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Adding tracking code to the camera/video #27

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6c991a8
moved tracking code from internal repo
AIWintermuteAI Mar 20, 2025
682afaf
removed leftover from video.cpp
AIWintermuteAI Apr 1, 2025
18d7111
Use ei_printf and alignment
automatiek Apr 3, 2025
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43 changes: 39 additions & 4 deletions source/camera.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -54,8 +54,12 @@ void resize_and_crop(cv::Mat *in_frame, cv::Mat *out_frame) {

float largest_factor = factor_w > factor_h ? factor_w : factor_h;

cv::Size resize_size(static_cast<int>(largest_factor * static_cast<float>(in_frame->cols)),
static_cast<int>(largest_factor * static_cast<float>(in_frame->rows)));
cv::Size resize_size(ceil(largest_factor * static_cast<float>(in_frame->cols)),
ceil(largest_factor * static_cast<float>(in_frame->rows)));

if (use_debug) {
printf("resize_size width=%d height=%d\n", resize_size.width, resize_size.height);
}

cv::Mat resized;
cv::resize(*in_frame, resized, resize_size);
Expand Down Expand Up @@ -86,7 +90,7 @@ int main(int argc, char** argv) {
printf("You can find these via `v4l2-ctl --list-devices`.\n");
printf("E.g. for:\n");
printf(" C922 Pro Stream Webcam (usb-70090000.xusb-2.1):\n");
printf(" /dev/video0\n");
printf(" /dev/video0\n");
printf("The ID of the webcam is 0\n");
exit(1);
}
Expand All @@ -105,13 +109,21 @@ int main(int argc, char** argv) {
return 1;
}

// print camera properties
printf("");
printf("Camera properties:\n");
printf(" width: %d\n", (int)camera.get(cv::CAP_PROP_FRAME_WIDTH));
printf(" height: %d\n", (int)camera.get(cv::CAP_PROP_FRAME_HEIGHT));
printf(" fps: %d\n", (int)camera.get(cv::CAP_PROP_FPS));

if (use_debug) {
// create a window to display the images from the webcam
cv::namedWindow("Webcam", cv::WINDOW_AUTOSIZE);
}

// this will contain the image from the webcam
cv::Mat frame;
run_classifier_init();

// display the frame until you press a key
while (1) {
Expand Down Expand Up @@ -187,9 +199,31 @@ int main(int argc, char** argv) {
printf("Visual anomaly values: Mean %.3f Max %.3f\n", result.visual_ad_result.mean_value, result.visual_ad_result.max_value);
#endif

// print the open traces
ei_printf("Open traces:\r\n");
for (uint32_t i = 0; i < result.postprocessed_output.object_tracking_output.open_traces_count; i++) {
ei_object_tracking_trace_t trace = result.postprocessed_output.object_tracking_output.open_traces[i];
ei_printf(" Trace %d: %s [ x: %u, y: %u, width: %u, height: %u, value: %f ]\r\n",
trace.id,
trace.label,
trace.x,
trace.y,
trace.width,
trace.height,
trace.value);
}

// show the image on the window
if (use_debug) {
cv::imshow("Webcam", cropped);
// draw the bounding boxes of the traces
for (uint32_t i = 0; i < result.postprocessed_output.object_tracking_output.open_traces_count; i++) {
ei_object_tracking_trace_t trace = result.postprocessed_output.object_tracking_output.open_traces[i];
cv::rectangle(cropped, cv::Rect(trace.x, trace.y, trace.width, trace.height), cv::Scalar(0, 255, 0), 2);
// add the label and ID
cv::putText(cropped, std::to_string(trace.id) + ": " + trace.label, cv::Point(trace.x, trace.y - 10), cv::FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(0, 255, 0), 2);
}
cv::imshow("File", cropped);
output_file.write(cropped);
// wait (10ms) for a key to be pressed
if (cv::waitKey(10) >= 0)
break;
Expand All @@ -200,6 +234,7 @@ int main(int argc, char** argv) {
usleep(sleep_ms * 1000);
}
}
run_classifier_deinit();
return 0;
}

Expand Down
33 changes: 24 additions & 9 deletions source/video.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -124,6 +124,7 @@ int main(int argc, char** argv) {

// this will contain the image from the file
cv::Mat frame;
run_classifier_init();

// display the frames until the end of the file
while (true) {
Expand Down Expand Up @@ -165,6 +166,7 @@ int main(int argc, char** argv) {
return 1;
}


// print the predictions
printf("Predictions (DSP: %d ms., Classification: %d ms., Anomaly: %d ms.): \n",
result.timing.dsp, result.timing.classification, result.timing.anomaly);
Expand Down Expand Up @@ -204,17 +206,28 @@ int main(int argc, char** argv) {
printf("Visual anomaly values: Mean %.3f Max %.3f\n", result.visual_ad_result.mean_value, result.visual_ad_result.max_value);
#endif

// print the open traces
ei_printf("Open traces:\r\n");
for (uint32_t i = 0; i < result.postprocessed_output.object_tracking_output.open_traces_count; i++) {
ei_object_tracking_trace_t trace = result.postprocessed_output.object_tracking_output.open_traces[i];
ei_printf(" Trace %d: %s [ x: %u, y: %u, width: %u, height: %u, value: %f ]\r\n",
trace.id,
trace.label,
trace.x,
trace.y,
trace.width,
trace.height,
trace.value);
}

// show the image on the window
if (use_debug) {
// draw the bounding boxes
for (size_t ix = 0; ix < result.bounding_boxes_count; ix++) {
auto bb = result.bounding_boxes[ix];
if (bb.value == 0) {
continue;
}

cv::rectangle(cropped, cv::Rect(bb.x, bb.y, bb.width, bb.height), cv::Scalar(0, 255, 0), 2);
cv::putText(cropped, bb.label, cv::Point(bb.x, bb.y - 10), cv::FONT_HERSHEY_SIMPLEX, 0.9, cv::Scalar(0, 255, 0), 2);
// draw the bounding boxes of the traces
for (uint32_t i = 0; i < result.postprocessed_output.object_tracking_output.open_traces_count; i++) {
ei_object_tracking_trace_t trace = result.postprocessed_output.object_tracking_output.open_traces[i];
cv::rectangle(cropped, cv::Rect(trace.x, trace.y, trace.width, trace.height), cv::Scalar(0, 255, 0), 2);
// add the label and ID
cv::putText(cropped, std::to_string(trace.id) + ": " + trace.label, cv::Point(trace.x, trace.y - 10), cv::FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(0, 255, 0), 2);
}

cv::imshow("File", cropped);
Expand All @@ -229,6 +242,8 @@ int main(int argc, char** argv) {
usleep(sleep_ms * 1000);
}
}

run_classifier_deinit();
output_file.release();
file.release();
return 0;
Expand Down