Render predictions to browser
This commit is contained in:
Ruben van de Ven
parent
9ba283ca9b
commit
ee57604b30
4 changed files with 90 additions and 57 deletions
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@ -13,12 +13,6 @@ def start():
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logging.basicConfig(
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level=loglevel,
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)
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# rootLogger = logging.getLogger()
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# rootLogger.setLevel(loglevel)
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movement_q = Queue()
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prediction_q = Queue()
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# instantiating process with arguments
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procs = [
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@ -26,7 +20,7 @@ def start():
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]
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if not args.bypass_prediction:
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procs.append(
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Process(target=run_inference_server, args=(args, movement_q, prediction_q)),
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Process(target=run_inference_server, args=(args,)),
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)
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logger.info("start")
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@ -9,13 +9,13 @@ import dill
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import random
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import pathlib
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import numpy as np
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import trajectron.visualization as vis
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from trajectron.utils import prediction_output_to_trajectories
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from trajectron.model.online.online_trajectron import OnlineTrajectron
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from trajectron.model.model_registrar import ModelRegistrar
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from trajectron.environment import Environment, Scene
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import matplotlib.pyplot as plt
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import zmq
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logger = logging.getLogger("trajpred.inference")
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@ -102,10 +102,17 @@ def get_maps_for_input(input_dict, scene, hyperparams):
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class InferenceServer:
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def __init__(self, config: dict, movement_q: Queue, prediction_q: Queue):
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def __init__(self, config: dict):
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self.config = config
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self.movement_q = movement_q
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self.prediction_q = prediction_q
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context = zmq.Context()
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self.trajectory_socket: zmq.Socket = context.socket(zmq.SUB)
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self.trajectory_socket.connect(config.zmq_trajectory_addr)
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self.trajectory_socket.setsockopt(zmq.SUBSCRIBE, b'')
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self.prediction_socket: zmq.Socket = context.socket(zmq.PUB)
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self.prediction_socket.bind(config.zmq_prediction_addr)
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print(self.prediction_socket)
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def run(self):
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@ -153,7 +160,7 @@ class InferenceServer:
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for scene in eval_env.scenes:
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scene.add_robot_from_nodes(eval_env.robot_type)
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print('Loaded data from %s' % (self.config.eval_data_dict,))
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logger.info('Loaded data from %s' % (self.config.eval_data_dict,))
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# Creating a dummy environment with a single scene that contains information about the world.
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# When using this code, feel free to use whichever scene index or initial timestep you wish.
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@ -204,53 +211,60 @@ class InferenceServer:
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robot_present_and_future=robot_present_and_future,
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full_dist=True)
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end = time.time()
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print("t=%d: took %.2f s (= %.2f Hz) w/ %d nodes and %d edges" % (timestep, end - start,
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logger.info("t=%d: took %.2f s (= %.2f Hz) w/ %d nodes and %d edges" % (timestep, end - start,
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1. / (end - start), len(trajectron.nodes),
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trajectron.scene_graph.get_num_edges()))
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detailed_preds_dict = dict()
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for node in eval_scene.nodes:
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if node in preds:
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detailed_preds_dict[node] = preds[node]
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# unsure what this bit from online_prediction.py does:
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# detailed_preds_dict = dict()
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# for node in eval_scene.nodes:
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# if node in preds:
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# detailed_preds_dict[node] = preds[node]
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fig = plt.figure(figsize=(10,10))
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ax = fig.gca()
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# fig, ax = plt.subplots()
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#adapted from trajectron.visualization
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# prediction_dict provides the actual predictions
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# histories_dict provides the trajectory used for prediction
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# futures_dict is the Ground Truth, which is unvailable in an online setting
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prediction_dict, histories_dict, futures_dict = prediction_output_to_trajectories({timestep: preds},
