security_vision/trap
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bypass renderer reads tracker data

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This commit is contained in:
Ruben van de Ven 2023-10-20 18:48:59 +02:00
parent 994e150d37
commit 2434470cdf
1 changed files with 4 additions and 3 deletions
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7
trap/renderer.py
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@ -22,14 +22,13 @@ class Renderer:
self.prediction_sock = context.socket(zmq.SUB)
self.prediction_sock.setsockopt(zmq.CONFLATE, 1) # only keep latest frame. NB. make sure this comes BEFORE connect, otherwise it's ignored!!
self.prediction_sock.setsockopt(zmq.SUBSCRIBE, b'')
self.prediction_sock.connect(config.zmq_prediction_addr)
self.prediction_sock.connect(config.zmq_prediction_addr if not self.config.bypass_prediction else config.zmq_trajectory_addr)
self.frame_sock = context.socket(zmq.SUB)
self.frame_sock.setsockopt(zmq.CONFLATE, 1) # only keep latest frame. NB. make sure this comes BEFORE connect, otherwise it's ignored!!
self.frame_sock.setsockopt(zmq.SUBSCRIBE, b'')
self.frame_sock.connect(config.zmq_frame_addr)
self.H = np.loadtxt(self.config.homography, delimiter=',')
self.inv_H = np.linalg.pinv(self.H)
@ -73,10 +72,12 @@ class Renderer:
for track_id, prediction in predictions.items():
if not 'history' in prediction or not len(prediction['history']):
continue
coords = cv2.perspectiveTransform(np.array([prediction['history']]), self.inv_H)[0]
# logger.warning(f"{coords=}")
center = [int(p) for p in coords[-1]]
cv2.circle(img, center, 5, (0,255,0))
cv2.putText(img, track_id, (center[0]+8, center[1]), cv2.FONT_HERSHEY_SIMPLEX, fontScale=.8, color=(0,255,0))
for ci in range(1, len(coords)):
start = [int(p) for p in coords[ci-1]]
@ -91,7 +92,7 @@ class Renderer:
for ci in range(1, len(pred_coords)):
start = [int(p) for p in pred_coords[ci-1]]
end = [int(p) for p in pred_coords[ci]]
cv2.line(img, start, end, (0,0,255), 2)
cv2.line(img, start, end, (0,0,255), 1)