Loglvl

Note that this does require rerunning the `process_data.py` scripts in the example folders so that the dill-files are updated.

.python-version

@@ -0,0 +1 @@
+3.10.4

experiments/pedestrians/evaluate.py

@@ -7,11 +7,11 @@ import torch
 import numpy as np
 import pandas as pd
 
-sys.path.append("../../trajectron")
+sys.path.append("../../")
 from tqdm import tqdm
-from model.model_registrar import ModelRegistrar
+from trajectron.model.model_registrar import ModelRegistrar
-from model.trajectron import Trajectron
+from trajectron.model.trajectron import Trajectron
-import evaluation
+import trajectron.evaluation as evaluation
 
 seed = 0
 np.random.seed(seed)

experiments/pedestrians/process_data.py

@@ -4,10 +4,10 @@ import numpy as np
 import pandas as pd
 import dill
 
-sys.path.append("../../trajectron")
+sys.path.append("../../")
-from environment import Environment, Scene, Node
+from trajectron.environment import Environment, Scene, Node
-from utils import maybe_makedirs
+from trajectron.utils import maybe_makedirs
-from environment import derivative_of
+from trajectron.environment import derivative_of
 
 desired_max_time = 100
 pred_indices = [2, 3]

pyproject.toml

@@ -0,0 +1,50 @@
+[tool.poetry]
+name = "Trajectron-plus-plus"
+version = "0.1.0"
+description = "Predict trajectories for anomaly detection"
+authors = ["Ruben van de Ven <git@rubenvandeven.com>"]
+readme = "README.md"
+
+[tool.poetry.dependencies]
+python = "^3.9,<3.12"
+numpy = "^1.24.3"
+opencv-python = "^4.7.0.72"
+ipykernel = "^6.22.0"
+torch = [
+	{ version="1.12.1" },
+#	{ url = "https://download.pytorch.org/whl/cu113/torch-1.12.1%2Bcu113-cp38-cp38-linux_x86_64.whl", markers = "python_version ~= '3.8' and sys_platform == 'linux'" },
+	{ url = "https://download.pytorch.org/whl/cu113/torch-1.12.1%2Bcu113-cp310-cp310-linux_x86_64.whl", markers = "python_version ~= '3.10' and sys_platform == 'linux'" },
+]
+#torchvision = [
+#	{ version="0.13.1" },
+#	{ url = "https://download.pytorch.org/whl/cu113/torchvision-0.13.1%2Bcu113-cp38-cp38-linux_x86_64.whl", markers = "python_version ~= '3.8' and sys_platform == 'linux'" },
+#	{ url = "https://download.pytorch.org/whl/cu113/torchvision-0.13.1%2Bcu113-cp310-cp310-linux_x86_64.whl", markers = "python_version ~= '3.10' and sys_platform == 'linux'" },
+#]
+
+#av = "^10.0.0"
+matplotlib = "^3.5"
+#numba = "^0.57.0"
+#scikit-image = "^0.20.0"
+#scikit-learn = "0.22.1"
+#filterpy = "^1.4.5"
+tqdm = "^4.65.0"
+#ipywidgets = "^8.0.6"
+#deep-sort-realtime = "^1.3.2"
+scipy = "^1.11.3"
+pandas = "^2.1.1"
+orjson = "^3.9.7"
+nuscenes-devkit = "^1.1.11"
+pyquaternion = "^0.9.9"
+dill = "^0.3.7"
+ncls = "^0.0.68"
+notebook = "^7.0.4"
+scikit-learn = "^1.3.1"
+seaborn = "^0.13.0"
+setuptools = "^68.2.2"
+tensorboard = "1.14"
+tensorboardx = "^2.6.2.2"
+
+
+[build-system]
+requires = ["poetry-core"]
+build-backend = "poetry.core.masonry.api"

run_server.py

@@ -0,0 +1,5 @@
+from trajpred import plumber
+
+if __name__ == "__main__":
+    plumber.start()
+

test_online.py

@@ -5,13 +5,12 @@ import torch
 import dill
 import random
 import pathlib
-import evaluation
 import numpy as np
-import visualization as vis
+import trajectron.visualization as vis
-from argument_parser import args
+from trajectron.argument_parser import args
-from model.online.online_trajectron import OnlineTrajectron
+from trajectron.model.online.online_trajectron import OnlineTrajectron
-from model.model_registrar import ModelRegistrar
+from trajectron.model.model_registrar import ModelRegistrar
-from environment import Environment, Scene
+from trajectron.environment import Environment, Scene
 import matplotlib.pyplot as plt
 
 if not torch.cuda.is_available() or args.device == 'cpu':

trajectron/environment/data_structures.py

@@ -1,6 +1,7 @@
 import numpy as np
 import pandas as pd
-from collections import Sequence, OrderedDict
+from collections.abc import Sequence
+from collections import OrderedDict
 
 
 class RingBuffer(Sequence):

trajectron/environment/map.py

@@ -1,6 +1,6 @@
 import torch
 import numpy as np
-from model.dataset.homography_warper import get_rotation_matrix2d, warp_affine_crop
+from trajectron.model.dataset.homography_warper import get_rotation_matrix2d, warp_affine_crop
 
 
 class Map(object):

trajectron/environment/node.py

@@ -1,7 +1,7 @@
 import random
 import numpy as np
 import pandas as pd
-from environment import DoubleHeaderNumpyArray
+from trajectron.environment import DoubleHeaderNumpyArray
 from ncls import NCLS
 