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eval_scene.dt,
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hyperparams['maximum_history_length'],
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hyperparams['prediction_horizon']
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)
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assert(len(prediction_dict.keys()) <= 1)
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if len(prediction_dict.keys()) == 0:
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return
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ts_key = list(prediction_dict.keys())[0]
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prediction_dict = prediction_dict[ts_key]
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histories_dict = histories_dict[ts_key]
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futures_dict = futures_dict[ts_key]
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response = {}
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# vis.visualize_distribution(ax,
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# dists)
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vis.visualize_prediction(ax,
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{timestep: preds},
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eval_scene.dt,
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hyperparams['maximum_history_length'],
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hyperparams['prediction_horizon'])
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for node in histories_dict:
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history = histories_dict[node]
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# future = futures_dict[node]
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predictions = prediction_dict[node]
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if eval_scene.robot is not None and hyperparams['incl_robot_node']:
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robot_for_plotting = eval_scene.robot.get(np.array([timestep,
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timestep + hyperparams['prediction_horizon']]),
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hyperparams['state'][eval_scene.robot.type])
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# robot_for_plotting += adjustment
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if np.isnan(history[-1]).any():
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continue
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ax.plot(robot_for_plotting[1:, 1], robot_for_plotting[1:, 0],
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color='r',
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linewidth=1.0, alpha=1.0)
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response[node.id] = {
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'id': node.id,
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'history': history.tolist(),
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'predictions': predictions[0].tolist() # use batch 0
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}
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# Current Node Position
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circle = plt.Circle((robot_for_plotting[0, 1],
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robot_for_plotting[0, 0]),
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0.3,
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facecolor='r',
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edgecolor='k',
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lw=0.5,
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zorder=3)
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ax.add_artist(circle)
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data = json.dumps(response)
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self.prediction_socket.send_string(data)
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# time.sleep(1)
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# print(prediction_dict)
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# print(histories_dict)
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# print(futures_dict)
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ax.set_xlim(-10,10)
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ax.set_ylim(-10,10)
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fig.suptitle(f"frame {timestep:04d}")
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fig.savefig(os.path.join(output_save_dir, f'pred_{timestep:04d}.png'))
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plt.close(fig)
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def run_inference_server(config, movement_q: Queue, prediction_q: Queue):
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s = InferenceServer(config, movement_q, prediction_q)
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def run_inference_server(config):
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s = InferenceServer(config)
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s.run()
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@ -108,7 +108,7 @@ class WsRouter:
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context = zmq.asyncio.Context()
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self.trajectory_socket = context.socket(zmq.PUB)
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self.trajectory_socket.bind(config.zmq_prediction_addr if config.bypass_prediction else config.zmq_trajection_addr)
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self.trajectory_socket.bind(config.zmq_prediction_addr if config.bypass_prediction else config.zmq_trajectory_addr)
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self.prediction_socket = context.socket(zmq.SUB)
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self.prediction_socket.connect(config.zmq_prediction_addr)
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@ -154,7 +154,7 @@ class WsRouter:
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logger.info("Starting prediction forwarder")
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while True:
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msg = await self.prediction_socket.recv_string()
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logger.info("Forward: ")
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logger.debug(f"Forward prediction message of {len(msg)} chars")
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WebSocketPredictionHandler.write_to_clients(msg)
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def run_ws_forwarder(config: Namespace):
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@ -23,6 +23,11 @@
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</canvas>
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<script>
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// minified https://github.com/joewalnes/reconnecting-websocket
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!function(a,b){"function"==typeof define&&define.amd?define([],b):"undefined"!=typeof module&&module.exports?module.exports=b():a.ReconnectingWebSocket=b()}(this,function(){function a(b,c,d){function l(a,b){var c=document.createEvent("CustomEvent");return c.initCustomEvent(a,!1,!1,b),c}var e={debug:!1,automaticOpen:!0,reconnectInterval:1e3,maxReconnectInterval:3e4,reconnectDecay:1.5,timeoutInterval:2e3};d||(d={});for(var f in e)this[f]="undefined"!=typeof d[f]?d[f]:e[f];this.url=b,this.reconnectAttempts=0,this.readyState=WebSocket.CONNECTING,this.protocol=null;var h,g=this,i=!1,j=!1,k=document.createElement("div");k.addEventListener("open",function(a){g.onopen(a)}),k.addEventListener("close",function(a){g.onclose(a)}),k.addEventListener("connecting",function(a){g.onconnecting(a)}),k.addEventListener("message",function(a){g.onmessage(a)}),k.addEventListener("error",function(a){g.onerror(a)}),this.addEventListener=k.addEventListener.bind(k),this.removeEventListener=k.removeEventListener.bind(k),this.dispatchEvent=k.dispatchEvent.bind(k),this.open=function(b){h=new WebSocket(g.url,c||[]),b||k.dispatchEvent(l("connecting")),(g.debug||a.debugAll)&&console.debug("ReconnectingWebSocket","attempt-connect",g.url);var d=h,e=setTimeout(function(){(g.debug||a.debugAll)&&console.debug("ReconnectingWebSocket","connection-timeout",g.url),j=!0,d.close(),j=!1},g.timeoutInterval);h.onopen=function(){clearTimeout(e),(g.debug||a.debugAll)&&console.debug("ReconnectingWebSocket","onopen",g.url),g.protocol=h.protocol,g.readyState=WebSocket.OPEN,g.reconnectAttempts=0;var d=l("open");d.isReconnect=b,b=!1,k.dispatchEvent(d)},h.onclose=function(c){if(clearTimeout(e),h=null,i)g.readyState=WebSocket.CLOSED,k.dispatchEvent(l("close"));else{g.readyState=WebSocket.CONNECTING;var d=l("connecting");d.code=c.code,d.reason=c.reason,d.wasClean=c.wasClean,k.dispatchEvent(d),b||j||((g.debug||a.debugAll)&&console.debug("ReconnectingWebSocket","onclose",g.url),k.dispatchEvent(l("close")));var e=g.reconnectInterval*Math.pow(g.reconnectDecay,g.reconnectAttempts);setTimeout(function(){g.reconnectAttempts++,g.open(!0)},e>g.maxReconnectInterval?g.maxReconnectInterval:e)}},h.onmessage=function(b){(g.debug||a.debugAll)&&console.debug("ReconnectingWebSocket","onmessage",g.url,b.data);var c=l("message");c.data=b.data,k.dispatchEvent(c)},h.onerror=function(b){(g.debug||a.debugAll)&&console.debug("ReconnectingWebSocket","onerror",g.url,b),k.dispatchEvent(l("error"))}},1==this.automaticOpen&&this.open(!1),this.send=function(b){if(h)return(g.debug||a.debugAll)&&console.debug("ReconnectingWebSocket","send",g.url,b),h.send(b);throw"INVALID_STATE_ERR : Pausing to reconnect websocket"},this.close=function(a,b){"undefined"==typeof a&&(a=1e3),i=!0,h&&h.close(a,b)},this.refresh=function(){h&&h.close()}}return a.prototype.onopen=function(){},a.prototype.onclose=function(){},a.prototype.onconnecting=function(){},a.prototype.onmessage=function(){},a.prototype.onerror=function(){},a.debugAll=!1,a.CONNECTING=WebSocket.CONNECTING,a.OPEN=WebSocket.OPEN,a.CLOSING=WebSocket.CLOSING,a.CLOSED=WebSocket.CLOSED,a});
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</script>
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<script>
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// map the field to coordinates of our dummy tracker
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const field_range = { x: [-10, 10], y: [-10, 10] }
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@ -57,9 +62,12 @@
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function position_to_canvas_coordinate(position) {
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const x_range = field_range.x[1] - field_range.x[0]
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const y_range = field_range.y[1] - field_range.y[0]
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const x = Array.isArray(position) ? position[0] : position.x;
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const y = Array.isArray(position) ? position[1] : position.y;
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return {
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x: (position.x - field_range.x[0]) * fieldEl.width / x_range,
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y: (position.y - field_range.y[0]) * fieldEl.width / y_range,
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x: (x - field_range.x[0]) * fieldEl.width / x_range,
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y: (y - field_range.y[0]) * fieldEl.width / y_range,
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}
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}
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@ -110,6 +118,7 @@
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function drawFrame() {
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ctx.clearRect(0, 0, fieldEl.width, fieldEl.height);
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ctx.save();
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for (let id in current_data) {
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const person = current_data[id];
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if (person.history.length > 1) {
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@ -121,7 +130,7 @@
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5, //radius
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0, 2 * Math.PI);
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ctx.fill()
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ctx.beginPath()
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ctx.lineWidth = 3;
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ctx.strokeStyle = "#325FA2";
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@ -132,6 +141,22 @@
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}
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ctx.stroke();
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}
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if(person.hasOwnProperty('predictions') && person.predictions.length > 0) {
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// multiple predictions can be sampled
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person.predictions.forEach((prediction, i) => {
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ctx.beginPath()
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ctx.lineWidth = i === 1 ? 3 : 0.2;
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ctx.strokeStyle = i === 1 ? "#ff0000" : "#ccaaaa";
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// start from current position:
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ctx.moveTo(...coord_as_list(position_to_canvas_coordinate(person.history[person.history.length - 1])));
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for (const position of prediction) {
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ctx.lineTo(...coord_as_list(position_to_canvas_coordinate(position)))
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}
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ctx.stroke();
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});
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}
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}
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ctx.restore();
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