, -1],
"horse": [-1, -1],
"sheep": [-1, -1],
"cow": [-1, -1],
"elephant": [-1, -1],
"bear": [-1, -1],
"zebra": [-1, -1],
"giraffe": [-1, -1],
"backpack": [-1, -1],
"umbrella": [-1, -1],
"handbag": [-1, -1],
"tie": [-1, -1],
"suitcase": [-1, -1],
"frisbee": [-1, -1],
"skis": [-1, -1],
"snowboard": [-1, -1],
"sports ball": [-1, -1],
"kite": [-1, -1],
"baseball bat": [-1, -1],
"baseball glove": [-1, -1],
"skateboard": [-1, -1],
"surfboard": [-1, -1],
"tennis racket": [-1, -1],
"bottle": [-1, -1],
"wine glass": [-1, -1],
"cup": [-1, -1],
"fork": [-1, -1],
"knife": [-1, -1],
"spoon": [-1, -1],
"bowl": [-1, -1],
"banana": [-1, -1],
"apple": [-1, -1],
"sandwich": [-1, -1],
"orange": [-1, -1],
"broccoli": [-1, -1],
"carrot": [-1, -1],
"hot dog": [-1, -1],
"pizza": [-1, -1],
"donut": [-1, -1],
"cake": [-1, -1],
"chair": [-1, -1],
"couch": [-1, -1],
"potted plant": [-1, -1],
"bed": [-1, -1],
"dining table": [-1, -1],
"toilet": [-1, -1],
"tv": [-1, -1],
"laptop": [-1, -1],
"mouse": [-1, -1],
"remote": [-1, -1],
"keyboard": [-1, -1],
"cell phone": [-1, -1],
"microwave": [-1, -1],
"oven": [-1, -1],
"toaster": [-1, -1],
"sink": [-1, -1],
"refrigerator": [-1, -1],
"book": [-1, -1],
"clock": [-1, -1],
"vase": [-1, -1],
"scissors": [-1, -1],
"teddy bear": [-1, -1],
"hair drier": [-1, -1],
"toothbrush": [-1, -1]
}
},
"AutoFocusObjectDetector": {
"lock_thres": 5,
"unlock_thres": 5,
"lock_scale_init": 12.0,
"lock_scale": 8.0,
"categories_filter": [],
"keep_unlocked": false,
"use_square_region": false
},
"SingleObjectTracker": {
"algorithm": "siamrpn",
"backend": 0,
"target": 0
},
"MultipleObjectTracker": {
"algorithm": "sort",
"with_reid": false,
"reid_input_size": [128, 128],
"reid_num_samples": 10,
"reid_match_thres": 2.0,
"iou_thres": 0.5,
"max_age": 10,
"min_hits": 3
},
"LandingMarkerDetector": {
"labels": ["x", "h"],
"maxCandidates": 5
},
"EllipseDetector": {
"radiusInMeter": 0.5,
"preProcessingGaussKernel": 5,
"preProcessingGaussSigma": 1.306,
"thPosition": 1.0,
"maxCenterDistance": 0.05,
"minEdgeLength": 9,
"minOrientedRectSide": 2.984,
"distanceToEllipseContour": 0.111,
"minScore": 0.511,
"minReliability": 0.470,
"ns": 22,
"percentNe": 0.946,
"T_CNC": 0.121,
"T_TCN_L": 0.468,
"T_TCN_P": 0.560,
"thRadius": 0.202
},
"ArucoDetector": {
"dictionaryId": 10,
"markerIds": [-1],
"markerLengths": [0.2],
"adaptiveThreshConstant": 7,
"adaptiveThreshWinSizeMax": 23,
"adaptiveThreshWinSizeMin": 3,
"adaptiveThreshWinSizeStep": 10,
"aprilTagCriticalRad": 0.17453292519,
"aprilTagDeglitch": 0,
"aprilTagMaxLineFitMse": 10.0,
"aprilTagMaxNmaxima": 10,
"aprilTagMinClusterPixels": 5,
"aprilTagMinWhiteBlackDiff": 5,
"aprilTagQuadDecimate": 0.0,
"aprilTagQuadSigma": 0.0,
"cornerRefinementMaxIterations": 30,
"cornerRefinementMethod": 0,
"cornerRefinementMinAccuracy": 0.1,
"cornerRefinementWinSize": 5,
"detectInvertedMarker": false,
"errorCorrectionRate": 0.6,
"markerBorderBits": 1,
"maxErroneousBitsInBorderRate": 0.35,
"maxMarkerPerimeterRate": 4.0,
"minCornerDistanceRate": 0.05,
"minDistanceToBorder": 3,
"minMarkerDistanceRate": 0.05,
"minMarkerLengthRatioOriginalImg": 0,
"minMarkerPerimeterRate": 0.03,