 

trajectron/environment/scene_graph.py

@@ -135,10 +135,10 @@ class TemporalSceneGraph(object):
         position_cube = np.full((total_timesteps, N, 2), np.nan)
 
         adj_cube = np.zeros((total_timesteps, N, N), dtype=np.int8)
-        dist_cube = np.zeros((total_timesteps, N, N), dtype=np.float)
+        dist_cube = np.zeros((total_timesteps, N, N), dtype=float)
 
         node_type_mat = np.zeros((N, N), dtype=np.int8)
-        node_attention_mat = np.zeros((N, N), dtype=np.float)
+        node_attention_mat = np.zeros((N, N), dtype=float)
 
         for node_idx, node in enumerate(nodes):
             if online:

trajectron/evaluation/evaluation.py

@@ -2,8 +2,8 @@ import numpy as np
 from scipy.interpolate import RectBivariateSpline
 from scipy.ndimage import binary_dilation
 from scipy.stats import gaussian_kde
-from utils import prediction_output_to_trajectories
+from trajectron.utils import prediction_output_to_trajectories
-import visualization
+import trajectron.visualization
 from matplotlib import pyplot as plt
 
 

trajectron/model/components/discrete_latent.py

@@ -1,7 +1,7 @@
 import torch
 import torch.distributions as td
 import numpy as np
-from model.model_utils import ModeKeys
+from trajectron.model.model_utils import ModeKeys
 
 
 class DiscreteLatent(object):

trajectron/model/components/gmm2d.py

@@ -1,7 +1,7 @@
 import torch
 import torch.distributions as td
 import numpy as np
-from model.model_utils import to_one_hot
+from trajectron.model.model_utils import to_one_hot
 
 
 class GMM2D(td.Distribution):

trajectron/model/dynamics/linear.py

@@ -1,4 +1,4 @@
-from model.dynamics import Dynamic
+from trajectron.model.dynamics import Dynamic
 
 
 class Linear(Dynamic):

trajectron/model/dynamics/single_integrator.py

@@ -1,7 +1,7 @@
 import torch
-from model.dynamics import Dynamic
+from trajectron.model.dynamics import Dynamic
-from utils import block_diag
+from trajectron.utils import block_diag
-from model.components import GMM2D
+from trajectron.model.components import GMM2D
 
 
 class SingleIntegrator(Dynamic):

trajectron/model/dynamics/unicycle.py

@@ -1,8 +1,8 @@
 import torch
 import torch.nn as nn
-from model.dynamics import Dynamic
+from trajectron.model.dynamics import Dynamic
-from utils import block_diag
+from trajectron.utils import block_diag
-from model.components import GMM2D
+from trajectron.model.components import GMM2D
 
 
 class Unicycle(Dynamic):

trajectron/model/mgcvae.py

@@ -2,10 +2,10 @@ import warnings
 import torch.nn as nn
 import torch.nn.functional as F
 import torch.optim as optim
-from model.components import *
+from trajectron.model.components import *
-from model.model_utils import *
+from trajectron.model.model_utils import *
-import model.dynamics as dynamic_module
+import trajectron.model.dynamics as dynamic_module
-from environment.scene_graph import DirectedEdge
+from trajectron.environment.scene_graph import DirectedEdge
 
 
 class MultimodalGenerativeCVAE(object):

trajectron/model/model_registrar.py

@@ -1,11 +1,23 @@
 import os
 import torch
 import torch.nn as nn
-
+import pickle
 
 def get_model_device(model):
     return next(model.parameters()).device
 
+class PickleModuleCompatibility:
+  '''
+  Migrating Trajectron++ to a module structure
+  while maintaining compatibility with models generated
+  before the migration
+  ''' 
+  class Unpickler(pickle.Unpickler): 
+    def find_class(self, module, name):
+         if module == 'model' or module[:6] == 'model.':
+             module = 'trajectron.' + module
+         return super().find_class(module, name)
+
 
 class ModelRegistrar(nn.Module):
     def __init__(self, model_dir, device):
@@ -65,7 +77,7 @@ class ModelRegistrar(nn.Module):
 
         print('')
         print('Loading from ' + save_path)
-        self.model_dict = torch.load(save_path, map_location=self.device)
+        self.model_dict = torch.load(save_path, map_location=self.device, pickle_module=PickleModuleCompatibility)
         print('Loaded!')
         print('')
 

trajectron/model/online/online_mgcvae.py

@@ -4,13 +4,13 @@ import torch.nn as nn
 import torch.nn.functional as F
 import numpy as np
 from collections import defaultdict, Counter
-from model.components import *
+from trajectron.model.components import *
-from model.model_utils import *
+from trajectron.model.model_utils import *
-from model.dataset import get_relative_robot_traj
+from trajectron.model.dataset import get_relative_robot_traj
-import model.dynamics as dynamic_module
+import trajectron.model.dynamics as dynamic_module
-from model.mgcvae import MultimodalGenerativeCVAE
+from trajectron.model.mgcvae import MultimodalGenerativeCVAE
-from environment.scene_graph import DirectedEdge
+from trajectron.environment.scene_graph import DirectedEdge
-from environment.node_type import NodeType
+from trajectron.environment.node_type import NodeType
 
