Pyglet for rendering smooth lines and transitions

poetry.lock

@@ -2288,6 +2288,17 @@ files = [
     {file = "pycparser-2.21.tar.gz", hash = "sha256:e644fdec12f7872f86c58ff790da456218b10f863970249516d60a5eaca77206"},
 ]
 
+[[package]]
+name = "pyglet"
+version = "2.0.15"
+description = "pyglet is a cross-platform games and multimedia package."
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "pyglet-2.0.15-py3-none-any.whl", hash = "sha256:9e4cc16efc308106fd3a9ff8f04e7a6f4f6a807c6ac8a331375efbbac8be85af"},
+    {file = "pyglet-2.0.15.tar.gz", hash = "sha256:42085567cece0c7f1c14e36eef799938cbf528cfbb0150c484b984f3ff1aa771"},
+]
+
 [[package]]
 name = "pygments"
 version = "2.17.2"
@@ -3517,4 +3528,4 @@ watchdog = ["watchdog (>=2.3)"]
 [metadata]
 lock-version = "2.0"
 python-versions = "^3.10,<3.12,"
-content-hash = "66f062f9db921cfa83e576288d09fd9b959780eb189d95765934ae9a6769f200"
+content-hash = "5154a99d490755a68e51595424649b5269fcd17ef14094c6285f5de7f972f110"

pyproject.toml

@@ -31,6 +31,7 @@ torchreid = "^0.2.5"
 gdown = "^4.7.1"
 pandas-helper-calc = {git = "https://github.com/scls19fr/pandas-helper-calc"}
 tsmoothie = "^1.0.5"
+pyglet = "^2.0.15"
 
 [build-system]
 requires = ["poetry-core"]

trap/frame_emitter.py

@@ -44,7 +44,7 @@ class Detection:
     state: DetectionState
     frame_nr: int
 
-    def get_foot_coords(self):
+    def get_foot_coords(self) -> list[tuple[float, float]]:
         return [self.l + 0.5 * self.w, self.t+self.h]
 
     @classmethod
@@ -97,6 +97,8 @@ class Track:
 
  
 
+    
+
 @dataclass
 class Frame:
     index: int

trap/renderer.py

@@ -1,3 +1,6 @@
+# used for "Forward Referencing of type annotations"
+from __future__ import annotations
+
 import time
 import ffmpeg
 from argparse import Namespace
@@ -8,16 +11,184 @@ from multiprocessing.synchronize import Event as BaseEvent
 import cv2
 import numpy as np
 
+import pyglet
+import pyglet.event
 import zmq
 import tempfile
 from pathlib import Path
 import shutil
+import math
+
+from pyglet import shapes
+from PIL import Image
+
+from trap.frame_emitter import DetectionState, Frame, Track
 
-from trap.frame_emitter import DetectionState, Frame
 
 
 logger = logging.getLogger("trap.renderer")
 