"minOtsuStdDev": 5.0,
"minSideLengthCanonicalImg": 32,
"perspectiveRemoveIgnoredMarginPerCell": 0.13,
"perspectiveRemovePixelPerCell": 4,
"polygonalApproxAccuracyRate": 0.03,
"useAruco3Detection": false
},
"ColorLineDetector": {
"line_color": "black",
"line_location": 0.5,
"line_location_a1": 0.3,
"line_location_a2": 0.7
}
}

194
confs/sv_algorithm_params_csrt.json Executable file
View File

@ -0,0 +1,194 @@
{
"CommonObjectDetector": {
"dataset": "COCO",
"inputSize": 640,
"nmsThrs": 0.6,
"scoreThrs": 0.4,
"useWidthOrHeight": 1,
"withSegmentation": true,
"datasetPersonVehicle": {
"person": [0.5, 1.8],
"car": [4.1, 1.5],
"bus": [10, 3],
"truck": [-1, -1],
"bike": [-1, -1],
"train": [-1, -1],
"boat": [-1, -1],
"aeroplane": [-1, -1]
},
"datasetDrone": {
"drone": [0.4, 0.2]
},
"datasetCOCO": {
"person": [-1, -1],
"bicycle": [-1, -1],
"car": [-1, -1],
"motorcycle": [-1, -1],
"airplane": [-1, -1],
"bus": [-1, -1],
"train": [-1, -1],
"truck": [-1, -1],
"boat": [-1, -1],
"traffic light": [-1, -1],
"fire hydrant": [-1, -1],
"stop sign": [-1, -1],
"parking meter": [-1, -1],
"bench": [-1, -1],
"bird": [-1, -1],
"cat": [-1, -1],
"dog": [-1, -1],
"horse": [-1, -1],
"sheep": [-1, -1],
"cow": [-1, -1],
"elephant": [-1, -1],
"bear": [-1, -1],
"zebra": [-1, -1],
"giraffe": [-1, -1],
"backpack": [-1, -1],
"umbrella": [-1, -1],
"handbag": [-1, -1],
"tie": [-1, -1],
"suitcase": [-1, -1],
"frisbee": [-1, -1],
"skis": [-1, -1],
"snowboard": [-1, -1],
"sports ball": [-1, -1],
"kite": [-1, -1],
"baseball bat": [-1, -1],
"baseball glove": [-1, -1],
"skateboard": [-1, -1],
"surfboard": [-1, -1],
"tennis racket": [-1, -1],
"bottle": [-1, -1],
"wine glass": [-1, -1],
"cup": [-1, -1],
"fork": [-1, -1],
"knife": [-1, -1],
"spoon": [-1, -1],
"bowl": [-1, -1],
"banana": [-1, -1],
"apple": [-1, -1],
"sandwich": [-1, -1],
"orange": [-1, -1],
"broccoli": [-1, -1],
"carrot": [-1, -1],
"hot dog": [-1, -1],
"pizza": [-1, -1],
"donut": [-1, -1],
"cake": [-1, -1],
"chair": [-1, -1],
"couch": [-1, -1],
"potted plant": [-1, -1],
"bed": [-1, -1],
"dining table": [-1, -1],
"toilet": [-1, -1],
"tv": [-1, -1],
"laptop": [-1, -1],
"mouse": [-1, -1],
"remote": [-1, -1],
"keyboard": [-1, -1],
"cell phone": [-1, -1],
"microwave": [-1, -1],
"oven": [-1, -1],
"toaster": [-1, -1],
"sink": [-1, -1],
"refrigerator": [-1, -1],
"book": [-1, -1],
"clock": [-1, -1],
"vase": [-1, -1],
"scissors": [-1, -1],
"teddy bear": [-1, -1],
"hair drier": [-1, -1],
"toothbrush": [-1, -1]
}
},
"AutoFocusObjectDetector": {
"lock_thres": 5,
"unlock_thres": 5,
"lock_scale_init": 12.0,
"lock_scale": 8.0,
"categories_filter": [],
"keep_unlocked": false,
"use_square_region": false
},
"SingleObjectTracker": {
"algorithm": "csrt",
"backend": 0,
"target": 0
},
"MultipleObjectTracker": {
"algorithm": "sort",
"with_reid": false,
"reid_input_size": [128, 128],
"reid_num_samples": 10,
"reid_match_thres": 2.0,
"iou_thres": 0.5,
"max_age": 10,
"min_hits": 3
},
"LandingMarkerDetector": {
"labels": ["x", "h"],
"maxCandidates": 5
},
"EllipseDetector": {
"radiusInMeter": 0.5,
"preProcessingGaussKernel": 5,
"preProcessingGaussSigma": 1.306,
"thPosition": 1.0,
"maxCenterDistance": 0.05,
