Skip to content

feat: record matched tracker overlay video #2

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
Jiu-xiao wants to merge 1 commit into
base: master
Choose a base branch
from
Open

feat: record matched tracker overlay video #2

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
20 changes: 18 additions & 2 deletions README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -13,10 +13,26 @@
## 配置开关

- `enabled`：总开关。
- `record_raw`：写原始视频和 topic 数据 TSV。
- `record_raw`：写原始视频、overlay 视频和 topic 数据 TSV。
- `realtime_preview`：打开实时窗口。
- `overlay.detector`：绘制 detector 框、角点和置信度。
- `overlay.tracker`：绘制 tracker EKF 中心和装甲板点。
- `overlay.tracker`：绘制 tracker 中心和 tracker 选中观测对应的 EKF 面。
- `overlay.candidate_debug`：显示候选统计。
- `overlay.model_faces`：额外绘制 EKF 模型补全的全部装甲板点，默认关闭。

关闭 `record_raw` 和 `realtime_preview` 时，模块不会启动线程或注册回调。

`record_raw` 打开后默认写：

- `raw.avi`：原始图像。
- `overlay.avi`：带 detector、tracker 匹配面和状态信息的预览视频。
- `detector.tsv`、`metrics.tsv`、`target.tsv`、`ekf_points.tsv`、
`candidate_debug.tsv`、`candidate_items.tsv`：按 topic 落盘的数据。

## 颜色约定

- detector 普通框：按装甲板颜色绘制。
- `M`：tracker 当前匹配的 detector 观测，品红色。
- `TC`：tracker 目标中心，绿色。
- `EF`：tracker 匹配面的 EKF 投影，黄色。
- `model*`：EKF 模型补全的其它装甲板点，灰色，仅 `overlay.model_faces=true` 时显示。
Loading
Loading