+class FrameAnimation:
+    def __init__(self, frame: Frame):
+        self.start_time = time.time()
+        self.frame = frame
+    
+    @property
+    def t(self):
+        duration = .2
+        return (time.time() - self.start_time) / duration
+
+    @property
+    def done(self):
+        return (time.time() - self.start_time) > 5
+
+def exponentialDecay(a, b, decay, dt):
+    """Exponential decay as alternative to Lerp
+    Introduced by Freya Holmér: https://www.youtube.com/watch?v=LSNQuFEDOyQ
+    """
+    return b + (a-b) * math.exp(-decay * dt)
+
+def relativePointToPolar(origin, point) -> tuple[float, float]:
+    x, y = point[0] - origin[0], point[1] - origin[1]
+    return np.sqrt(x**2 + y**2), np.arctan2(y, x)
+
+def relativePolarToPoint(origin, r, angle) -> tuple[float, float]:
+    return r * np.cos(angle) + origin[0], r * np.sin(angle) + origin[1]
+
+
+class DrawnTrack:
+    def __init__(self, track_id, track: Track, renderer: Renderer, H):
+        self.track_id = track_id
+        self.renderer = renderer
+        self.set_track(track, H)
+        self.drawn_positions = []
+        self.drawn_predictions = []
+        self.shapes: list[pyglet.shapes.Line] = []
+        self.pred_shapes: list[list[pyglet.shapes.Line]] = []
+
+    def set_track(self, track: Track, H):
+        self.track = track
+        self.H = H
+        self.coords = [d.get_foot_coords() for d in track.history]
+
+        # perhaps only do in constructor:
+        self.inv_H = np.linalg.pinv(self.H)
+
+        pred_coords = []
+        for pred_i, pred in enumerate(track.predictions):
+            pred_coords.append(cv2.perspectiveTransform(np.array([pred]), self.inv_H)[0].tolist())
+        
+        self.pred_coords = pred_coords
+            # color = (128,0,128) if pred_i else (128,
+        
+        
+    def update_drawn_positions(self, dt) -> []:
+        '''
+        use dt to lerp the drawn positions in the direction of current prediction
+        '''
+        # TODO: make lerp, currently quick way to get results
+        for i, pos in enumerate(self.drawn_positions):
+            self.drawn_positions[i][0] = int(exponentialDecay(self.drawn_positions[i][0], self.coords[i][0], 16, dt))
+            self.drawn_positions[i][1] = int(exponentialDecay(self.drawn_positions[i][1], self.coords[i][1], 16, dt))
+
+        if len(self.coords) > len(self.drawn_positions):
+            self.drawn_positions.extend(self.coords[len(self.drawn_positions):])
+
+        for a, drawn_prediction in enumerate(self.drawn_predictions):
+            for i, pos in enumerate(drawn_prediction):
+                # TODO: this should be done in polar space starting from origin (i.e. self.drawn_posision[-1])
+                decay = max(3, (18/i) if i else 10) # points further away move with more delay
+                decay = 6
+                origin = self.drawn_positions[-1]
+                drawn_r, drawn_angle = relativePointToPolar(  origin, drawn_prediction[i])
+                pred_r, pred_angle = relativePointToPolar(origin, self.pred_coords[a][i])
+                r = exponentialDecay(drawn_r, pred_r, decay, dt)
+                angle = exponentialDecay(drawn_angle, pred_angle, decay, dt)
+                x, y = relativePolarToPoint(origin, r, angle)
+                self.drawn_predictions[a][i] = int(x), int(y)
+                # self.drawn_predictions[i][0] = int(exponentialDecay(self.drawn_predictions[i][0], self.pred_coords[i][0], decay, dt))
+                # self.drawn_predictions[i][1] = int(exponentialDecay(self.drawn_predictions[i][1], self.pred_coords[i][1], decay, dt))
+
+        if len(self.pred_coords) > len(self.drawn_predictions):
+            self.drawn_predictions.extend(self.pred_coords[len(self.drawn_predictions):])
+        # for a, drawn_prediction in self.drawn_predictions:
+        #     if len(self.pred_coords) > len(self.drawn_predictions):
+        #         self.drawn_predictions.extend(self.pred_coords[len(self.drawn_predictions):])
+
+        # self.drawn_positions = self.coords
+        self.update_shapes(dt)
+        return self.drawn_positions
+
+    def update_shapes(self, dt):
+        if len(self.shapes) > len(self.drawn_positions):
+            self.shapes = self.shapes[:len(self.drawn_positions)]
+
+        # for i, pos in self.drawn_positions.enumerate():
+        for ci in range(1, len(self.drawn_positions)):
+            x, y = [int(p) for p in self.drawn_positions[ci-1]]
+            x2, y2 = [int(p) for p in self.drawn_positions[ci]]
+
+            y, y2 = self.renderer.window.height - y, self.renderer.window.height - y2
+            color = [100+155*ci // len(self.drawn_positions)]*3
+            # print(x,y,x2,y2,color)
+
+            if ci >= len(self.shapes):
+            # TODO: add color2
+                line = self.renderer.gradientLine(x, y, x2, y2, 2, color, color, batch=self.renderer.batch_anim)
+                line.opacity = 5
+                self.shapes.append(line)
+                
+            else:
+                line = self.shapes[ci-1]
+                line.x, line.y = x, y
+                line.x2, line.y2 = x2, y2
+                line.color = color
+                line.opacity = int(exponentialDecay(line.opacity, 255, 3, dt))
+    
+        # TODO: basically a duplication of the above,  do this smarter?
+        # TODO: add intermediate segment
+        color = colorset[self.track_id % len(colorset)]
+
+        for a, drawn_predictions in enumerate(self.drawn_predictions):
+            if len(self.pred_shapes) <= a:
+                self.pred_shapes.append([])
+
+            if len(self.pred_shapes[a]) > (len(drawn_predictions) +1):
+                self.pred_shapes[a] = self.pred_shapes[a][:len(drawn_predictions)]
+
+            # for i, pos in drawn_predictions.enumerate():
+            for ci in range(0, len(drawn_predictions)):
+                if ci == 0:
+                    x, y = [int(p) for p in self.drawn_positions[-1]]
+                else:
+                    x, y = [int(p) for p in drawn_predictions[ci-1]]
+
+                x2, y2 = [int(p) for p in drawn_predictions[ci]]
+
+                y, y2 = self.renderer.window.height - y, self.renderer.window.height - y2
+                # color = [255,0,0]
+                # print(x,y,x2,y2,color)
+
+                if ci >= len(self.pred_shapes[a]):
+                # TODO: add color2
+                    line = self.renderer.gradientLine(x, y, x2, y2, 3, color, color, batch=self.renderer.batch_anim)
+                    line.opacity = 5
+                    self.pred_shapes[a].append(line)
+                    
+                else:
+                    line = self.pred_shapes[a][ci-1]
+                    line.x, line.y = x, y
+                    line.x2, line.y2 = x2, y2
+                    line.color = color
+                    decay = (16/ci) if ci else 16
+                    half = len(drawn_predictions) / 2
+                    if ci < half:
+                        target_opacity = 255
+                    else:
+                        target_opacity = (1 - ((ci - half) / half)) * 255
+                    line.opacity = int(exponentialDecay(line.opacity, target_opacity, decay, dt))
+        
+
 class FrameWriter:
     """
     Drop-in compatible interface with cv2.VideoWriter, but support variable
@@ -78,12 +249,185 @@ class Renderer:
         # self.out = cv2.VideoWriter(str(filename), fourcc, 23.97, (1280,720))
         self.fps = 10
         self.frame_size = (1280,720)
+        self.hide_stats = False
         self.out_writer = self.start_writer() if self.config.render_file else None
         self.streaming_process = self.start_streaming() if self.config.render_url else None
 