"minEdgeLength": 9,
"minOrientedRectSide": 2.984,
"distanceToEllipseContour": 0.111,
"minScore": 0.511,
"minReliability": 0.470,
"ns": 22,
"percentNe": 0.946,
"T_CNC": 0.121,
"T_TCN_L": 0.468,
"T_TCN_P": 0.560,
"thRadius": 0.202
},
"ArucoDetector": {
"dictionaryId": 10,
"markerIds": [-1],
"markerLengths": [0.2],
"adaptiveThreshConstant": 7,
"adaptiveThreshWinSizeMax": 23,
"adaptiveThreshWinSizeMin": 3,
"adaptiveThreshWinSizeStep": 10,
"aprilTagCriticalRad": 0.17453292519,
"aprilTagDeglitch": 0,
"aprilTagMaxLineFitMse": 10.0,
"aprilTagMaxNmaxima": 10,
"aprilTagMinClusterPixels": 5,
"aprilTagMinWhiteBlackDiff": 5,
"aprilTagQuadDecimate": 0.0,
"aprilTagQuadSigma": 0.0,
"cornerRefinementMaxIterations": 30,
"cornerRefinementMethod": 0,
"cornerRefinementMinAccuracy": 0.1,
"cornerRefinementWinSize": 5,
"detectInvertedMarker": false,
"errorCorrectionRate": 0.6,
"markerBorderBits": 1,
"maxErroneousBitsInBorderRate": 0.35,
"maxMarkerPerimeterRate": 4.0,
"minCornerDistanceRate": 0.05,
"minDistanceToBorder": 3,
"minMarkerDistanceRate": 0.05,
"minMarkerLengthRatioOriginalImg": 0,
"minMarkerPerimeterRate": 0.03,
"minOtsuStdDev": 5.0,
"minSideLengthCanonicalImg": 32,
"perspectiveRemoveIgnoredMarginPerCell": 0.13,
"perspectiveRemovePixelPerCell": 4,
"polygonalApproxAccuracyRate": 0.03,
"useAruco3Detection": false
},
"ColorLineDetector": {
"line_color": "black",
"line_location": 0.5,
"line_location_a1": 0.3,
"line_location_a2": 0.7
}
}

194
confs/sv_algorithm_params_kcf.json Executable file
View File

@ -0,0 +1,194 @@
{
"CommonObjectDetector": {
"dataset": "COCO",
"inputSize": 640,
"nmsThrs": 0.6,
"scoreThrs": 0.4,
"useWidthOrHeight": 1,
"withSegmentation": true,
"datasetPersonVehicle": {
"person": [0.5, 1.8],
"car": [4.1, 1.5],
"bus": [10, 3],
"truck": [-1, -1],
"bike": [-1, -1],
"train": [-1, -1],
"boat": [-1, -1],
"aeroplane": [-1, -1]
},
"datasetDrone": {
"drone": [0.4, 0.2]
},
"datasetCOCO": {
"person": [-1, -1],
"bicycle": [-1, -1],
"car": [-1, -1],
"motorcycle": [-1, -1],
"airplane": [-1, -1],
"bus": [-1, -1],
"train": [-1, -1],
"truck": [-1, -1],
"boat": [-1, -1],
"traffic light": [-1, -1],
"fire hydrant": [-1, -1],
"stop sign": [-1, -1],
"parking meter": [-1, -1],
"bench": [-1, -1],
"bird": [-1, -1],
"cat": [-1, -1],
"dog": [-1, -1],
"horse": [-1, -1],
"sheep": [-1, -1],
"cow": [-1, -1],
"elephant": [-1, -1],
"bear": [-1, -1],
"zebra": [-1, -1],
"giraffe": [-1, -1],
"backpack": [-1, -1],
"umbrella": [-1, -1],
"handbag": [-1, -1],
"tie": [-1, -1],
"suitcase": [-1, -1],
"frisbee": [-1, -1],
"skis": [-1, -1],
"snowboard": [-1, -1],
"sports ball": [-1, -1],
"kite": [-1, -1],
"baseball bat": [-1, -1],
"baseball glove": [-1, -1],
"skateboard": [-1, -1],
"surfboard": [-1, -1],
"tennis racket": [-1, -1],
"bottle": [-1, -1],
"wine glass": [-1, -1],
"cup": [-1, -1],
"fork": [-1, -1],
"knife": [-1, -1],
"spoon": [-1, -1],
"bowl": [-1, -1],
"banana": [-1, -1],
"apple": [-1, -1],
"sandwich": [-1, -1],
"orange": [-1, -1],
"broccoli": [-1, -1],
"carrot": [-1, -1],
"hot dog": [-1, -1],
"pizza": [-1, -1],
"donut": [-1, -1],
"cake": [-1, -1],
"chair": [-1, -1],
"couch": [-1, -1],
"potted plant": [-1, -1],