 
 class OnlineMultimodalGenerativeCVAE(MultimodalGenerativeCVAE):

trajectron/model/online/online_trajectron.py

@@ -1,10 +1,10 @@
 import torch
 import numpy as np
 from collections import Counter
-from model.trajectron import Trajectron
+from trajectron.model.trajectron import Trajectron
-from model.online.online_mgcvae import OnlineMultimodalGenerativeCVAE
+from trajectron.model.online.online_mgcvae import OnlineMultimodalGenerativeCVAE
-from model.model_utils import ModeKeys
+from trajectron.model.model_utils import ModeKeys
-from environment import RingBuffer, TemporalSceneGraph, SceneGraph, derivative_of
+from trajectron.environment import RingBuffer, TemporalSceneGraph, SceneGraph, derivative_of
 
 
 class OnlineTrajectron(Trajectron):

trajectron/model/trajectron.py

@@ -1,7 +1,7 @@
 import torch
 import numpy as np
-from model.mgcvae import MultimodalGenerativeCVAE
+from trajectron.model.mgcvae import MultimodalGenerativeCVAE
-from model.dataset import get_timesteps_data, restore
+from trajectron.model.dataset import get_timesteps_data, restore
 
 
 class Trajectron(object):

trajectron/visualization/visualization.py

@@ -1,4 +1,4 @@
-from utils import prediction_output_to_trajectories
+from trajectron.utils import prediction_output_to_trajectories
 from scipy import linalg
 import matplotlib.pyplot as plt
 import matplotlib.patches as patches

trajpred/config.py

@@ -0,0 +1,153 @@
+import argparse
+
+parser = argparse.ArgumentParser()
+
+
+parser.add_argument(
+    '--verbose',
+    '-v',
+    help="Increase verbosity. Add multiple times to increase further.",
+    action='count', default=0
+)
+parser.add_argument(
+    '--remote-log-addr',
+    help="Connect to a remote logger like cutelog. Specify the ip",
+    type=str,
+)
+parser.add_argument(
+    '--remote-log-port',
+    help="Connect to a remote logger like cutelog. Specify the port",
+    type=int,
+    default=19996
+)
+
+# parser.add_argument('--foo')
+inference_parser = parser.add_argument_group('inference server')
+connection_parser = parser.add_argument_group('connection')
+
+inference_parser.add_argument("--model_dir",
+                    help="directory with the model to use for inference",
+                    type=str, # TODO: make into Path
+                    default='./experiments/pedestrians/models/models_04_Oct_2023_21_04_48_eth_vel_ar3')
+
+inference_parser.add_argument("--conf",
+                    help="path to json config file for hyperparameters, relative to model_dir",
+                    type=str,
+                    default='config.json')
+
+# Model Parameters (hyperparameters)
+inference_parser.add_argument("--offline_scene_graph",
+                    help="whether to precompute the scene graphs offline, options are 'no' and 'yes'",
+                    type=str,
+                    default='yes')
+
+inference_parser.add_argument("--dynamic_edges",
+                    help="whether to use dynamic edges or not, options are 'no' and 'yes'",
+                    type=str,
+                    default='yes')
+
+inference_parser.add_argument("--edge_state_combine_method",
+                    help="the method to use for combining edges of the same type",
+                    type=str,
+                    default='sum')
+
+inference_parser.add_argument("--edge_influence_combine_method",
+                    help="the method to use for combining edge influences",
+                    type=str,
+                    default='attention')
+
+inference_parser.add_argument('--edge_addition_filter',
+                    nargs='+',
+                    help="what scaling to use for edges as they're created",
+                    type=float,
+                    default=[0.25, 0.5, 0.75, 1.0]) # We don't automatically pad left with 0.0, if you want a sharp
+                                                    # and short edge addition, then you need to have a 0.0 at the
+                                                    # beginning, e.g. [0.0, 1.0].
+
+inference_parser.add_argument('--edge_removal_filter',
+                    nargs='+',
+                    help="what scaling to use for edges as they're removed",
+                    type=float,
+                    default=[1.0, 0.0])  # We don't automatically pad right with 0.0, if you want a sharp drop off like
+                                         # the default, then you need to have a 0.0 at the end.
+
+
+inference_parser.add_argument('--incl_robot_node',
+                    help="whether to include a robot node in the graph or simply model all agents",
+                    action='store_true')
+
+inference_parser.add_argument('--map_encoding',
+                    help="Whether to use map encoding or not",
+                    action='store_true')
+
+inference_parser.add_argument('--no_edge_encoding',
+                    help="Whether to use neighbors edge encoding",
+                    action='store_true')
+
+
+inference_parser.add_argument('--batch_size',
+                    help='training batch size',
+                    type=int,
+                    default=256)
+
+inference_parser.add_argument('--k_eval',
+                    help='how many samples to take during evaluation',
+                    type=int,
+                    default=25)
+
+# Data Parameters
+inference_parser.add_argument("--eval_data_dict",
+                    help="what file to load for evaluation data (WHEN NOT USING LIVE DATA)",
+                    type=str,
+                    default='./experiments/processed/eth_test.pkl')
+
+inference_parser.add_argument("--output_dir",
+                    help="what dir to save output (i.e., saved models, logs, etc) (WHEN NOT USING LIVE OUTPUT)",
+                    type=str,
+                    default='../experiments/pedestrians/OUT/test_inference')
+
+
+# inference_parser.add_argument('--device',
+#                     help='what device to perform training on',
+#                     type=str,
+#                     default='cuda:0')
+
+inference_parser.add_argument("--eval_device",
+                    help="what device to use during inference",
+                    type=str,
+                    default="cpu")
+
+
+inference_parser.add_argument('--seed',
+                    help='manual seed to use, default is 123',
+                    type=int,
+                    default=123)
+
+
+# Internal connections.
+
+connection_parser.add_argument('--zmq-trajectory-addr',
+                    help='Manually specity communication addr for the trajectory messages',
+                    type=str,
+                    default="ipc:///tmp/feeds/traj")
+
+connection_parser.add_argument('--zmq-camera-stream-addr',
+                    help='Manually specity communication addr for the camera stream messages',
+                    type=str,
+                    default="ipc:///tmp/feeds/img")
+
+connection_parser.add_argument('--zmq-prediction-addr',
+                    help='Manually specity communication addr for the prediction messages',
+                    type=str,
+                    default="ipc:///tmp/feeds/preds")
+
+
+connection_parser.add_argument('--ws-port',
+                    help='Port to listen for incomming websocket connections. Also serves the testing html-page.',
+                    type=int,
+                    default=8888)
+
+connection_parser.add_argument('--bypass-prediction',
+                    help='For debugging purpose: websocket input immediately to output',
+                    action='store_true')
+

trajpred/plumber.py

@@ -0,0 +1,40 @@
+import logging
+from logging.handlers import SocketHandler
+from multiprocessing import Process, Queue
+from trajpred.config import parser
+from trajpred.prediction_server import InferenceServer, run_inference_server
+from trajpred.socket_forwarder import run_ws_forwarder
+
+
+logger = logging.getLogger("trajpred.plumbing")
+
+def start():
+    args = parser.parse_args()
+    loglevel = logging.NOTSET if args.verbose > 1 else logging.DEBUG if args.verbose > 0  else logging.INFO
+    logging.basicConfig(
+        level=loglevel,
+    )
+
+    if args.remote_log_addr:
+        logging.captureWarnings(True)
+        root_logger = logging.getLogger()
+        root_logger.setLevel(logging.NOTSET)  # to send all records to cutelog
+        socket_handler = SocketHandler(args.remote_log_addr, args.remote_log_port)
+        root_logger.addHandler(socket_handler)
+
+    # instantiating process with arguments
+    procs = [
+        Process(target=run_ws_forwarder, args=(args,))
+    ]
+    if not args.bypass_prediction:
+        procs.append(
+            Process(target=run_inference_server, args=(args,)),
+        )
+
+    logger.info("start")
+    for proc in procs:
+        proc.start()
+
+    for proc in procs:
+        proc.join()
+