         if self.config.render_window:            
             cv2.namedWindow("frame", cv2.WND_PROP_FULLSCREEN)
             cv2.setWindowProperty("frame",cv2.WND_PROP_FULLSCREEN,cv2.WINDOW_FULLSCREEN)
+        else:
+            pyglet.options["headless"] = True
+        
+        config = pyglet.gl.Config(sample_buffers=1, samples=4)
+        self.window = pyglet.window.Window(width=self.frame_size[0], height=self.frame_size[1], config=config)
+        self.window.set_handler('on_draw', self.on_draw)
+        self.window.set_handler('on_refresh', self.on_refresh)
+        self.window.set_handler('on_close', self.on_close)
+
+        pyglet.gl.glClearColor(81./255, 20/255, 46./255, 0)
+        self.fps_display = pyglet.window.FPSDisplay(window=self.window)
+
+        self.drawn_tracks: dict[str, DrawnTrack] = {}
+
+
+        self.frame: Frame|None= None
+        self.prediction_frame: Frame|None = None
+
+
+        self.batch_bg = pyglet.graphics.Batch()
+        self.batch_overlay = pyglet.graphics.Batch()
+        self.batch_anim = pyglet.graphics.Batch()
+        
+        self.init_shapes()
+
+    
+    def init_shapes(self):
+        '''
+        Due to error when running headless, we need to configure options before extending the shapes class
+        '''
+        class GradientLine(shapes.Line):
+            def __init__(self, x, y, x2, y2, width=1, color1=[255,255,255], color2=[255,255,255], batch=None, group=None):
+                # print('colors!', colors)
+                # assert len(colors) == 6
+                
+                r, g, b, *a = color1
+                self._rgba1 = (r, g, b, a[0] if a else 255)
+                r, g, b, *a = color2
+                self._rgba2 = (r, g, b, a[0] if a else 255)
+                
+                # print('rgba', self._rgba)
+
+                super().__init__(x, y, x2, y2, width, color1, batch=None, group=None)
+                # <pyglet.graphics.vertexdomain.VertexList
+                # pyglet.graphics.vertexdomain
+                # print(self._vertex_list)
+            
+            def _create_vertex_list(self):
+                '''
+                copy of super()._create_vertex_list but with additional colors'''
+                self._vertex_list = self._group.program.vertex_list(
+                    6, self._draw_mode, self._batch, self._group,
+                    position=('f', self._get_vertices()),
+                    colors=('Bn', self._rgba1+ self._rgba2 + self._rgba2 + self._rgba1 + self._rgba2 +self._rgba1 ),
+                    translation=('f', (self._x, self._y) * self._num_verts))
+            
+            def _update_colors(self):
+                self._vertex_list.colors[:] = self._rgba1+ self._rgba2 + self._rgba2 + self._rgba1 + self._rgba2 +self._rgba1
+            
+            def color1(self, color):
+                r, g, b, *a = color
+                self._rgba1 = (r, g, b, a[0] if a else 255)
+                self._update_colors()
+            
+            def color2(self, color):
+                r, g, b, *a = color
+                self._rgba2 = (r, g, b, a[0] if a else 255)
+                self._update_colors()
+                
+        self.gradientLine = GradientLine
+
+    def check_frames(self, dt):
+        try:
+            self.frame: Frame = self.frame_sock.recv_pyobj(zmq.NOBLOCK)
+            img = cv2.GaussianBlur(self.frame.img, (15, 15), 0)
+            img = cv2.flip(cv2.cvtColor(img, cv2.COLOR_BGR2RGB), 0)
+            img = pyglet.image.ImageData(self.frame_size[0], self.frame_size[1], 'RGB', img.tobytes())
+            # don't draw in batch, so that it is the background
+            self.video_sprite = pyglet.sprite.Sprite(img=img, batch=self.batch_bg)
+            self.video_sprite.opacity = 100
+        except zmq.ZMQError as e:
+            # idx = frame.index if frame else "NONE"
+            # logger.debug(f"reuse video frame {idx}")
+            pass
+        try:
+            self.prediction_frame: Frame = self.prediction_sock.recv_pyobj(zmq.NOBLOCK)
+            self.update_tracks()
+        except zmq.ZMQError as e:
+            pass
+
+    def update_tracks(self):
+        """Updates the track objects and shapes. Called after setting `prediction_frame`
+        """
+        
+        # clean up
+        for track_id in list(self.drawn_tracks.keys()):
+            if track_id not in self.prediction_frame.tracks.keys():
+                # TODO fade out
+                del self.drawn_tracks[track_id]
+        
+
+        for track_id, track in self.prediction_frame.tracks.items():
+            if track_id not in self.drawn_tracks:
+                self.drawn_tracks[track_id] = DrawnTrack(track_id, track, self, self.prediction_frame.H)
+            else:
+                self.drawn_tracks[track_id].set_track(track, self.prediction_frame.H)
+            
+    
+    def on_key_press(self, symbol, modifiers):
+        print('A key was pressed, use f to hide')
+        if symbol == ord('f'):
+            self.window.set_fullscreen(not self.window.fullscreen)
+        if symbol == ord('h'):
+            self.hide_stats = not self.hide_stats
+    
+    def check_running(self, dt):
+        if not self.is_running.is_set():
+            self.window.close()
+    
+    def on_close(self):
+        self.is_running.clear()
+    
+    def on_refresh(self, dt: float):
+        # update shapes
+        # self.bg =
+        for track_id, track in self.drawn_tracks.items():
+            track.update_drawn_positions(dt)
+
+        self.shape1 = shapes.Circle(700, 150, 100, color=(50, 0, 30), batch=self.batch_anim)
+        self.shape3 = shapes.Circle(800, 150, 100, color=(100, 225, 30), batch=self.batch_anim)
+        pass
+    
+    def on_draw(self):
+        self.window.clear()
+
+        self.batch_bg.draw()
+        
+        for track in self.drawn_tracks.values():
+            for shape in track.shapes:
+                shape.draw() # for some reason the batches don't work
+        for track in self.drawn_tracks.values():
+            for shapes in track.pred_shapes:
+                for shape in shapes:
+                    shape.draw()
+        # self.batch_anim.draw()
+        self.batch_overlay.draw()
+        
+
+        # pyglet.graphics.draw(3, pyglet.gl.GL_LINE, ("v2i", (100,200, 600,800)), ('c3B', (255,255,255, 255,255,255)))
+
+
+
+        if not self.hide_stats:
+            self.fps_display.draw()
+
+        # if streaming, capture buffer and send
+        if self.streaming_process or self.out_writer:
+            buf = pyglet.image.get_buffer_manager().get_color_buffer()
+            img_data = buf.get_image_data()
+            data = img_data.get_data()
+            img = np.asanyarray(data).reshape((img_data.height, img_data.width, 4))
+            img = cv2.cvtColor(img, cv2.COLOR_BGRA2RGB)
+            img = np.flip(img, 0)
+            # img = cv2.flip(img, cv2.0)
+
+            # cv2.imshow('frame', img)
+            # cv2.waitKey(1)
+            if self.streaming_process:
+                self.streaming_process.stdin.write(img.tobytes())
+            if self.out_writer:
+                self.out_writer.write(img)
+
 