"bed": [-1, -1],
"dining table": [-1, -1],
"toilet": [-1, -1],
"tv": [-1, -1],
"laptop": [-1, -1],
"mouse": [-1, -1],
"remote": [-1, -1],
"keyboard": [-1, -1],
"cell phone": [-1, -1],
"microwave": [-1, -1],
"oven": [-1, -1],
"toaster": [-1, -1],
"sink": [-1, -1],
"refrigerator": [-1, -1],
"book": [-1, -1],
"clock": [-1, -1],
"vase": [-1, -1],
"scissors": [-1, -1],
"teddy bear": [-1, -1],
"hair drier": [-1, -1],
"toothbrush": [-1, -1]
}
},
"AutoFocusObjectDetector": {
"lock_thres": 5,
"unlock_thres": 5,
"lock_scale_init": 12.0,
"lock_scale": 8.0,
"categories_filter": [],
"keep_unlocked": false,
"use_square_region": false
},
"SingleObjectTracker": {
"algorithm": "kcf",
"backend": 0,
"target": 0
},
"MultipleObjectTracker": {
"algorithm": "sort",
"with_reid": false,
"reid_input_size": [128, 128],
"reid_num_samples": 10,
"reid_match_thres": 2.0,
"iou_thres": 0.5,
"max_age": 10,
"min_hits": 3
},
"LandingMarkerDetector": {
"labels": ["x", "h"],
"maxCandidates": 5
},
"EllipseDetector": {
"radiusInMeter": 0.5,
"preProcessingGaussKernel": 5,
"preProcessingGaussSigma": 1.306,
"thPosition": 1.0,
"maxCenterDistance": 0.05,
"minEdgeLength": 9,
"minOrientedRectSide": 2.984,
"distanceToEllipseContour": 0.111,
"minScore": 0.511,
"minReliability": 0.470,
"ns": 22,
"percentNe": 0.946,
"T_CNC": 0.121,
"T_TCN_L": 0.468,
"T_TCN_P": 0.560,
"thRadius": 0.202
},
"ArucoDetector": {
"dictionaryId": 10,
"markerIds": [-1],
"markerLengths": [0.2],
"adaptiveThreshConstant": 7,
"adaptiveThreshWinSizeMax": 23,
"adaptiveThreshWinSizeMin": 3,
"adaptiveThreshWinSizeStep": 10,
"aprilTagCriticalRad": 0.17453292519,
"aprilTagDeglitch": 0,
"aprilTagMaxLineFitMse": 10.0,
"aprilTagMaxNmaxima": 10,
"aprilTagMinClusterPixels": 5,
"aprilTagMinWhiteBlackDiff": 5,
"aprilTagQuadDecimate": 0.0,
"aprilTagQuadSigma": 0.0,
"cornerRefinementMaxIterations": 30,
"cornerRefinementMethod": 0,
"cornerRefinementMinAccuracy": 0.1,
"cornerRefinementWinSize": 5,
"detectInvertedMarker": false,
"errorCorrectionRate": 0.6,
"markerBorderBits": 1,
"maxErroneousBitsInBorderRate": 0.35,
"maxMarkerPerimeterRate": 4.0,
"minCornerDistanceRate": 0.05,
"minDistanceToBorder": 3,
"minMarkerDistanceRate": 0.05,
"minMarkerLengthRatioOriginalImg": 0,
"minMarkerPerimeterRate": 0.03,
"minOtsuStdDev": 5.0,
"minSideLengthCanonicalImg": 32,
"perspectiveRemoveIgnoredMarginPerCell": 0.13,
"perspectiveRemovePixelPerCell": 4,
"polygonalApproxAccuracyRate": 0.03,
"useAruco3Detection": false
},
"ColorLineDetector": {
"line_color": "black",
"line_location": 0.5,
"line_location_a1": 0.3,
"line_location_a2": 0.7
}
}

194
confs/sv_algorithm_params_nano.json Executable file
View File

@ -0,0 +1,194 @@
{
"CommonObjectDetector": {
"dataset": "COCO",
"inputSize": 640,
"nmsThrs": 0.6,
"scoreThrs": 0.4,
"useWidthOrHeight": 1,
"withSegmentation": true,
"datasetPersonVehicle": {
"person": [0.5, 1.8],
"car": [4.1, 1.5],
"bus": [10, 3],
"truck": [-1, -1],
"bike": [-1, -1],
"train": [-1, -1],
"boat": [-1, -1],
"aeroplane": [-1, -1]
},
"datasetDrone": {
"drone": [0.4, 0.2]
},
"datasetCOCO": {
"person": [-1, -1],
"bicycle": [-1, -1],
"car": [-1, -1],
"motorcycle": [-1, -1],
