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Reviewer's GuideAdds recording of an overlay video alongside raw video when record_raw is enabled, changes overlay rendering to focus on tracker center and matched detector/EKF faces, introduces optional drawing of full model-completed faces, and records detailed candidate selection items to a new TSV for auditability. Sequence diagram for frame processing and overlay video recordingsequenceDiagram
participant Camera
participant VisionPreview
participant RawVideoWriter as RawVideo
participant OverlayVideoWriter as OverlayVideo
participant PreviewWindow as Preview
Camera->>VisionPreview: OnImage(bgr, snapshot)
alt RecordEnabled
VisionPreview->>VisionPreview: WriteRawVideo(bgr)
VisionPreview->>RawVideoWriter: write(raw.avi)
end
VisionPreview->>VisionPreview: RecordEnabled()
VisionPreview->>VisionPreview: OverlayEnabled()
alt !realtime_preview_enabled and not(RecordEnabled and OverlayEnabled)
VisionPreview-->>Camera: return (no overlay, no preview)
else proceed
VisionPreview->>VisionPreview: DrawDetector(canvas, snapshot.detector, snapshot.candidate)
VisionPreview->>VisionPreview: DrawTracker(canvas, snapshot.ekf, snapshot.detector, snapshot.candidate)
VisionPreview->>VisionPreview: DrawStatus(canvas, timestamp_us, snapshot)
alt RecordEnabled and OverlayEnabled
VisionPreview->>VisionPreview: WriteOverlayVideo(canvas)
VisionPreview->>OverlayVideoWriter: write(overlay.avi)
end
alt !realtime_preview_enabled
VisionPreview-->>Camera: return (recording only)
else preview_enabled
VisionPreview->>VisionPreview: scale canvas if preview_scale != 1.0
VisionPreview->>PreviewWindow: imshow(preview_window_name)
PreviewWindow->>VisionPreview: waitKey(preview_wait_key_ms)
end
end
Class diagram for updated VisionPreview overlay recording and candidate loggingclassDiagram
class VisionPreview {
+bool RecordEnabled()
+bool OverlayEnabled()
+void RegisterCallbacks()
+void DrawDetector(cv::Mat& canvas, DetectorMessage& detector, CandidateDebugMessage* candidate)
+void DrawTracker(cv::Mat& canvas, EkfPointsMessage& ekf, DetectorMessage* detector, CandidateDebugMessage* candidate)
+void DrawMatchedEkfFaces(cv::Mat& canvas, EkfPointsMessage& ekf, DetectorMessage* detector, CandidateDebugMessage* candidate)
+bool ProjectPoint(cv::Mat& canvas, LibXR::Position~double~& point, cv::Point2d& uv)
+std::array~int, kMaxDetections~ MatchedFaces(CandidateDebugMessage* candidate)
+void InitRecordFiles()
+void WriteRawVideo(cv::Mat& bgr)
+void WriteOverlayVideo(cv::Mat& bgr)
+void WriteRecords(vector~DetectorMessage~& detector_records, vector~DetectorMetrics~& metrics_records, vector~TargetMessage~& target_records, vector~EkfPointsMessage~& ekf_records, vector~CandidateDebugMessage~& candidate_records)
+void FlushRecordFiles()
-std::string image_topic_name_
-std::string output_dir_
-std::string raw_video_name_
-std::string overlay_video_name_
-std::string preview_window_name_
-std::ofstream detector_file_
-std::ofstream metrics_file_
-std::ofstream target_file_
-std::ofstream ekf_file_
-std::ofstream candidate_file_
-std::ofstream candidate_items_file_
-cv::VideoWriter raw_writer_
-cv::VideoWriter overlay_writer_
-bool raw_writer_ready_
-bool overlay_writer_ready_
-bool record_ready_
}
class OverlayConfig {
+bool detector
+bool tracker
+bool candidate_debug
+bool model_faces
}
class RuntimeParam {
+OverlayConfig overlay
+std::string_view output_dir
+std::string_view raw_video_name
+std::string_view overlay_video_name
+std::string_view preview_window_name
+double preview_scale
+int preview_wait_key_ms
+bool enabled
+bool record_raw
+bool realtime_preview
+int record_fps
}
class CandidateDebugMessage {
<<struct>>
+static uint8_t kMaxDetections
+static uint8_t kMaxItems
+uint64_t image_timestamp_us
+uint8_t count
+uint8_t selected_index
+uint8_t matched
+uint8_t detection_count
+uint8_t tracked_armors_num
+CandidateItem items[kMaxItems]
}
class CandidateItem {
<<struct>>
+uint8_t armor_index
+int8_t face_index
+bool same_number
+int32_t image_track_id
+bool image_track_confirmed
+uint8_t number
+uint8_t type
+float score
+float position_diff
+float yaw_diff
+float center_x
+float center_y
+float predicted_yaw
+float measured_yaw
}
class EkfPointsMessage {
<<struct>>
+uint8_t count
+bool valid[5]
+LibXR::Position~double~ center_cam
+LibXR::Position~double~ armors_cam[4]
}
class DetectorMessage {
<<struct>>
+vector~ArmorDetection~ results
}
class ArmorDetection {
<<struct>>
+int color
+std::array~cv::Point,4~ points
+cv::Rect box
+cv::Point2f center
+int number
+float confidence
}
VisionPreview --> OverlayConfig : uses overlay
VisionPreview --> RuntimeParam : constructed_from
VisionPreview --> CandidateDebugMessage : reads_for_debug
CandidateDebugMessage --> CandidateItem : aggregates
VisionPreview --> EkfPointsMessage : visualizes_tracker
VisionPreview --> DetectorMessage : visualizes_detector
DetectorMessage --> ArmorDetection : contains
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Summary
overlay.avialongsideraw.aviwhenrecord_rawis enabledoverlay.model_facesfor explicit model-face debug renderingcandidate_items.tsvso tracker-selected detector observations can be audited quantitativelyValidation
Artifacts:
/root/codex/runs/visionpreview_matchedface_validate_20260430T0516Zand/root/codex/runs/visionpreview_hik_build_20260430T0520ZSummary by Sourcery
Record a tracker overlay video alongside raw video and enrich tracker/detector visualization and logging for better debugging and quantitative analysis.
New Features:
Enhancements:
Documentation: