From 80fa5058b2abc4fae055aacd32ddad30cb558436 Mon Sep 17 00:00:00 2001
From: Yuan SY <ysyysyysy2006@qq.com>
Date: Mon, 6 Jul 2026 14:50:29 +0800
Subject: [PATCH 1/4] feat(crop): add Person Crop Collector entry skeleton

---
 .../java/org/openbot/common/FeatureList.java  |   3 +
 .../PersonCropCollectorFragment.java          |  54 ++++++++
 .../java/org/openbot/main/MainFragment.java   |   5 +
 .../layout/fragment_person_crop_collector.xml | 124 ++++++++++++++++++
 .../src/main/res/navigation/nav_graph.xml     |   9 ++
 android/robot/src/main/res/values/strings.xml |   4 +
 6 files changed, 199 insertions(+)
 create mode 100644 android/robot/src/main/java/org/openbot/cropcollector/PersonCropCollectorFragment.java
 create mode 100644 android/robot/src/main/res/layout/fragment_person_crop_collector.xml

diff --git a/android/robot/src/main/java/org/openbot/common/FeatureList.java b/android/robot/src/main/java/org/openbot/common/FeatureList.java
index e023f70b7..a5fab63e3 100644
--- a/android/robot/src/main/java/org/openbot/common/FeatureList.java
+++ b/android/robot/src/main/java/org/openbot/common/FeatureList.java
@@ -37,6 +37,7 @@ public class FeatureList {
   public static final String PERSON_FOLLOWING = "Person Following";
   public static final String OBJECT_NAV = "Object Tracking";
   public static final String CART_SIMULATOR = "Cart Simulator";
+  public static final String PERSON_CROP_COLLECTOR = "Person Crop Collector";
   public static final String MODEL_MANAGEMENT = "Model Management";
   public static final String POINT_GOAL_NAVIGATION = "Point Goal Navigation";
   public static final String AUTONOMOUS_DRIVING = "Autonomous Driving";
@@ -84,6 +85,8 @@ public static ArrayList<Category> getCategories() {
     subCategories.add(new SubCategory(AUTOPILOT, R.drawable.ic_autopilot, "#44525F"));
     subCategories.add(new SubCategory(OBJECT_NAV, R.drawable.ic_person_search, "#E7CE88"));
     subCategories.add(new SubCategory(CART_SIMULATOR, R.drawable.ic_person_search, "#6BBF8A"));
+    subCategories.add(
+        new SubCategory(PERSON_CROP_COLLECTOR, R.drawable.ic_person_search, "#8BBF6B"));
     subCategories.add(
         new SubCategory(POINT_GOAL_NAVIGATION, R.drawable.ic_baseline_golf_course, "#1BBFBF"));
     subCategories.add(new SubCategory(MODEL_MANAGEMENT, R.drawable.ic_list_bulleted_48, "#BC7680"));
diff --git a/android/robot/src/main/java/org/openbot/cropcollector/PersonCropCollectorFragment.java b/android/robot/src/main/java/org/openbot/cropcollector/PersonCropCollectorFragment.java
new file mode 100644
index 000000000..a8e4e62ec
--- /dev/null
+++ b/android/robot/src/main/java/org/openbot/cropcollector/PersonCropCollectorFragment.java
@@ -0,0 +1,54 @@
+package org.openbot.cropcollector;
+
+import android.os.Bundle;
+import android.view.LayoutInflater;
+import android.view.View;
+import android.view.ViewGroup;
+import androidx.annotation.NonNull;
+import androidx.annotation.Nullable;
+import androidx.camera.core.ImageProxy;
+import java.util.List;
+import org.jetbrains.annotations.NotNull;
+import org.openbot.R;
+import org.openbot.common.CameraFragment;
+import org.openbot.databinding.FragmentPersonCropCollectorBinding;
+import org.openbot.tflite.Model;
+import org.openbot.utils.Enums;
+
+public class PersonCropCollectorFragment extends CameraFragment {
+
+  private FragmentPersonCropCollectorBinding binding;
+
+  @Override
+  public View onCreateView(
+      @NotNull LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
+    binding = FragmentPersonCropCollectorBinding.inflate(inflater, container, false);
+    return inflateFragment(binding, inflater, container);
+  }
+
+  @Override
+  public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceState) {
+    super.onViewCreated(view, savedInstanceState);
+
+    List<String> models = getModelNames(f -> f.type.equals(Model.TYPE.DETECTOR));
+    initModelSpinner(binding.modelSpinner, models, preferencesManager.getObjectNavModel());
+
+    setAnalyserResolution(Enums.Preview.HD.getValue());
+
+    binding.statusText.setText(getString(R.string.person_crop_idle));
+    binding.btnStart.setEnabled(true);
+    binding.btnStop.setEnabled(false);
+  }
+
+  @Override
+  protected void processFrame(android.graphics.Bitmap bitmap, ImageProxy image) {
+  }
+
+  @Override
+  protected void processUSBData(String data) {
+  }
+
+  @Override
+  protected void processControllerKeyData(String commandType) {
+  }
+}
diff --git a/android/robot/src/main/java/org/openbot/main/MainFragment.java b/android/robot/src/main/java/org/openbot/main/MainFragment.java
index 8f350de77..792bb9709 100644
--- a/android/robot/src/main/java/org/openbot/main/MainFragment.java
+++ b/android/robot/src/main/java/org/openbot/main/MainFragment.java
@@ -92,6 +92,11 @@ public void onItemClick(SubCategory subCategory) {
             .navigate(R.id.action_mainFragment_to_cartSimFragment);
         break;
 
+      case FeatureList.PERSON_CROP_COLLECTOR:
+        Navigation.findNavController(requireView())
+            .navigate(R.id.action_mainFragment_to_personCropCollectorFragment);
+        break;
+
       case FeatureList.POINT_GOAL_NAVIGATION:
         Navigation.findNavController(requireView())
             .navigate(R.id.action_mainFragment_to_pointGoalNavigationFragment);
diff --git a/android/robot/src/main/res/layout/fragment_person_crop_collector.xml b/android/robot/src/main/res/layout/fragment_person_crop_collector.xml
new file mode 100644
index 000000000..781172783
--- /dev/null
+++ b/android/robot/src/main/res/layout/fragment_person_crop_collector.xml
@@ -0,0 +1,124 @@
+<?xml version="1.0" encoding="utf-8"?>
+<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:app="http://schemas.android.com/apk/res-auto"
+    xmlns:tools="http://schemas.android.com/tools"
+    android:layout_width="match_parent"
+    android:layout_height="match_parent"
+    tools:context=".cropcollector.PersonCropCollectorFragment">
+
+    <org.openbot.customview.OverlayView
+        android:id="@+id/tracking_overlay"
+        android:layout_width="0dp"
+        android:layout_height="0dp"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintTop_toTopOf="parent" />
+
+    <TextView
+        android:id="@+id/status_text"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginTop="80dp"
+        android:background="#80000000"
+        android:paddingHorizontal="24dp"
+        android:paddingVertical="12dp"
+        android:text="@string/person_crop_idle"
+        android:textColor="#FFFFFF"
+        android:textSize="28sp"
+        android:textStyle="bold"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintTop_toTopOf="parent" />
+
+    <TextView
+        android:id="@+id/debug_info"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginStart="12dp"
+        android:layout_marginTop="12dp"
+        android:background="#80000000"
+        android:fontFamily="monospace"
+        android:padding="8dp"
+        android:textColor="#FFFFFF"
+        android:textSize="12sp"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintTop_toTopOf="parent"
+        tools:text="persons=0\nsaved=0\nskipped=0\nfps=0.0" />
+
+    <LinearLayout
+        android:id="@+id/bottom_panel"
+        android:layout_width="0dp"
+        android:layout_height="wrap_content"
+        android:background="#CC000000"
+        android:orientation="vertical"
+        android:padding="12dp"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintStart_toStartOf="parent">
+
+        <LinearLayout
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:orientation="horizontal">
+
+            <TextView
+                android:layout_width="0dp"
+                android:layout_height="wrap_content"
+                android:layout_weight="0.4"
+                android:paddingVertical="12dp"
+                android:paddingStart="8dp"
+                android:text="@string/model"
+                android:textColor="@android:color/white" />
+
+            <Spinner
+                android:id="@+id/model_spinner"
+                android:layout_width="0dp"
+                android:layout_height="wrap_content"
+                android:layout_weight="1.6"
+                android:prompt="@string/model" />
+        </LinearLayout>
+
+        <LinearLayout
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:gravity="center_vertical"
+            android:orientation="horizontal">
+
+            <TextView
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:paddingStart="8dp"
+                android:text="Person ID:"
+                android:textColor="@android:color/white" />
+
+            <EditText
+                android:id="@+id/person_id_input"
+                android:layout_width="0dp"
+                android:layout_height="wrap_content"
+                android:layout_marginStart="8dp"
+                android:layout_weight="1"
+                android:hint="e.g. ysy"
+                android:inputType="text"
+                android:maxLines="1"
+                android:textColor="@android:color/white"
+                android:textColorHint="#808080" />
+
+            <Button
+                android:id="@+id/btn_start"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:layout_marginStart="8dp"
+                android:text="@string/person_crop_start" />
+
+            <Button
+                android:id="@+id/btn_stop"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:layout_marginStart="8dp"
+                android:enabled="false"
+                android:text="@string/person_crop_stop" />
+        </LinearLayout>
+    </LinearLayout>
+
+</androidx.constraintlayout.widget.ConstraintLayout>
diff --git a/android/robot/src/main/res/navigation/nav_graph.xml b/android/robot/src/main/res/navigation/nav_graph.xml
index dadbaa40a..d16883de3 100644
--- a/android/robot/src/main/res/navigation/nav_graph.xml
+++ b/android/robot/src/main/res/navigation/nav_graph.xml
@@ -28,6 +28,9 @@
         <action
             android:id="@+id/action_mainFragment_to_cartSimFragment"
             app:destination="@id/cartSimFragment" />
+        <action
+            android:id="@+id/action_mainFragment_to_personCropCollectorFragment"
+            app:destination="@id/personCropCollectorFragment" />
         <action
             android:id="@+id/action_mainFragment_to_modelManagementFragment"
             app:destination="@id/modelManagementFragment" />
@@ -120,6 +123,12 @@
         android:label="fragment_human_cart_simulator"
         tools:layout="@layout/fragment_human_cart_simulator" />
 
+    <fragment
+        android:id="@+id/personCropCollectorFragment"
+        android:name="org.openbot.cropcollector.PersonCropCollectorFragment"
+        android:label="fragment_person_crop_collector"
+        tools:layout="@layout/fragment_person_crop_collector" />
+
     <fragment
         android:id="@+id/modelManagementFragment"
         android:name="org.openbot.modelManagement.ModelManagementFragment"
diff --git a/android/robot/src/main/res/values/strings.xml b/android/robot/src/main/res/values/strings.xml
index 82d5b47c3..c1b64f720 100644
--- a/android/robot/src/main/res/values/strings.xml
+++ b/android/robot/src/main/res/values/strings.xml
@@ -210,4 +210,8 @@
     <string name="cart_simulator">Cart Simulator</string>
     <string name="cart_sim_start">Start</string>
     <string name="cart_sim_idle">待命</string>
+    <string name="person_crop_collector">Person Crop Collector</string>
+    <string name="person_crop_start">Start Session</string>
+    <string name="person_crop_stop">Stop Session</string>
+    <string name="person_crop_idle">Ready to collect person crops</string>
 </resources>

From 290282cfdf4bd54859e9c4c9dea997e50e72a8e9 Mon Sep 17 00:00:00 2001
From: Yuan SY <ysyysyysy2006@qq.com>
Date: Mon, 6 Jul 2026 14:55:01 +0800
Subject: [PATCH 2/4] feat(crop): show person detections in crop collector

---
 .../PersonCropCollectorFragment.java          | 291 +++++++++++++++++-
 .../layout/fragment_person_crop_collector.xml |  46 +++
 2 files changed, 334 insertions(+), 3 deletions(-)

diff --git a/android/robot/src/main/java/org/openbot/cropcollector/PersonCropCollectorFragment.java b/android/robot/src/main/java/org/openbot/cropcollector/PersonCropCollectorFragment.java
index a8e4e62ec..8429c6f7b 100644
--- a/android/robot/src/main/java/org/openbot/cropcollector/PersonCropCollectorFragment.java
+++ b/android/robot/src/main/java/org/openbot/cropcollector/PersonCropCollectorFragment.java
@@ -1,23 +1,79 @@
 package org.openbot.cropcollector;
 
+import android.graphics.Bitmap;
+import android.graphics.Canvas;
+import android.graphics.Color;
+import android.graphics.Matrix;
+import android.graphics.Paint;
+import android.graphics.RectF;
 import android.os.Bundle;
+import android.os.Handler;
+import android.os.HandlerThread;
+import android.os.SystemClock;
 import android.view.LayoutInflater;
 import android.view.View;
 import android.view.ViewGroup;
+import android.widget.Toast;
 import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
+import androidx.camera.core.CameraSelector;
 import androidx.camera.core.ImageProxy;
+import java.io.IOException;
+import java.util.ArrayList;
 import java.util.List;
+import java.util.Locale;
 import org.jetbrains.annotations.NotNull;
 import org.openbot.R;
 import org.openbot.common.CameraFragment;
 import org.openbot.databinding.FragmentPersonCropCollectorBinding;
+import org.openbot.env.ImageUtils;
+import org.openbot.tflite.Detector;
 import org.openbot.tflite.Model;
+import org.openbot.tflite.Network;
+import org.openbot.utils.CameraUtils;
 import org.openbot.utils.Enums;
+import timber.log.Timber;
 
 public class PersonCropCollectorFragment extends CameraFragment {
 
   private FragmentPersonCropCollectorBinding binding;
+  private Handler handler;
+  private HandlerThread handlerThread;
+
+  private boolean computingNetwork = false;
+  private float minConfidence = 0.5f;
+
+  private Detector detector;
+  private Matrix frameToCropTransform;
+  private Bitmap croppedBitmap;
+  private int sensorOrientation;
+  private Matrix cropToFrameTransform;
+
+  private Model model;
+  private Network.Device device = Network.Device.CPU;
+  private int numThreads = -1;
+  private final String classType = "person";
+
+  private long lastProcessingTimeMs = -1;
+  private long frameNum = 0;
+
+  private final List<RectF> drawBoxes = new ArrayList<>();
+  private int drawFrameWidth = 0;
+  private int drawFrameHeight = 0;
+  private int drawSensorOrientation = 0;
+
+  private final Paint personBoxPaint = new Paint();
+  private final Paint boxTextPaint = new Paint();
+
+  @Override
+  public void onCreate(@Nullable Bundle savedInstanceState) {
+    super.onCreate(savedInstanceState);
+    personBoxPaint.setColor(Color.GREEN);
+    personBoxPaint.setStyle(Paint.Style.STROKE);
+    personBoxPaint.setStrokeWidth(6.0f);
+    boxTextPaint.setColor(Color.WHITE);
+    boxTextPaint.setTextSize(36.0f);
+  }
 
   @Override
   public View onCreateView(
@@ -30,25 +86,254 @@ public View onCreateView(
   public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceState) {
     super.onViewCreated(view, savedInstanceState);
 
+    binding.confidenceValue.setText((int) (minConfidence * 100) + "%");
+    binding.plusConfidence.setOnClickListener(
+        v -> {
+          int confValue = (int) (minConfidence * 100);
+          if (confValue >= 95) return;
+          confValue += 5;
+          minConfidence = confValue / 100f;
+          binding.confidenceValue.setText(confValue + "%");
+        });
+    binding.minusConfidence.setOnClickListener(
+        v -> {
+          int confValue = (int) (minConfidence * 100);
+          if (confValue <= 5) return;
+          confValue -= 5;
+          minConfidence = confValue / 100f;
+          binding.confidenceValue.setText(confValue + "%");
+        });
+
     List<String> models = getModelNames(f -> f.type.equals(Model.TYPE.DETECTOR));
     initModelSpinner(binding.modelSpinner, models, preferencesManager.getObjectNavModel());
 
     setAnalyserResolution(Enums.Preview.HD.getValue());
 
+    binding.trackingOverlay.addCallback(canvas -> drawOverlay(canvas));
+
     binding.statusText.setText(getString(R.string.person_crop_idle));
     binding.btnStart.setEnabled(true);
     binding.btnStop.setEnabled(false);
   }
 
+  protected void onInferenceConfigurationChanged() {
+    computingNetwork = false;
+    if (croppedBitmap == null) return;
+    final Network.Device device = getDevice();
+    final Model model = getModel();
+    final int numThreads = getNumThreads();
+    runInBackground(() -> recreateNetwork(model, device, numThreads));
+  }
+
+  private void recreateNetwork(Model model, Network.Device device, int numThreads) {
+    if (model == null) return;
+    Detector newDetector = null;
+    try {
+      newDetector = Detector.create(requireActivity(), model, device, numThreads);
+    } catch (IllegalArgumentException | IOException e) {
+      Timber.e(e, "Failed to create network.");
+      String msg =
+          model.pathType == Model.PATH_TYPE.URL
+              ? "该模型未下载，请先在主菜单 Model Management 中下载: " + model.name
+              : "模型加载失败: " + e.getMessage();
+      requireActivity()
+          .runOnUiThread(
+              () ->
+                  Toast.makeText(requireContext().getApplicationContext(), msg, Toast.LENGTH_LONG)
+                      .show());
+      return;
+    }
+
+    if (detector != null) {
+      detector.close();
+    }
+    detector = newDetector;
+    try {
+      croppedBitmap =
+          Bitmap.createBitmap(
+              detector.getImageSizeX(), detector.getImageSizeY(), Bitmap.Config.ARGB_8888);
+      frameToCropTransform =
+          ImageUtils.getTransformationMatrix(
+              getMaxAnalyseImageSize().getWidth(),
+              getMaxAnalyseImageSize().getHeight(),
+              croppedBitmap.getWidth(),
+              croppedBitmap.getHeight(),
+              sensorOrientation,
+              detector.getCropRect(),
+              detector.getMaintainAspect());
+      cropToFrameTransform = new Matrix();
+      frameToCropTransform.invert(cropToFrameTransform);
+    } catch (Exception e) {
+      Timber.e(e, "Failed to configure detector.");
+      requireActivity()
+          .runOnUiThread(
+              () ->
+                  Toast.makeText(
+                          requireContext().getApplicationContext(),
+                          "模型配置失败: " + e.getMessage(),
+                          Toast.LENGTH_LONG)
+                      .show());
+    }
+  }
+
   @Override
-  protected void processFrame(android.graphics.Bitmap bitmap, ImageProxy image) {
+  public synchronized void onResume() {
+    croppedBitmap = null;
+    handlerThread = new HandlerThread("inference");
+    handlerThread.start();
+    handler = new Handler(handlerThread.getLooper());
+    super.onResume();
   }
 
   @Override
-  protected void processUSBData(String data) {
+  public synchronized void onPause() {
+    handlerThread.quitSafely();
+    try {
+      handlerThread.join();
+      handlerThread = null;
+      handler = null;
+    } catch (final InterruptedException e) {
+      e.printStackTrace();
+    }
+    super.onPause();
+  }
+
+  protected synchronized void runInBackground(final Runnable r) {
+    if (handler != null) handler.post(r);
   }
 
   @Override
-  protected void processControllerKeyData(String commandType) {
+  protected void processUSBData(String data) {}
+
+  @Override
+  protected void processControllerKeyData(String commandType) {}
+
+  @Override
+  protected void processFrame(Bitmap bitmap, ImageProxy image) {
+    if (detector == null) {
+      updateCropImageInfo();
+      if (detector == null) return;
+    }
+
+    ++frameNum;
+    if (binding == null) return;
+    if (computingNetwork) return;
+
+    computingNetwork = true;
+    runInBackground(
+        () -> {
+          final Canvas canvas = new Canvas(croppedBitmap);
+          Bitmap workingFrame = bitmap;
+          if (lensFacing == CameraSelector.LENS_FACING_FRONT) {
+            Bitmap flipped = CameraUtils.flipBitmapHorizontal(bitmap);
+            canvas.drawBitmap(flipped, frameToCropTransform, null);
+            workingFrame = flipped;
+          } else {
+            canvas.drawBitmap(bitmap, frameToCropTransform, null);
+          }
+
+          if (detector != null) {
+            final long startTime = SystemClock.elapsedRealtime();
+            final List<Detector.Recognition> results =
+                detector.recognizeImage(croppedBitmap, classType);
+            lastProcessingTimeMs = SystemClock.elapsedRealtime() - startTime;
+
+            final List<Detector.Recognition> mappedRecognitions = new ArrayList<>();
+            for (final Detector.Recognition result : results) {
+              final RectF location = result.getLocation();
+              if (location != null && result.getConfidence() >= minConfidence) {
+                cropToFrameTransform.mapRect(location);
+                result.setLocation(location);
+                mappedRecognitions.add(result);
+              }
+            }
+
+            int frameW = getMaxAnalyseImageSize().getWidth();
+            int frameH = getMaxAnalyseImageSize().getHeight();
+            updateDrawState(mappedRecognitions, frameW, frameH, sensorOrientation);
+            float fps = lastProcessingTimeMs > 0 ? 1000f / lastProcessingTimeMs : 0f;
+            updateDebugInfo(mappedRecognitions.size(), fps);
+            binding.trackingOverlay.postInvalidate();
+          }
+          computingNetwork = false;
+        });
+  }
+
+  private void updateCropImageInfo() {
+    sensorOrientation = 90 - ImageUtils.getScreenOrientation(requireActivity());
+    recreateNetwork(getModel(), getDevice(), getNumThreads());
+  }
+
+  private synchronized void updateDrawState(
+      List<Detector.Recognition> persons, int frameW, int frameH, int sensorOrientation) {
+    drawBoxes.clear();
+    for (Detector.Recognition r : persons) {
+      if (r == null || r.getLocation() == null) continue;
+      drawBoxes.add(new RectF(r.getLocation()));
+    }
+    drawFrameWidth = frameW;
+    drawFrameHeight = frameH;
+    drawSensorOrientation = sensorOrientation;
+  }
+
+  private void drawOverlay(Canvas canvas) {
+    if (drawFrameWidth <= 0 || drawFrameHeight <= 0) return;
+    final boolean rotated = drawSensorOrientation % 180 == 90;
+    final float multiplier =
+        Math.min(
+            canvas.getHeight() / (float) (rotated ? drawFrameWidth : drawFrameHeight),
+            canvas.getWidth() / (float) (rotated ? drawFrameHeight : drawFrameWidth));
+    Matrix matrix =
+        ImageUtils.getTransformationMatrix(
+            drawFrameWidth,
+            drawFrameHeight,
+            (int) (multiplier * (rotated ? drawFrameHeight : drawFrameWidth)),
+            (int) (multiplier * (rotated ? drawFrameWidth : drawFrameHeight)),
+            drawSensorOrientation,
+            new RectF(0, 0, 0, 0),
+            false);
+
+    List<RectF> snapshot;
+    synchronized (this) {
+      snapshot = new ArrayList<>(drawBoxes);
+    }
+    for (RectF box : snapshot) {
+      RectF rect = new RectF(box);
+      matrix.mapRect(rect);
+      float cornerSize = Math.min(rect.width(), rect.height()) / 8.0f;
+      canvas.drawRoundRect(rect, cornerSize, cornerSize, personBoxPaint);
+    }
+  }
+
+  private void updateDebugInfo(int persons, float fps) {
+    if (binding == null) return;
+    String info =
+        String.format(
+            Locale.US,
+            "persons=%d\nsaved=0\nskipped=0\nfps=%.1f",
+            persons,
+            fps);
+    requireActivity().runOnUiThread(() -> binding.debugInfo.setText(info));
+  }
+
+  protected Model getModel() {
+    return model;
+  }
+
+  @Override
+  protected void setModel(Model model) {
+    if (this.model != model) {
+      this.model = model;
+      preferencesManager.setObjectNavModel(model.name);
+      onInferenceConfigurationChanged();
+    }
+  }
+
+  protected Network.Device getDevice() {
+    return device;
+  }
+
+  protected int getNumThreads() {
+    return numThreads;
   }
 }
diff --git a/android/robot/src/main/res/layout/fragment_person_crop_collector.xml b/android/robot/src/main/res/layout/fragment_person_crop_collector.xml
index 781172783..c1f93c57c 100644
--- a/android/robot/src/main/res/layout/fragment_person_crop_collector.xml
+++ b/android/robot/src/main/res/layout/fragment_person_crop_collector.xml
@@ -79,6 +79,52 @@
                 android:prompt="@string/model" />
         </LinearLayout>
 
+        <LinearLayout
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:gravity="center_vertical"
+            android:orientation="horizontal">
+
+            <TextView
+                android:layout_width="0dp"
+                android:layout_height="wrap_content"
+                android:layout_weight="0.4"
+                android:paddingStart="8dp"
+                android:text="@string/confidence"
+                android:textColor="@android:color/white" />
+
+            <ImageView
+                android:id="@+id/minus_confidence"
+                android:layout_width="0dp"
+                android:layout_height="48dp"
+                android:layout_weight="0.3"
+                android:contentDescription="@string/minus"
+                android:src="@drawable/ic_baseline_remove" />
+
+            <TextView
+                android:id="@+id/confidence_value"
+                android:layout_width="0dp"
+                android:layout_height="wrap_content"
+                android:layout_weight="0.4"
+                android:gravity="center"
+                android:padding="4dp"
+                android:text="50%"
+                android:textColor="@android:color/white" />
+
+            <ImageView
+                android:id="@+id/plus_confidence"
+                android:layout_width="0dp"
+                android:layout_height="48dp"
+                android:layout_weight="0.3"
+                android:contentDescription="@string/plus"
+                android:src="@drawable/ic_baseline_add" />
+
+            <View
+                android:layout_width="0dp"
+                android:layout_height="match_parent"
+                android:layout_weight="0.6" />
+        </LinearLayout>
+
         <LinearLayout
             android:layout_width="match_parent"
             android:layout_height="wrap_content"

From 9e3c7c464b4422ae5fb1b6ba2a0b937a853def93 Mon Sep 17 00:00:00 2001
From: Yuan SY <ysyysyysy2006@qq.com>
Date: Mon, 6 Jul 2026 15:03:41 +0800
Subject: [PATCH 3/4] feat(crop): save detected person crops with metadata

---
 .../PersonCropCaptureConfig.java              |  11 ++
 .../PersonCropCollectorFragment.java          | 104 ++++++++++++-
 .../cropcollector/PersonCropSaver.java        | 142 ++++++++++++++++++
 .../cropcollector/PersonCropSession.java      |  79 ++++++++++
 4 files changed, 335 insertions(+), 1 deletion(-)
 create mode 100644 android/robot/src/main/java/org/openbot/cropcollector/PersonCropCaptureConfig.java
 create mode 100644 android/robot/src/main/java/org/openbot/cropcollector/PersonCropSaver.java
 create mode 100644 android/robot/src/main/java/org/openbot/cropcollector/PersonCropSession.java

diff --git a/android/robot/src/main/java/org/openbot/cropcollector/PersonCropCaptureConfig.java b/android/robot/src/main/java/org/openbot/cropcollector/PersonCropCaptureConfig.java
new file mode 100644
index 000000000..5cdf4c883
--- /dev/null
+++ b/android/robot/src/main/java/org/openbot/cropcollector/PersonCropCaptureConfig.java
@@ -0,0 +1,11 @@
+package org.openbot.cropcollector;
+
+public class PersonCropCaptureConfig {
+  public String personId = "";
+  public long intervalMs = 500;
+  public float minConfidence = 0.5f;
+  public boolean singlePersonOnly = true;
+  public float paddingRatio = 0.08f;
+  public int maxCrops = 120;
+  public int jpegQuality = 95;
+}
diff --git a/android/robot/src/main/java/org/openbot/cropcollector/PersonCropCollectorFragment.java b/android/robot/src/main/java/org/openbot/cropcollector/PersonCropCollectorFragment.java
index 8429c6f7b..fbbef50f1 100644
--- a/android/robot/src/main/java/org/openbot/cropcollector/PersonCropCollectorFragment.java
+++ b/android/robot/src/main/java/org/openbot/cropcollector/PersonCropCollectorFragment.java
@@ -57,6 +57,12 @@ public class PersonCropCollectorFragment extends CameraFragment {
   private long lastProcessingTimeMs = -1;
   private long frameNum = 0;
 
+  private final PersonCropCaptureConfig config = new PersonCropCaptureConfig();
+  private PersonCropSession currentSession = null;
+  private PersonCropSaver saver = null;
+  private boolean captureEnabled = false;
+  private long lastSaveTimeMs = 0;
+
   private final List<RectF> drawBoxes = new ArrayList<>();
   private int drawFrameWidth = 0;
   private int drawFrameHeight = 0;
@@ -114,6 +120,54 @@ public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceStat
     binding.statusText.setText(getString(R.string.person_crop_idle));
     binding.btnStart.setEnabled(true);
     binding.btnStop.setEnabled(false);
+
+    binding.btnStart.setOnClickListener(v -> startCapture());
+    binding.btnStop.setOnClickListener(v -> stopCapture());
+  }
+
+  private void startCapture() {
+    String personId = binding.personIdInput.getText().toString().trim();
+    if (personId.isEmpty()) {
+      Toast.makeText(requireContext(), "请输入 Person ID", Toast.LENGTH_SHORT).show();
+      return;
+    }
+
+    config.personId = personId;
+    config.minConfidence = minConfidence;
+
+    currentSession = new PersonCropSession(requireContext(), personId);
+    currentSession.initMetadataCsv();
+    currentSession.writeSessionInfo(config);
+
+    if (saver != null) {
+      saver.shutdown();
+    }
+    saver = new PersonCropSaver();
+    captureEnabled = true;
+    lastSaveTimeMs = 0;
+
+    binding.btnStart.setEnabled(false);
+    binding.btnStop.setEnabled(true);
+    binding.personIdInput.setEnabled(false);
+    binding.modelSpinner.setEnabled(false);
+    binding.statusText.setText("采集中: " + currentSession.sessionId);
+  }
+
+  private void stopCapture() {
+    captureEnabled = false;
+    if (saver != null) {
+      saver.shutdown();
+      saver = null;
+    }
+    int saved = currentSession != null ? currentSession.savedCount : 0;
+    int skipped = currentSession != null ? currentSession.skippedCount : 0;
+
+    binding.btnStart.setEnabled(true);
+    binding.btnStop.setEnabled(false);
+    binding.personIdInput.setEnabled(true);
+    binding.modelSpinner.setEnabled(true);
+    binding.statusText.setText(
+        String.format(Locale.US, "已停止: saved=%d skipped=%d", saved, skipped));
   }
 
   protected void onInferenceConfigurationChanged() {
@@ -187,6 +241,9 @@ public synchronized void onResume() {
 
   @Override
   public synchronized void onPause() {
+    if (captureEnabled) {
+      stopCapture();
+    }
     handlerThread.quitSafely();
     try {
       handlerThread.join();
@@ -252,6 +309,9 @@ protected void processFrame(Bitmap bitmap, ImageProxy image) {
             int frameH = getMaxAnalyseImageSize().getHeight();
             updateDrawState(mappedRecognitions, frameW, frameH, sensorOrientation);
             float fps = lastProcessingTimeMs > 0 ? 1000f / lastProcessingTimeMs : 0f;
+
+            handleCropCapture(workingFrame, mappedRecognitions);
+
             updateDebugInfo(mappedRecognitions.size(), fps);
             binding.trackingOverlay.postInvalidate();
           }
@@ -264,6 +324,44 @@ private void updateCropImageInfo() {
     recreateNetwork(getModel(), getDevice(), getNumThreads());
   }
 
+  private void handleCropCapture(Bitmap workingFrame, List<Detector.Recognition> persons) {
+    if (!captureEnabled || currentSession == null || saver == null) return;
+
+    long now = System.currentTimeMillis();
+    if (now - lastSaveTimeMs < config.intervalMs) return;
+
+    if (currentSession.savedCount >= config.maxCrops) {
+      requireActivity().runOnUiThread(() -> stopCapture());
+      return;
+    }
+
+    if (persons.isEmpty()) {
+      currentSession.skippedCount++;
+      return;
+    }
+
+    if (config.singlePersonOnly && persons.size() != 1) {
+      currentSession.skippedCount++;
+      return;
+    }
+
+    int numPersons = persons.size();
+    if (config.singlePersonOnly) {
+      int cropId = currentSession.savedCount + 1;
+      currentSession.savedCount = cropId;
+      saver.saveCropAsync(
+          workingFrame, persons.get(0), 0, numPersons, currentSession, config, frameNum, cropId);
+    } else {
+      for (int i = 0; i < numPersons; i++) {
+        int cropId = currentSession.savedCount + 1;
+        currentSession.savedCount = cropId;
+        saver.saveCropAsync(
+            workingFrame, persons.get(i), i, numPersons, currentSession, config, frameNum, cropId);
+      }
+    }
+    lastSaveTimeMs = now;
+  }
+
   private synchronized void updateDrawState(
       List<Detector.Recognition> persons, int frameW, int frameH, int sensorOrientation) {
     drawBoxes.clear();
@@ -307,11 +405,15 @@ private void drawOverlay(Canvas canvas) {
 
   private void updateDebugInfo(int persons, float fps) {
     if (binding == null) return;
+    int saved = currentSession != null ? currentSession.savedCount : 0;
+    int skipped = currentSession != null ? currentSession.skippedCount : 0;
     String info =
         String.format(
             Locale.US,
-            "persons=%d\nsaved=0\nskipped=0\nfps=%.1f",
+            "persons=%d\nsaved=%d\nskipped=%d\nfps=%.1f",
             persons,
+            saved,
+            skipped,
             fps);
     requireActivity().runOnUiThread(() -> binding.debugInfo.setText(info));
   }
diff --git a/android/robot/src/main/java/org/openbot/cropcollector/PersonCropSaver.java b/android/robot/src/main/java/org/openbot/cropcollector/PersonCropSaver.java
new file mode 100644
index 000000000..2db39ec8b
--- /dev/null
+++ b/android/robot/src/main/java/org/openbot/cropcollector/PersonCropSaver.java
@@ -0,0 +1,142 @@
+package org.openbot.cropcollector;
+
+import android.graphics.Bitmap;
+import android.graphics.RectF;
+import java.io.File;
+import java.io.FileOutputStream;
+import java.io.FileWriter;
+import java.io.IOException;
+import java.util.Locale;
+import java.util.concurrent.ExecutorService;
+import java.util.concurrent.Executors;
+import org.openbot.tflite.Detector.Recognition;
+import timber.log.Timber;
+
+public class PersonCropSaver {
+
+  private final ExecutorService executor = Executors.newSingleThreadExecutor();
+
+  public void saveCropAsync(
+      Bitmap frame,
+      Recognition person,
+      int personIndex,
+      int numPersons,
+      PersonCropSession session,
+      PersonCropCaptureConfig config,
+      long frameNum,
+      int cropId) {
+    RectF bbox = person.getLocation();
+    if (bbox == null || frame == null) {
+      session.skippedCount++;
+      return;
+    }
+
+    float padX = bbox.width() * config.paddingRatio;
+    float padY = bbox.height() * config.paddingRatio;
+    int left = clamp((int) (bbox.left - padX), 0, frame.getWidth() - 1);
+    int top = clamp((int) (bbox.top - padY), 0, frame.getHeight() - 1);
+    int right = clamp((int) (bbox.right + padX), left + 1, frame.getWidth());
+    int bottom = clamp((int) (bbox.bottom + padY), top + 1, frame.getHeight());
+    int w = right - left;
+    int h = bottom - top;
+    if (w <= 0 || h <= 0) {
+      session.skippedCount++;
+      return;
+    }
+
+    final Bitmap crop;
+    try {
+      crop = Bitmap.createBitmap(frame, left, top, w, h);
+    } catch (Exception e) {
+      session.skippedCount++;
+      return;
+    }
+
+    final int imgW = frame.getWidth();
+    final int imgH = frame.getHeight();
+    final boolean edgeTouch = left == 0 || top == 0 || right == imgW || bottom == imgH;
+    final RectF bboxCopy = new RectF(bbox);
+    final float confidence = person.getConfidence() == null ? 0f : person.getConfidence();
+
+    executor.execute(
+        () -> {
+          String filename =
+              String.format(Locale.US, "%06d_person%d_conf%.2f.jpg", cropId, personIndex, confidence);
+          File cropFile = new File(session.cropsDir, filename);
+
+          try (FileOutputStream fos = new FileOutputStream(cropFile)) {
+            crop.compress(Bitmap.CompressFormat.JPEG, config.jpegQuality, fos);
+          } catch (IOException e) {
+            Timber.e(e, "Failed to save crop");
+          } finally {
+            crop.recycle();
+          }
+
+          appendMetadataCsv(
+              session,
+              config,
+              personIndex,
+              numPersons,
+              cropId,
+              frameNum,
+              filename,
+              bboxCopy,
+              imgW,
+              imgH,
+              confidence,
+              edgeTouch);
+        });
+  }
+
+  private void appendMetadataCsv(
+      PersonCropSession session,
+      PersonCropCaptureConfig config,
+      int personIndex,
+      int numPersons,
+      int cropId,
+      long frameNum,
+      String filename,
+      RectF bbox,
+      int imgW,
+      int imgH,
+      float confidence,
+      boolean edgeTouch) {
+    String cropPath = "crops/" + filename;
+    String row =
+        String.format(
+            Locale.US,
+            "%s,%s,%d,%d,%d,%s,%d,%d,%.4f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%d,%d,%s,%s\n",
+            session.sessionId,
+            config.personId,
+            frameNum,
+            cropId,
+            System.currentTimeMillis(),
+            cropPath,
+            numPersons,
+            personIndex,
+            confidence,
+            bbox.left,
+            bbox.top,
+            bbox.right,
+            bbox.bottom,
+            bbox.width(),
+            bbox.height(),
+            imgW,
+            imgH,
+            edgeTouch ? "1" : "0",
+            "single_person_valid");
+    try (FileWriter writer = new FileWriter(session.metadataCsv, true)) {
+      writer.append(row);
+    } catch (IOException e) {
+      Timber.e(e, "Failed to append metadata.csv");
+    }
+  }
+
+  public void shutdown() {
+    executor.shutdown();
+  }
+
+  private static int clamp(int v, int lo, int hi) {
+    return v < lo ? lo : (v > hi ? hi : v);
+  }
+}
diff --git a/android/robot/src/main/java/org/openbot/cropcollector/PersonCropSession.java b/android/robot/src/main/java/org/openbot/cropcollector/PersonCropSession.java
new file mode 100644
index 000000000..f0c3061be
--- /dev/null
+++ b/android/robot/src/main/java/org/openbot/cropcollector/PersonCropSession.java
@@ -0,0 +1,79 @@
+package org.openbot.cropcollector;
+
+import android.content.Context;
+import android.os.Environment;
+import android.util.Log;
+import java.io.File;
+import java.io.FileWriter;
+import java.io.IOException;
+import java.text.SimpleDateFormat;
+import java.util.Date;
+import java.util.Locale;
+import org.json.JSONException;
+import org.json.JSONObject;
+
+public class PersonCropSession {
+
+  private static final String TAG = "PersonCropSession";
+
+  private static final String CSV_HEADER =
+      "session_id,person_id,frame_id,crop_id,timestamp_ms,crop_path,num_persons,person_index,"
+          + "confidence,bbox_left,bbox_top,bbox_right,bbox_bottom,bbox_width,bbox_height,"
+          + "image_width,image_height,edge_touch,save_reason";
+
+  public final String sessionId;
+  public final String personId;
+  public final File sessionDir;
+  public final File cropsDir;
+  public final File metadataCsv;
+  public int savedCount = 0;
+  public int skippedCount = 0;
+
+  public PersonCropSession(Context context, String personId) {
+    this.personId = personId;
+    String timestamp = new SimpleDateFormat("yyyyMMdd_HHmmss", Locale.US).format(new Date());
+    this.sessionId = personId + "_" + timestamp;
+
+    File baseDir =
+        new File(
+            context.getExternalFilesDir(Environment.DIRECTORY_PICTURES), "cartfollow_crops");
+    this.sessionDir = new File(baseDir, sessionId);
+    this.cropsDir = new File(sessionDir, "crops");
+    this.cropsDir.mkdirs();
+    this.metadataCsv = new File(sessionDir, "metadata.csv");
+  }
+
+  public void initMetadataCsv() {
+    try (FileWriter writer = new FileWriter(metadataCsv, false)) {
+      writer.append(CSV_HEADER).append('\n');
+    } catch (IOException e) {
+      Log.e(TAG, "Failed to init metadata.csv", e);
+    }
+  }
+
+  public void writeSessionInfo(PersonCropCaptureConfig config) {
+    JSONObject json = new JSONObject();
+    try {
+      json.put("session_id", sessionId);
+      json.put("person_id", personId);
+      json.put("created_at", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss", Locale.US).format(new Date()));
+      json.put("capture_interval_ms", config.intervalMs);
+      json.put("min_confidence", config.minConfidence);
+      json.put("single_person_only", config.singlePersonOnly);
+      json.put("bbox_padding_ratio", config.paddingRatio);
+      json.put("max_crops", config.maxCrops);
+      json.put("jpeg_quality", config.jpegQuality);
+      json.put("app_mode", "PersonCropCollector");
+    } catch (JSONException e) {
+      Log.e(TAG, "Failed to build session_info.json", e);
+      return;
+    }
+
+    File infoFile = new File(sessionDir, "session_info.json");
+    try (FileWriter writer = new FileWriter(infoFile, false)) {
+      writer.write(json.toString(2));
+    } catch (IOException | JSONException e) {
+      Log.e(TAG, "Failed to write session_info.json", e);
+    }
+  }
+}

From 6d9aa5f8c5d24f9900e463a11f712285b05d69ad Mon Sep 17 00:00:00 2001
From: Yuan SY <ysyysyysy2006@qq.com>
Date: Mon, 6 Jul 2026 15:09:22 +0800
Subject: [PATCH 4/4] feat(crop): add capture controls and status panel

---
 .../PersonCropCollectorFragment.java          | 25 ++++++++-
 .../layout/fragment_person_crop_collector.xml | 55 +++++++++++++++++++
 2 files changed, 79 insertions(+), 1 deletion(-)

diff --git a/android/robot/src/main/java/org/openbot/cropcollector/PersonCropCollectorFragment.java b/android/robot/src/main/java/org/openbot/cropcollector/PersonCropCollectorFragment.java
index fbbef50f1..f711412f1 100644
--- a/android/robot/src/main/java/org/openbot/cropcollector/PersonCropCollectorFragment.java
+++ b/android/robot/src/main/java/org/openbot/cropcollector/PersonCropCollectorFragment.java
@@ -121,6 +121,22 @@ public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceStat
     binding.btnStart.setEnabled(true);
     binding.btnStop.setEnabled(false);
 
+    binding.intervalValue.setText(config.intervalMs + "ms");
+    binding.minusInterval.setOnClickListener(
+        v -> {
+          if (config.intervalMs <= 100) return;
+          config.intervalMs -= 100;
+          binding.intervalValue.setText(config.intervalMs + "ms");
+        });
+    binding.plusInterval.setOnClickListener(
+        v -> {
+          if (config.intervalMs >= 2000) return;
+          config.intervalMs += 100;
+          binding.intervalValue.setText(config.intervalMs + "ms");
+        });
+    binding.singlePersonSwitch.setOnCheckedChangeListener(
+        (buttonView, isChecked) -> config.singlePersonOnly = isChecked);
+
     binding.btnStart.setOnClickListener(v -> startCapture());
     binding.btnStop.setOnClickListener(v -> stopCapture());
   }
@@ -150,6 +166,9 @@ private void startCapture() {
     binding.btnStop.setEnabled(true);
     binding.personIdInput.setEnabled(false);
     binding.modelSpinner.setEnabled(false);
+    binding.minusInterval.setEnabled(false);
+    binding.plusInterval.setEnabled(false);
+    binding.singlePersonSwitch.setEnabled(false);
     binding.statusText.setText("采集中: " + currentSession.sessionId);
   }
 
@@ -161,13 +180,17 @@ private void stopCapture() {
     }
     int saved = currentSession != null ? currentSession.savedCount : 0;
     int skipped = currentSession != null ? currentSession.skippedCount : 0;
+    String path = currentSession != null ? currentSession.sessionDir.getAbsolutePath() : "";
 
     binding.btnStart.setEnabled(true);
     binding.btnStop.setEnabled(false);
     binding.personIdInput.setEnabled(true);
     binding.modelSpinner.setEnabled(true);
+    binding.minusInterval.setEnabled(true);
+    binding.plusInterval.setEnabled(true);
+    binding.singlePersonSwitch.setEnabled(true);
     binding.statusText.setText(
-        String.format(Locale.US, "已停止: saved=%d skipped=%d", saved, skipped));
+        String.format(Locale.US, "已停止: saved=%d skipped=%d\n%s", saved, skipped, path));
   }
 
   protected void onInferenceConfigurationChanged() {
diff --git a/android/robot/src/main/res/layout/fragment_person_crop_collector.xml b/android/robot/src/main/res/layout/fragment_person_crop_collector.xml
index c1f93c57c..d427cee79 100644
--- a/android/robot/src/main/res/layout/fragment_person_crop_collector.xml
+++ b/android/robot/src/main/res/layout/fragment_person_crop_collector.xml
@@ -125,6 +125,61 @@
                 android:layout_weight="0.6" />
         </LinearLayout>
 
+        <LinearLayout
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:gravity="center_vertical"
+            android:orientation="horizontal">
+
+            <TextView
+                android:layout_width="0dp"
+                android:layout_height="wrap_content"
+                android:layout_weight="0.4"
+                android:paddingStart="8dp"
+                android:text="Interval:"
+                android:textColor="@android:color/white" />
+
+            <ImageView
+                android:id="@+id/minus_interval"
+                android:layout_width="0dp"
+                android:layout_height="40dp"
+                android:layout_weight="0.3"
+                android:contentDescription="@string/minus"
+                android:src="@drawable/ic_baseline_remove" />
+
+            <TextView
+                android:id="@+id/interval_value"
+                android:layout_width="0dp"
+                android:layout_height="wrap_content"
+                android:layout_weight="0.4"
+                android:gravity="center"
+                android:padding="4dp"
+                android:text="500ms"
+                android:textColor="@android:color/white" />
+
+            <ImageView
+                android:id="@+id/plus_interval"
+                android:layout_width="0dp"
+                android:layout_height="40dp"
+                android:layout_weight="0.3"
+                android:contentDescription="@string/plus"
+                android:src="@drawable/ic_baseline_add" />
+
+            <View
+                android:layout_width="0dp"
+                android:layout_height="match_parent"
+                android:layout_weight="0.2" />
+
+            <androidx.appcompat.widget.SwitchCompat
+                android:id="@+id/single_person_switch"
+                android:layout_width="0dp"
+                android:layout_height="wrap_content"
+                android:layout_weight="1.2"
+                android:checked="true"
+                android:text="Single Only"
+                android:textColor="@android:color/white" />
+        </LinearLayout>
+
         <LinearLayout
             android:layout_width="match_parent"
             android:layout_height="wrap_content"