trajpred/prediction_server.py

@@ -0,0 +1,270 @@
+# adapted from Trajectron++ online_server.py
+import logging
+from multiprocessing import Queue
+import os
+import time
+import json
+import torch
+import dill
+import random
+import pathlib
+import numpy as np
+from trajectron.utils import prediction_output_to_trajectories
+from trajectron.model.online.online_trajectron import OnlineTrajectron
+from trajectron.model.model_registrar import ModelRegistrar
+from trajectron.environment import Environment, Scene
+import matplotlib.pyplot as plt
+
+import zmq
+
+logger = logging.getLogger("trajpred.inference")
+
+
+# if not torch.cuda.is_available() or self.config.device == 'cpu':
+#     self.config.device = torch.device('cpu')
+# else:
+#     if torch.cuda.device_count() == 1:
+#         # If you have CUDA_VISIBLE_DEVICES set, which you should,
+#         # then this will prevent leftover flag arguments from
+#         # messing with the device allocation.
+#         self.config.device = 'cuda:0'
+
+#     self.config.device = torch.device(self.config.device)
+
+
+
+def create_online_env(env, hyperparams, scene_idx, init_timestep):
+    test_scene = env.scenes[scene_idx]
+
+    online_scene = Scene(timesteps=init_timestep + 1,
+                         map=test_scene.map,
+                         dt=test_scene.dt)
+    online_scene.nodes = test_scene.get_nodes_clipped_at_time(
+        timesteps=np.arange(init_timestep - hyperparams['maximum_history_length'],
+                            init_timestep + 1),
+        state=hyperparams['state'])
+    online_scene.robot = test_scene.robot
+    online_scene.calculate_scene_graph(attention_radius=env.attention_radius,
+                                       edge_addition_filter=hyperparams['edge_addition_filter'],
+                                       edge_removal_filter=hyperparams['edge_removal_filter'])
+
+    return Environment(node_type_list=env.node_type_list,
+                       standardization=env.standardization,
+                       scenes=[online_scene],
+                       attention_radius=env.attention_radius,
+                       robot_type=env.robot_type)
+
+
+def get_maps_for_input(input_dict, scene, hyperparams):
+    scene_maps = list()
+    scene_pts = list()
+    heading_angles = list()
+    patch_sizes = list()
+    nodes_with_maps = list()
+    for node in input_dict:
+        if node.type in hyperparams['map_encoder']:
+            x = input_dict[node]
+            me_hyp = hyperparams['map_encoder'][node.type]
+            if 'heading_state_index' in me_hyp:
+                heading_state_index = me_hyp['heading_state_index']
+                # We have to rotate the map in the opposit direction of the agent to match them
+                if type(heading_state_index) is list:  # infer from velocity or heading vector
+                    heading_angle = -np.arctan2(x[-1, heading_state_index[1]],
+                                                x[-1, heading_state_index[0]]) * 180 / np.pi
+                else:
+                    heading_angle = -x[-1, heading_state_index] * 180 / np.pi
+            else:
+                heading_angle = None
+
+            scene_map = scene.map[node.type]
+            map_point = x[-1, :2]
+
+            patch_size = hyperparams['map_encoder'][node.type]['patch_size']
+
+            scene_maps.append(scene_map)
+            scene_pts.append(map_point)
+            heading_angles.append(heading_angle)
+            patch_sizes.append(patch_size)
+            nodes_with_maps.append(node)
+
+    if heading_angles[0] is None:
+        heading_angles = None
+    else:
+        heading_angles = torch.Tensor(heading_angles)
+
+    maps = scene_maps[0].get_cropped_maps_from_scene_map_batch(scene_maps,
+                                                               scene_pts=torch.Tensor(scene_pts),
+                                                               patch_size=patch_sizes[0],
+                                                               rotation=heading_angles)
+
+    maps_dict = {node: maps[[i]] for i, node in enumerate(nodes_with_maps)}
+    return maps_dict
+
+
+class InferenceServer:
+    def __init__(self, config: dict):
+        self.config = config
+        
+        context = zmq.Context()
+        self.trajectory_socket: zmq.Socket = context.socket(zmq.SUB)
+        self.trajectory_socket.connect(config.zmq_trajectory_addr)
+        self.trajectory_socket.setsockopt(zmq.SUBSCRIBE, b'')
+        
+        self.prediction_socket: zmq.Socket = context.socket(zmq.PUB)
+        self.prediction_socket.bind(config.zmq_prediction_addr)
+        print(self.prediction_socket)
+
+    def run(self):
+
+        if self.config.seed is not None:
+            random.seed(self.config.seed)
+            np.random.seed(self.config.seed)
+            torch.manual_seed(self.config.seed)
+            if torch.cuda.is_available():
+                torch.cuda.manual_seed_all(self.config.seed)
+        
+        # Choose one of the model directory names under the experiment/*/models folders.
+        # Possibilities are 'vel_ee', 'int_ee', 'int_ee_me', or 'robot'
+        # model_dir = os.path.join(self.config.log_dir, 'int_ee')
+        # model_dir = 'models/models_04_Oct_2023_21_04_48_eth_vel_ar3'
+
+        # Load hyperparameters from json
+        config_file = os.path.join(self.config.model_dir, self.config.conf)
+        if not os.path.exists(config_file):
+            raise ValueError('Config json not found!')
+        with open(config_file, 'r') as conf_json:
+            hyperparams = json.load(conf_json)
+
+        # Add hyperparams from arguments
+        hyperparams['dynamic_edges'] = self.config.dynamic_edges
+        hyperparams['edge_state_combine_method'] = self.config.edge_state_combine_method
+        hyperparams['edge_influence_combine_method'] = self.config.edge_influence_combine_method
+        hyperparams['edge_addition_filter'] = self.config.edge_addition_filter
+        hyperparams['edge_removal_filter'] = self.config.edge_removal_filter
+        hyperparams['batch_size'] = self.config.batch_size
+        hyperparams['k_eval'] = self.config.k_eval
+        hyperparams['offline_scene_graph'] = self.config.offline_scene_graph
+        hyperparams['incl_robot_node'] = self.config.incl_robot_node