"airplane": [-1, -1],
"bus": [-1, -1],
"train": [-1, -1],
"truck": [-1, -1],
"boat": [-1, -1],
"traffic light": [-1, -1],
"fire hydrant": [-1, -1],
"stop sign": [-1, -1],
"parking meter": [-1, -1],
"bench": [-1, -1],
"bird": [-1, -1],
"cat": [-1, -1],
"dog": [-1, -1],
"horse": [-1, -1],
"sheep": [-1, -1],
"cow": [-1, -1],
"elephant": [-1, -1],
"bear": [-1, -1],
"zebra": [-1, -1],
"giraffe": [-1, -1],
"backpack": [-1, -1],
"umbrella": [-1, -1],
"handbag": [-1, -1],
"tie": [-1, -1],
"suitcase": [-1, -1],
"frisbee": [-1, -1],
"skis": [-1, -1],
"snowboard": [-1, -1],
"sports ball": [-1, -1],
"kite": [-1, -1],
"baseball bat": [-1, -1],
"baseball glove": [-1, -1],
"skateboard": [-1, -1],
"surfboard": [-1, -1],
"tennis racket": [-1, -1],
"bottle": [-1, -1],
"wine glass": [-1, -1],
"cup": [-1, -1],
"fork": [-1, -1],
"knife": [-1, -1],
"spoon": [-1, -1],
"bowl": [-1, -1],
"banana": [-1, -1],
"apple": [-1, -1],
"sandwich": [-1, -1],
"orange": [-1, -1],
"broccoli": [-1, -1],
"carrot": [-1, -1],
"hot dog": [-1, -1],
"pizza": [-1, -1],
"donut": [-1, -1],
"cake": [-1, -1],
"chair": [-1, -1],
"couch": [-1, -1],
"potted plant": [-1, -1],
"bed": [-1, -1],
"dining table": [-1, -1],
"toilet": [-1, -1],
"tv": [-1, -1],
"laptop": [-1, -1],
"mouse": [-1, -1],
"remote": [-1, -1],
"keyboard": [-1, -1],
"cell phone": [-1, -1],
"microwave": [-1, -1],
"oven": [-1, -1],
"toaster": [-1, -1],
"sink": [-1, -1],
"refrigerator": [-1, -1],
"book": [-1, -1],
"clock": [-1, -1],
"vase": [-1, -1],
"scissors": [-1, -1],
"teddy bear": [-1, -1],
"hair drier": [-1, -1],
"toothbrush": [-1, -1]
}
},
"AutoFocusObjectDetector": {
"lock_thres": 5,
"unlock_thres": 5,
"lock_scale_init": 12.0,
"lock_scale": 8.0,
"categories_filter": [],
"keep_unlocked": false,
"use_square_region": false
},
"SingleObjectTracker": {
"algorithm": "nano",
"backend": 0,
"target": 0
},
"MultipleObjectTracker": {
"algorithm": "sort",
"with_reid": false,
"reid_input_size": [128, 128],
"reid_num_samples": 10,
"reid_match_thres": 2.0,
"iou_thres": 0.5,
"max_age": 10,
"min_hits": 3
},
"LandingMarkerDetector": {
"labels": ["x", "h"],
"maxCandidates": 5
},
"EllipseDetector": {
"radiusInMeter": 0.5,
"preProcessingGaussKernel": 5,
"preProcessingGaussSigma": 1.306,
"thPosition": 1.0,
"maxCenterDistance": 0.05,
"minEdgeLength": 9,
"minOrientedRectSide": 2.984,
"distanceToEllipseContour": 0.111,
"minScore": 0.511,
"minReliability": 0.470,
"ns": 22,
"percentNe": 0.946,
"T_CNC": 0.121,
"T_TCN_L": 0.468,
"T_TCN_P": 0.560,
"thRadius": 0.202
},
"ArucoDetector": {
"dictionaryId": 10,
"markerIds": [-1],
"markerLengths": [0.2],
"adaptiveThreshConstant": 7,
"adaptiveThreshWinSizeMax": 23,
"adaptiveThreshWinSizeMin": 3,
"adaptiveThreshWinSizeStep": 10,
"aprilTagCriticalRad": 0.17453292519,
"aprilTagDeglitch": 0,
"aprilTagMaxLineFitMse": 10.0,
"aprilTagMaxNmaxima": 10,
"aprilTagMinClusterPixels": 5,
"aprilTagMinWhiteBlackDiff": 5,
"aprilTagQuadDecimate": 0.0,
"aprilTagQuadSigma": 0.0,
"cornerRefinementMaxIterations": 30,
"cornerRefinementMethod": 0,
"cornerRefinementMinAccuracy": 0.1,
"cornerRefinementWinSize": 5,
"detectInvertedMarker": false,
"errorCorrectionRate": 0.6,
