visualize matching bounding boxes in matchBoundingBoxes()

vis_bbox_match_id.cpp

void matchBoundingBoxes(std::vector<cv::DMatch> &matches,
                        std::map<int, int> &bbBestMatches,
                        DataFrame &prev_frame,
                        DataFrame &curr_frame) {
  
  /* TODO: for each bbox in current frame, find the best matching bbox in previous frame */
  
  /* ... */

  /* Now visualize bounding box matches */

  // copy the previous frame and current frame
  cv::Mat prv_img = prev_frame.cameraImg.clone();
  cv::Mat cur_img = curr_frame.cameraImg.clone();

  const auto red = cv::Scalar(0, 0, 255);
  const auto green = cv::Scalar(0, 255, 0);
  const auto blue = cv::Scalar(255, 0, 0);

  cv::putText(prv_img, "Previous Frame", cv::Point(50, 50), cv::FONT_ITALIC, 1, red, 2);
  cv::putText(cur_img, "Current Frame", cv::Point(50, 50), cv::FONT_ITALIC, 1, blue, 2);

  for (auto const &kv : bbBestMatches) {
    auto label = std::to_string(kv.second);
    auto prv_rect = prev_frame.boundingBoxes[kv.first].roi;
    cv::rectangle(prv_img, cv::Point(prv_rect.x, prv_rect.y), cv::Point(prv_rect.x + prv_rect.width, prv_rect.y + prv_rect.height), red, 2);
    cv::putText(prv_img, label, cv::Point(prv_rect.x+prv_rect.width/2, prv_rect.y+prv_rect.height/2), cv::FONT_ITALIC, 1, red, 2);

    auto cur_rect = curr_frame.boundingBoxes[kv.second].roi;
    cv::rectangle(cur_img,cv::Point(cur_rect.x, cur_rect.y),cv::Point(cur_rect.x + cur_rect.width, cur_rect.y + cur_rect.height),blue,2);
    cv::putText(cur_img, label, cv::Point(cur_rect.x+cur_rect.width/2, cur_rect.y+cur_rect.height/2), cv::FONT_ITALIC, 1, blue, 2);
  }

  cv::Mat concat_img;
  cv::vconcat(prv_img, cur_img, concat_img);

  string windowName = "Matching Bounding Boxes";
  cv::namedWindow(windowName, cv::WINDOW_AUTOSIZE);
  cv::imshow(windowName, concat_img);
  cv::waitKey(0); // wait for key to be pressed

}

vis_bbox_match_line.cpp

void matchBoundingBoxes(std::vector<cv::DMatch> &matches,
                        std::map<int, int> &bbBestMatches,
                        DataFrame &prev_frame,
                        DataFrame &curr_frame) {
  
  /* TODO: for each bbox in current frame, find the best matching bbox in previous frame */
  /* ... */

  /* Now visualize bounding box matches */
  // copy the previous frame and current frame
  cv::Mat prv_img = prev_frame.cameraImg.clone();
  cv::Mat cur_img = curr_frame.cameraImg.clone();

  const auto red = cv::Scalar(0, 0, 255);
  const auto green = cv::Scalar(0, 255, 0);
  const auto blue = cv::Scalar(255, 0, 0);

  cv::putText(prv_img, "Previous Frame", cv::Point(50, 50), cv::FONT_ITALIC, 0.75, red, 2);
  cv::putText(cur_img, "Current Frame", cv::Point(50, 50), cv::FONT_ITALIC, 0.75, blue, 2);

  std::vector<std::pair<cv::Point2i,cv::Point2i>> lines;

  for (auto const &kv : bbBestMatches) {
    std::cout << "BBOX MATCH IDS: " << std::to_string(kv.first) + " -> " + std::to_string(kv.second) << std::endl;

    auto prv_rect = prev_frame.boundingBoxes[kv.first].roi;
    cv::rectangle(prv_img, cv::Point(prv_rect.x, prv_rect.y), cv::Point(prv_rect.x + prv_rect.width, prv_rect.y + prv_rect.height), red, 1);

    auto cur_rect = curr_frame.boundingBoxes[kv.second].roi;
    cv::rectangle(cur_img,cv::Point(cur_rect.x, cur_rect.y),cv::Point(cur_rect.x + cur_rect.width, cur_rect.y + cur_rect.height),blue,1);

    lines.emplace_back(cv::Point(prv_rect.x, prv_rect.y), cv::Point(cur_rect.x, cur_rect.y+prv_img.size().height) );
  }

  cv::Mat concat_img;
  cv::vconcat(prv_img, cur_img, concat_img);

  for(auto &end_pts : lines ){
    cv::line(concat_img, end_pts.first, end_pts.second, green, 1);
  }

  string windowName = "Matching Bounding Boxes";
  cv::namedWindow(windowName, cv::WINDOW_AUTOSIZE);
  cv::imshow(windowName, concat_img);
  cv::waitKey(0); // wait for key to be pressed
}