+        hyperparams['edge_encoding'] = not self.config.no_edge_encoding
+        hyperparams['use_map_encoding'] = self.config.map_encoding
+
+        output_save_dir = os.path.join(self.config.output_dir, 'pred_figs')
+        pathlib.Path(output_save_dir).mkdir(parents=True, exist_ok=True)
+
+
+        with open(self.config.eval_data_dict, 'rb') as f:
+            eval_env = dill.load(f, encoding='latin1')
+
+        if eval_env.robot_type is None and hyperparams['incl_robot_node']:
+            eval_env.robot_type = eval_env.NodeType[0]  # TODO: Make more general, allow the user to specify?
+            for scene in eval_env.scenes:
+                scene.add_robot_from_nodes(eval_env.robot_type)
+
+        logger.info('Loaded data from %s' % (self.config.eval_data_dict,))
+
+        # Creating a dummy environment with a single scene that contains information about the world.
+        # When using this code, feel free to use whichever scene index or initial timestep you wish.
+        scene_idx = 0
+
+        # You need to have at least acceleration, so you want 2 timesteps of prior data, e.g. [0, 1],
+        # so that you can immediately start incremental inference from the 3rd timestep onwards.
+        init_timestep = 1
+
+        eval_scene = eval_env.scenes[scene_idx]
+        online_env = create_online_env(eval_env, hyperparams, scene_idx, init_timestep)
+
+        model_registrar = ModelRegistrar(self.config.model_dir, self.config.eval_device)
+        model_registrar.load_models(iter_num=100)
+
+        trajectron = OnlineTrajectron(model_registrar,
+                                    hyperparams,
+                                    self.config.eval_device)
+
+        # If you want to see what different robot futures do to the predictions, uncomment this line as well as
+        # related "... += adjustment" lines below.
+        # adjustment = np.stack([np.arange(13)/float(i*2.0) for i in range(6, 12)], axis=1)
+
+        # Here's how you'd incrementally run the model, e.g. with streaming data.
+        trajectron.set_environment(online_env, init_timestep)
+
+        for timestep in range(init_timestep + 1, eval_scene.timesteps):
+            input_dict = eval_scene.get_clipped_input_dict(timestep, hyperparams['state'])
+
+            maps = None
+            if hyperparams['use_map_encoding']:
+                maps = get_maps_for_input(input_dict, eval_scene, hyperparams)
+
+            robot_present_and_future = None
+            if eval_scene.robot is not None and hyperparams['incl_robot_node']:
+                robot_present_and_future = eval_scene.robot.get(np.array([timestep,
+                                                                        timestep + hyperparams['prediction_horizon']]),
+                                                                hyperparams['state'][eval_scene.robot.type],
+                                                                padding=0.0)
+                robot_present_and_future = np.stack([robot_present_and_future, robot_present_and_future], axis=0)
+                # robot_present_and_future += adjustment
+
+            start = time.time()
+            dists, preds = trajectron.incremental_forward(input_dict,
+                                                        maps,
+                                                        prediction_horizon=6,
+                                                        num_samples=51,
+                                                        robot_present_and_future=robot_present_and_future,
+                                                        full_dist=True)
+            end = time.time()
+            logger.info("t=%d: took %.2f s (= %.2f Hz) w/ %d nodes and %d edges" % (timestep, end - start,
+                                                                            1. / (end - start), len(trajectron.nodes),
+                                                                            trajectron.scene_graph.get_num_edges()))
+
+            # unsure what this bit from online_prediction.py does:
+            # detailed_preds_dict = dict()
+            # for node in eval_scene.nodes:
+            #     if node in preds:
+            #         detailed_preds_dict[node] = preds[node]
+
+            #adapted from trajectron.visualization
+            # prediction_dict provides the actual predictions
+            # histories_dict provides the trajectory used for prediction
+            # futures_dict is the Ground Truth, which is unvailable in an online setting
+            prediction_dict, histories_dict, futures_dict = prediction_output_to_trajectories({timestep: preds},
+                                                                                      eval_scene.dt,
+                                                                                      hyperparams['maximum_history_length'],
+                                                                                        hyperparams['prediction_horizon']
+                                                                                        )
+
+            assert(len(prediction_dict.keys()) <= 1)
+            if len(prediction_dict.keys()) == 0:
+                return
+            ts_key = list(prediction_dict.keys())[0]
+
+            prediction_dict = prediction_dict[ts_key]
+            histories_dict = histories_dict[ts_key]
+            futures_dict = futures_dict[ts_key]
+
+            response = {}
+            
+            for node in histories_dict:
+                history = histories_dict[node]
+                # future = futures_dict[node]
+                predictions = prediction_dict[node]
+
+                if np.isnan(history[-1]).any():
+                    continue
+
+                response[node.id] = {
+                    'id': node.id,
+                    'history': history.tolist(),
+                    'predictions': predictions[0].tolist() # use batch 0
+                }
+
+            data = json.dumps(response)
+            self.prediction_socket.send_string(data)
+            # time.sleep(1)
+            # print(prediction_dict)
+            # print(histories_dict)
+            # print(futures_dict)
+
+            
+
+def run_inference_server(config):
+    s = InferenceServer(config)
+    s.run()