"markerBorderBits": 1,
"maxErroneousBitsInBorderRate": 0.35,
"maxMarkerPerimeterRate": 4.0,
"minCornerDistanceRate": 0.05,
"minDistanceToBorder": 3,
"minMarkerDistanceRate": 0.05,
"minMarkerLengthRatioOriginalImg": 0,
"minMarkerPerimeterRate": 0.03,
"minOtsuStdDev": 5.0,
"minSideLengthCanonicalImg": 32,
"perspectiveRemoveIgnoredMarginPerCell": 0.13,
"perspectiveRemovePixelPerCell": 4,
"polygonalApproxAccuracyRate": 0.03,
"useAruco3Detection": false
},
"ColorLineDetector": {
"line_color": "black",
"line_location": 0.5,
"line_location_a1": 0.3,
"line_location_a2": 0.7
}
}

194
confs/sv_algorithm_params_siamrpn.json Executable file
View File

@ -0,0 +1,194 @@
{
"CommonObjectDetector": {
"dataset": "COCO",
"inputSize": 640,
"nmsThrs": 0.6,
"scoreThrs": 0.4,
"useWidthOrHeight": 1,
"withSegmentation": true,
"datasetPersonVehicle": {
"person": [0.5, 1.8],
"car": [4.1, 1.5],
"bus": [10, 3],
"truck": [-1, -1],
"bike": [-1, -1],
"train": [-1, -1],
"boat": [-1, -1],
"aeroplane": [-1, -1]
},
"datasetDrone": {
"drone": [0.4, 0.2]
},
"datasetCOCO": {
"person": [-1, -1],
"bicycle": [-1, -1],
"car": [-1, -1],
"motorcycle": [-1, -1],
"airplane": [-1, -1],
"bus": [-1, -1],
"train": [-1, -1],
"truck": [-1, -1],
"boat": [-1, -1],
"traffic light": [-1, -1],
"fire hydrant": [-1, -1],
"stop sign": [-1, -1],
"parking meter": [-1, -1],
"bench": [-1, -1],
"bird": [-1, -1],
"cat": [-1, -1],
"dog": [-1, -1],
"horse": [-1, -1],
"sheep": [-1, -1],
"cow": [-1, -1],
"elephant": [-1, -1],
"bear": [-1, -1],
"zebra": [-1, -1],
"giraffe": [-1, -1],
"backpack": [-1, -1],
"umbrella": [-1, -1],
"handbag": [-1, -1],
"tie": [-1, -1],
"suitcase": [-1, -1],
"frisbee": [-1, -1],
"skis": [-1, -1],
"snowboard": [-1, -1],
"sports ball": [-1, -1],
"kite": [-1, -1],
"baseball bat": [-1, -1],
"baseball glove": [-1, -1],
"skateboard": [-1, -1],
"surfboard": [-1, -1],
"tennis racket": [-1, -1],
"bottle": [-1, -1],
"wine glass": [-1, -1],
"cup": [-1, -1],
"fork": [-1, -1],
"knife": [-1, -1],
"spoon": [-1, -1],
"bowl": [-1, -1],
"banana": [-1, -1],
"apple": [-1, -1],
"sandwich": [-1, -1],
"orange": [-1, -1],
"broccoli": [-1, -1],
"carrot": [-1, -1],
"hot dog": [-1, -1],
"pizza": [-1, -1],
"donut": [-1, -1],
"cake": [-1, -1],
"chair": [-1, -1],
"couch": [-1, -1],
"potted plant": [-1, -1],
"bed": [-1, -1],
"dining table": [-1, -1],
"toilet": [-1, -1],
"tv": [-1, -1],
"laptop": [-1, -1],
"mouse": [-1, -1],
"remote": [-1, -1],
"keyboard": [-1, -1],
"cell phone": [-1, -1],
"microwave": [-1, -1],
"oven": [-1, -1],
"toaster": [-1, -1],
"sink": [-1, -1],
"refrigerator": [-1, -1],
"book": [-1, -1],
"clock": [-1, -1],
"vase": [-1, -1],
"scissors": [-1, -1],
"teddy bear": [-1, -1],
"hair drier": [-1, -1],
"toothbrush": [-1, -1]
}
},
"AutoFocusObjectDetector": {
"lock_thres": 5,
"unlock_thres": 5,
"lock_scale_init": 12.0,
"lock_scale": 8.0,
"categories_filter": [],
"keep_unlocked": false,
"use_square_region": false
},
"SingleObjectTracker": {
"algorithm": "siamrpn",
"backend": 0,
"target": 0
},
"MultipleObjectTracker": {
"algorithm": "sort",
"with_reid": false,
"reid_input_size": [128, 128],
"reid_num_samples": 10,
"reid_match_thres": 2.0,
"iou_thres": 0.5,