     def start_writer(self):
         if not self.config.output_dir.exists():
@@ -111,7 +455,8 @@ class Renderer:
                 pix_fmt="yuv420p",
                 preset="ultrafast",
                 tune="zerolatency",
-                g=f"{self.fps*2}",
+                # g=f"{self.fps*2}",
+                g=f"{60*2}",
                 analyzeduration="2000000",
                 probesize="1000000",
                 f='mpegts'
@@ -130,53 +475,60 @@ class Renderer:
 
         i=0
         first_time = None
-        while self.is_running.is_set():
+
-            i+=1
+        event_loop = pyglet.app.EventLoop()
+        pyglet.clock.schedule_interval(self.check_running, 0.1)
+        pyglet.clock.schedule(self.check_frames)
+        event_loop.run()
         
 
-            # zmq_ev = self.frame_sock.poll(timeout=2000)
+        # while self.is_running.is_set():
-            # if not zmq_ev:
+        #     i+=1
-            #     # when no data comes in, loop so that is_running is checked
+
+
+        #     # zmq_ev = self.frame_sock.poll(timeout=2000)
+        #     # if not zmq_ev:
+        #     #     # when no data comes in, loop so that is_running is checked
+        #     #     continue
+        
+        #     try:
+        #         frame: Frame = self.frame_sock.recv_pyobj(zmq.NOBLOCK)
+        #     except zmq.ZMQError as e:
+        #         # idx = frame.index if frame else "NONE"
+        #         # logger.debug(f"reuse video frame {idx}")
+        #         pass
+        #     # else:
+        #     #     logger.debug(f'new video frame  {frame.index}')
+
+            
+        #     if frame is None:
+        #         # might need to wait a few iterations before first frame comes available
+        #         time.sleep(.1)
         #         continue
             
-            try:
+        #     try:
-                frame: Frame = self.frame_sock.recv_pyobj(zmq.NOBLOCK)
+        #         prediction_frame: Frame = self.prediction_sock.recv_pyobj(zmq.NOBLOCK)
-            except zmq.ZMQError as e:
+        #     except zmq.ZMQError as e:
-                idx = frame.index if frame else "NONE"
+        #         logger.debug(f'reuse prediction')
-                logger.debug(f"reuse video frame {idx}")
-            else:
-                logger.debug(f'new video frame  {frame.index}')
 
-            if frame is None:
+        #     if first_time is None:
-                # might need to wait a few iterations before first frame comes available
+        #             first_time = frame.time
-                time.sleep(.1)
-                continue
 
-            try:
+        #     img = decorate_frame(frame, prediction_frame, first_time, self.config)
-                prediction_frame: Frame = self.prediction_sock.recv_pyobj(zmq.NOBLOCK)
-            except zmq.ZMQError as e:
-                logger.debug(f'reuse prediction')
 
-            if first_time is None:
+        #     img_path = (self.config.output_dir / f"{i:05d}.png").resolve()
-                    first_time = frame.time
 
-            img = decorate_frame(frame, prediction_frame, first_time, self.config)
+        #     logger.debug(f"write frame {frame.time - first_time:.3f}s")
-
+        #     if self.out_writer:
-            img_path = (self.config.output_dir / f"{i:05d}.png").resolve()
+        #         self.out_writer.write(img)
-
+        #     if self.streaming_process:
-            # cv2.imwrite(str(img_path), img)
+        #         self.streaming_process.stdin.write(img.tobytes())
-            
+        #     if self.config.render_window:
-            logger.debug(f"write frame {frame.time - first_time:.3f}s")
+        #         cv2.imshow('frame',img)
-            if self.out_writer:
+        #         cv2.waitKey(1)
-                self.out_writer.write(img)
-            if self.streaming_process:
-                self.streaming_process.stdin.write(img.tobytes())
-            if self.config.render_window:
-                cv2.imshow('frame',img)
-                cv2.waitKey(1)
         logger.info('Stopping')
 
-        if i>2:
+        # if i>2:
         if self.streaming_process:
             self.streaming_process.stdin.close()
         if self.out_writer:
@@ -197,6 +549,11 @@ colorset = [(0, 0, 0),
 
 
 def decorate_frame(frame: Frame, prediction_frame: Frame, first_time: float, config: Namespace) -> np.array:
+    # TODO: replace opencv with QPainter to support alpha? https://doc.qt.io/qtforpython-5/PySide2/QtGui/QPainter.html#PySide2.QtGui.PySide2.QtGui.QPainter.drawImage
+    # or https://github.com/pygobject/pycairo?tab=readme-ov-file
+    # or https://pyglet.readthedocs.io/en/latest/programming_guide/shapes.html
+    # and use http://code.astraw.com/projects/motmot/pygarrayimage.html or https://gist.github.com/nkymut/1cb40ea6ae4de0cf9ded7332f1ca0d55
+    # or https://api.arcade.academy/en/stable/index.html (supports gradient color in line -- "Arcade is built on top of Pyglet and OpenGL.")
     frame.img
 
     overlay = np.zeros(frame.img.shape, np.uint8)