trajpred/socket_forwarder.py

@@ -0,0 +1,162 @@
+
+from argparse import Namespace
+import asyncio
+import logging
+from typing import Set, Union, Dict, Any
+from typing_extensions import Self
+
+from urllib.error import HTTPError
+import tornado.ioloop
+import tornado.web
+import tornado.websocket
+import zmq
+import zmq.asyncio
+
+
+logger = logging.getLogger("trajpred.forwarder")
+
+
+class WebSocketTrajectoryHandler(tornado.websocket.WebSocketHandler):
+    def initialize(self, zmq_socket: zmq.asyncio.Socket):
+        self.zmq_socket = zmq_socket
+
+    async def on_message(self, message):
+        logger.debug(f"recieve msg")
+
+        try:
+            await self.zmq_socket.send_string(message)
+            # msg = json.loads(message)
+        except Exception as e:
+            # self.send({'alert': 'Invalid request: {}'.format(e)})
+            logger.exception(e)
+        # self.write_message(u"You said: " + message)
+
+    def open(self, p=None):
+        logger.info(f"connected  {self.request.remote_ip}")
+
+    # client disconnected
+    def on_close(self):
+        logger.info(f"Client disconnected: {self.request.remote_ip}")
+
+
+
+class WebSocketPredictionHandler(tornado.websocket.WebSocketHandler):
+    connections: Set[Self] = set()
+
+    def initialize(self, config):
+        self.config = config
+
+    def on_message(self, message):
+        logger.warning(f"Receiving message on send-only ws handler: {message}")
+
+    def open(self, p=None):
+        logger.info(f"Prediction WS connected {self.request.remote_ip}")
+        self.__class__.connections.add(self)
+
+    # client disconnected
+    def on_close(self):
+        self.__class__.rmConnection(self)
+
+        logger.info(f"Client disconnected: {self.request.remote_ip}")
+
+    @classmethod
+    def rmConnection(cls, client):
+        if client not in cls.connections:
+            return
+        cls.connections.remove(client)
+
+    @classmethod
+    def hasConnection(cls, client):
+        return client in cls.connections
+    
+    @classmethod
+    def write_to_clients(cls, msg: Union[bytes, str, Dict[str, Any]]):
+        if msg is None:
+            logger.critical("Tried to send 'none'")
+            return
+
+        toRemove = []
+        for client in cls.connections:
+            try:
+                client.write_message(msg)
+            except tornado.websocket.WebSocketClosedError as e:
+                logger.warning(f"Not properly closed websocket connection")
+                toRemove.append(client) # If we remove it here from the set we get an exception about changing set size during iteration
+
+        for client in toRemove:
+            cls.rmConnection(client)
+
+class DemoHandler(tornado.web.RequestHandler):
+    def initialize(self, config: Namespace):
+        self.config = config
+
+    def get(self):
+        self.render("index.html", ws_port=self.config.ws_port)
+
+class StaticFileWithHeaderHandler(tornado.web.StaticFileHandler):
+    def set_extra_headers(self, path):
+        """For subclass to add extra headers to the response"""
+        if path[-5:] == ".html":
+            self.set_header("Access-Control-Allow-Origin", "*")
+        if path[-4:] == ".svg":
+            self.set_header("Content-Type", "image/svg+xml")
+
+
+class WsRouter:
+    def __init__(self, config: Namespace):
+        self.config = config
+
+        context = zmq.asyncio.Context()
+        self.trajectory_socket = context.socket(zmq.PUB)
+        self.trajectory_socket.bind(config.zmq_prediction_addr if config.bypass_prediction else config.zmq_trajectory_addr)
+        
+        self.prediction_socket = context.socket(zmq.SUB)
+        self.prediction_socket.connect(config.zmq_prediction_addr)
+        self.prediction_socket.setsockopt(zmq.SUBSCRIBE, b'')
+
+        self.application = tornado.web.Application(
+            [
+                (
+                    r"/ws/trajectory",
+                    WebSocketTrajectoryHandler,
+                    {
+                        "zmq_socket": self.trajectory_socket
+                    },
+                ),
+                (
+                    r"/ws/prediction",
+                    WebSocketPredictionHandler,
+                    {
+                        "config": config,
+                    },
+                ),
+                (r"/", DemoHandler, {"config": config}),
+                # (r"/(.*)", StaticFileWithHeaderHandler, {"config": config, "index": 'index.html'}),
+            ],
+            template_path = 'trajpred/web/',
+            compiled_template_cache=False)
+
+    def start(self):
+
+        evt_loop = asyncio.new_event_loop()
+        asyncio.set_event_loop(evt_loop)
+
+        # loop = tornado.ioloop.IOLoop.current()
+        logger.info(f"Listen on {self.config.ws_port}")
+        self.application.listen(self.config.ws_port)
+        loop = asyncio.get_event_loop()
+
+        task = evt_loop.create_task(self.prediction_forwarder())
+
+        evt_loop.run_forever()
+    
+    async def prediction_forwarder(self):
+        logger.info("Starting prediction forwarder")
+        while True:
+            msg = await self.prediction_socket.recv_string()
+            logger.debug(f"Forward prediction message of {len(msg)} chars")
+            WebSocketPredictionHandler.write_to_clients(msg)
+
+def run_ws_forwarder(config: Namespace):
+    router = WsRouter(config)
+    router.start()