"max_age": 10,
"min_hits": 3
},
"LandingMarkerDetector": {
"labels": ["x", "h"],
"maxCandidates": 5
},
"EllipseDetector": {
"radiusInMeter": 0.5,
"preProcessingGaussKernel": 5,
"preProcessingGaussSigma": 1.306,
"thPosition": 1.0,
"maxCenterDistance": 0.05,
"minEdgeLength": 9,
"minOrientedRectSide": 2.984,
"distanceToEllipseContour": 0.111,
"minScore": 0.511,
"minReliability": 0.470,
"ns": 22,
"percentNe": 0.946,
"T_CNC": 0.121,
"T_TCN_L": 0.468,
"T_TCN_P": 0.560,
"thRadius": 0.202
},
"ArucoDetector": {
"dictionaryId": 10,
"markerIds": [-1],
"markerLengths": [0.2],
"adaptiveThreshConstant": 7,
"adaptiveThreshWinSizeMax": 23,
"adaptiveThreshWinSizeMin": 3,
"adaptiveThreshWinSizeStep": 10,
"aprilTagCriticalRad": 0.17453292519,
"aprilTagDeglitch": 0,
"aprilTagMaxLineFitMse": 10.0,
"aprilTagMaxNmaxima": 10,
"aprilTagMinClusterPixels": 5,
"aprilTagMinWhiteBlackDiff": 5,
"aprilTagQuadDecimate": 0.0,
"aprilTagQuadSigma": 0.0,
"cornerRefinementMaxIterations": 30,
"cornerRefinementMethod": 0,
"cornerRefinementMinAccuracy": 0.1,
"cornerRefinementWinSize": 5,
"detectInvertedMarker": false,
"errorCorrectionRate": 0.6,
"markerBorderBits": 1,
"maxErroneousBitsInBorderRate": 0.35,
"maxMarkerPerimeterRate": 4.0,
"minCornerDistanceRate": 0.05,
"minDistanceToBorder": 3,
"minMarkerDistanceRate": 0.05,
"minMarkerLengthRatioOriginalImg": 0,
"minMarkerPerimeterRate": 0.03,
"minOtsuStdDev": 5.0,
"minSideLengthCanonicalImg": 32,
"perspectiveRemoveIgnoredMarginPerCell": 0.13,
"perspectiveRemovePixelPerCell": 4,
"polygonalApproxAccuracyRate": 0.03,
"useAruco3Detection": false
},
"ColorLineDetector": {
"line_color": "black",
"line_location": 0.5,
"line_location_a1": 0.3,
"line_location_a2": 0.7
}
}

16
include/sv_video_base.h
View File

@ -411,6 +411,22 @@ cv::Mat drawTargetsInFrame(
bool with_seg=false,
bool with_box=false
);
int findClosestTargetID(sv::TargetsInFrame& lastTgts, int clickX, int clickY);
void drawSpecificTargetsInFrame(
cv::Mat& img_,
const TargetsInFrame& tgts_,
int clicked_id,
bool with_all=true,
bool with_category=false,
bool with_tid=false,
bool with_seg=false,
bool with_box=false,
bool with_ell=false,
bool with_aruco=false,
bool with_yaw=false
);
std::string get_home();
bool is_file_exist(std::string& fn);
void list_dir(std::string dir, std::vector<std::string>& files, std::string suffixs="", bool r=false);

126
video_io/sv_video_base.cpp
View File

@ -519,6 +519,128 @@ cv::Mat drawTargetsInFrame(
}
void drawSpecificTargetsInFrame(
cv::Mat& img_,
const TargetsInFrame& tgts_,
int clicked_id,
bool with_all,
bool with_category,
bool with_tid,
bool with_seg,
bool with_box,
bool with_ell,
bool with_aruco,
bool with_yaw
)
{
//std::cout<<"go in void function"<<std::endl;
if (tgts_.rois.size() > 0)
{
cv::Mat image_ret;
cv::addWeighted(img_, 0.5, cv::Mat::zeros(cv::Size(img_.cols, img_.rows), CV_8UC3), 0, 0, image_ret);
cv::Rect roi = cv::Rect(tgts_.rois[0].x1, tgts_.rois[0].y1, tgts_.rois[0].x2 - tgts_.rois[0].x1, tgts_.rois[0].y2 - tgts_.rois[0].y1);
img_(roi).copyTo(image_ret(roi));
image_ret.copyTo(img_);
}
std::vector<std::vector<cv::Point2f> > aruco_corners;
std::vector<int> aruco_ids;
//int i = 0;
//for (Target tgt : tgts_.targets)
for (int i=0; i<tgts_.targets.size(); i++)
{
//i++;
if (clicked_id != -1 && tgts_.targets[i].category_id != clicked_id) continue;
cv::circle(img_, cv::Point(int(tgts_.targets[i].cx * tgts_.width), int(tgts_.targets[i].cy * tgts_.height)), 4, cv::Scalar(0,255,0), 2);
if ((with_all || with_aruco) && tgts_.targets[i].has_aruco)
{
std::vector<cv::Point2f> a_corners;
int a_id;
if (((Target)tgts_.targets[i]).getAruco(a_id, a_corners)) { aruco_ids.push_back(a_id); aruco_corners.push_back(a_corners); }
}
if ((with_all || with_box) && tgts_.targets[i].has_box)
{
Box b;
((Target)tgts_.targets[i]).getBox(b);
cv::rectangle(img_, cv::Rect(b.x1, b.y1, b.x2-b.x1+1, b.y2-b.y1+1), cv::Scalar(0,0,255), 1, 1, 0);
if ((with_all || with_category) && tgts_.targets[i].has_category)
{
cv::putText(img_, tgts_.targets[i].category, cv::Point(b.x1, b.y1-4), cv::FONT_HERSHEY_DUPLEX, 0.4, cv::Scalar(255,0,0));
}
if ((with_all || with_tid) && tgts_.targets[i].has_tid)
{
char tmp[32];
sprintf(tmp, "TID: %d", tgts_.targets[i].tracked_id);
cv::putText(img_, tmp, cv::Point(b.x1, b.y1-14), cv::FONT_HERSHEY_DUPLEX, 0.4, cv::Scalar(0,0,255));
}
}
if ((with_all || with_ell) && tgts_.targets[i].has_ell)
{
double xc, yc, a, b, rad;
}
if ((with_all || with_seg) && tgts_.targets[i].has_seg)
{
std::cout<<"here is mask "<<std::endl;
cv::Mat mask = ((Target)tgts_.targets[i]).getMask() * 255;
cv::threshold(mask, mask, 127, 255, cv::THRESH_BINARY);
mask.convertTo(mask, CV_8UC1);
cv::resize(mask, mask, cv::Size(1280,720));
std::vector<std::vector<cv::Point> > contours;
std::vector<cv::Vec4i> hierarchy;
cv::findContours(mask, contours, hierarchy, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_SIMPLE);
cv::Mat mask_disp = img_.clone();
cv::fillPoly(mask_disp, contours, cv::Scalar(255,255,255), cv::LINE_AA);
cv::polylines(img_, contours, true, cv::Scalar(255,255,255), 2, cv::LINE_AA);
double alpha = 0.6;
cv::addWeighted(img_, alpha, mask_disp, 1.0-alpha, 0, img_);
}
if ((with_all || with_aruco) && aruco_ids.size() > 0)
{
cv::aruco::drawDetectedMarkers(img_, aruco_corners, aruco_ids);
}
}
}
int findClosestTargetID(sv::TargetsInFrame& lastTgts, int clickX, int clickY) {
std::set<std::pair<int, int>> distancesAndIDs; // 存储距离平方和对应的tracked_id
for (int i = 0; i < lastTgts.targets.size(); i++) {
int halfWidth = static_cast<int>((lastTgts.targets[i].w * lastTgts.width) / 2);
int halfHeight = static_cast<int>((lastTgts.targets[i].h * lastTgts.height) / 2);
int x = static_cast<int>(lastTgts.targets[i].cx * lastTgts.width);
int y = static_cast<int>(lastTgts.targets[i].cy * lastTgts.height);
int diffX = x - clickX;
int diffY = y - clickY;
if ((abs(diffX) < halfWidth) && (abs(diffY) < halfHeight)) {
int distanceSquared = diffX * diffX + diffY * diffY;
distancesAndIDs.insert({distanceSquared, lastTgts.targets[i].tracked_id});
}
}
if (!distancesAndIDs.empty()) {
// 返回距离最近的目标检测框的ID
return distancesAndIDs.begin()->second;
} else {
// 如果没有找到任何框，则返回-1
return -1;
}
}
std::string Target::getJsonStr()
{
std::string json_str = "{";
@ -1349,6 +1471,4 @@ void VideoStreamerBase::releaseImpl()
}
}
}