trajpred/web/index.html

@@ -0,0 +1,170 @@
+<!DOCTYPE html>
+<html lang="en">
+
+<head>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <title>Trajectory Prediction Browser Test</title>
+    <style>
+        body {
+            background: black;
+        }
+
+        #field {
+            background: white;
+            width: 100%;
+            height: 100%;
+        }
+    </style>
+</head>
+
+<body>
+    <canvas id="field" width="1500" height="1500">
+
+    </canvas>
+
+    <script>
+        // minified https://github.com/joewalnes/reconnecting-websocket
+        !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});
+    </script>
+
+    <script>
+        // map the field to coordinates of our dummy tracker
+        const field_range = { x: [-10, 10], y: [-10, 10] }
+
+        // Create WebSocket connection.
+        const trajectory_socket = new WebSocket(`ws://${window.location.hostname}:{{ ws_port }}/ws/trajectory`);
+        const prediction_socket = new WebSocket(`ws://${window.location.hostname}:{{ ws_port }}/ws/prediction`);
+        let is_moving = false;
+        const fieldEl = document.getElementById('field');
+
+        let current_data = {}
+        // Listen for messages
+        prediction_socket.addEventListener("message", (event) => {
+            // console.log("Message from server ", event.data);
+            current_data = JSON.parse(event.data);
+        });
+
+        function getMousePos(canvas, evt) {
+            const rect = canvas.getBoundingClientRect();
+            return {
+                x: evt.clientX - rect.left,
+                y: evt.clientY - rect.top
+            };
+        }
+        function mouse_coordinates_to_position(coordinates) {
+            const x_range = field_range.x[1] - field_range.x[0]
+            const x = (coordinates.x / fieldEl.clientWidth) * x_range + field_range.x[0]
+            const y_range = field_range.y[1] - field_range.y[0]
+            const y = (coordinates.y / fieldEl.clientWidth) * y_range + field_range.y[0]
+            return { x: x, y: y }
+        }
+        function position_to_canvas_coordinate(position) {
+            const x_range = field_range.x[1] - field_range.x[0]
+            const y_range = field_range.y[1] - field_range.y[0]
+            
+            const x = Array.isArray(position) ? position[0] : position.x;
+            const y = Array.isArray(position) ? position[1] : position.y;
+            return {
+                x: (x - field_range.x[0]) * fieldEl.width / x_range,
+                y: (y - field_range.y[0]) * fieldEl.width / y_range,
+            }
+        }
+
+        // helper function so we can spread
+        function coord_as_list(coord) {
+            return [coord.x, coord.y]
+        }
+
+
+        let tracker = {}
+        let person_counter = 0
+
+        class Person {
+            constructor(id) {
+                this.id = id;
+                this.history = [];
+                this.prediction = []
+            }
+
+            addToHistory(position) {
+                this.history.push(position);
+            }
+        }
+
+        fieldEl.addEventListener('mousedown', (event) => {
+            person_counter++;
+            tracker[person_counter] = new Person(person_counter);
+            is_moving = true;
+
+            const mousePos = getMousePos(fieldEl, event);
+            const position = mouse_coordinates_to_position(mousePos)
+            tracker[person_counter].addToHistory(position);
+            trajectory_socket.send(JSON.stringify(tracker))
+        });
+        fieldEl.addEventListener('mousemove', (event) => {
+            if (!is_moving) return;
+            const mousePos = getMousePos(fieldEl, event);
+            const position = mouse_coordinates_to_position(mousePos)
+            tracker[person_counter].addToHistory(position);
+            trajectory_socket.send(JSON.stringify(tracker))
+        });
+        document.addEventListener('mouseup', (e) => {
+            is_moving = false;
+            tracker = {}
+        })
+
+        const ctx = fieldEl.getContext("2d");
+        function drawFrame() {
+            ctx.clearRect(0, 0, fieldEl.width, fieldEl.height);
+            ctx.save();
+
+            for (let id in current_data) {
+                const person = current_data[id];
+                if (person.history.length > 1) {
+                    const hist = structuredClone(person.history)
+                    // draw current position:
+                    ctx.beginPath()
+                    ctx.arc(
+                        ...coord_as_list(position_to_canvas_coordinate(hist[hist.length - 1])),
+                        5, //radius
+                        0, 2 * Math.PI);
+                    ctx.fill()
+                    
+                    ctx.beginPath()
+                    ctx.lineWidth = 3;
+                    ctx.strokeStyle = "#325FA2";
+
+                    ctx.moveTo(...coord_as_list(position_to_canvas_coordinate(hist.shift())));
+                    for (const position of hist) {
+                        ctx.lineTo(...coord_as_list(position_to_canvas_coordinate(position)))
+                    }
+                    ctx.stroke();
+                }
+
+                if(person.hasOwnProperty('predictions') && person.predictions.length > 0) {
+                    // multiple predictions can be sampled
+                    person.predictions.forEach((prediction, i) => {
+                        ctx.beginPath()
+                        ctx.lineWidth = i === 1 ? 3 : 0.2;
+                        ctx.strokeStyle = i === 1 ? "#ff0000" : "#ccaaaa";
+                        
+                        // start from current position:
+                        ctx.moveTo(...coord_as_list(position_to_canvas_coordinate(person.history[person.history.length - 1])));
+                        for (const position of prediction) {
+                            ctx.lineTo(...coord_as_list(position_to_canvas_coordinate(position)))
+                        }
+                        ctx.stroke();
+                    });
+                }
+            }
+            ctx.restore();
+
+            window.requestAnimationFrame(drawFrame);
+        }
+
+        window.requestAnimationFrame(drawFrame);
+    </script>
+</body>
+
+</html>