Render lines with trap_rust for better intepolation algorithms

trap/base.py

@@ -11,6 +11,7 @@ import time
 from typing import Iterable, Optional
 import cv2
 from dataclasses import dataclass, field
+import dataclasses
 
 import numpy as np
 from deep_sort_realtime.deep_sort.track import Track as DeepsortTrack
@@ -208,7 +209,7 @@ class Track:
 
     def __post_init__(self):
         if not self.created_at:
-            self.created_at = time.perf_counter()
+            self.created_at = time.time()
 
     def get_projected_history(self, H: Optional[cv2.Mat] = None, camera: Optional[Camera]= None) -> np.array:
         foot_coordinates = [d.get_foot_coords() for d in self.history]
@@ -438,6 +439,32 @@ class Frame:
         return Frame(self.index, None, self.time, self.tracks, self.H, self.camera, self.maps)
 
 
+class DataclassJSONEncoder(json.JSONEncoder):
+        def default(self, o):
+            if isinstance(o, np.ndarray):
+                return o.tolist()
+            if dataclasses.is_dataclass(o):
+                if isinstance(o, Frame):
+                    tracks = {}
+                    for track_id, track in o.tracks.items():
+                        track_obj = dataclasses.asdict(track)
+                        track_obj['history'] = track.get_projected_history(None, o.camera)
+                        tracks[track_id] = track_obj
+                    d = {
+                        'index': o.index,
+                        'time': o.time,
+                        'tracks': tracks,
+                        'camera': dataclasses.asdict(o.camera),
+                    }
+                else:
+                    d = dataclasses.asdict(o)
+                    # if isinstance(o, Frame):
+                    #     # Don't send images over JSON
+                    #     del d['img']
+                return d
+            return super().default(o)
+
+
 def video_src_from_config(config) -> Iterable[UrlOrPath]:
     """deprecated, now in video_source"""
     if config.video_loop:

trap/config.py

@@ -203,6 +203,10 @@ connection_parser.add_argument('--zmq-face-addr',
                     help='Manually specity communication addr for the face detector messages',
                     type=str,
                     default="ipc:///tmp/feeds_faces")
+connection_parser.add_argument('--zmq-stage-addr',
+                    help='Manually specity communication addr for the stage  messages (the rendered lines)',
+                    type=str,
+                    default="tcp://0.0.0.0:99174")
 
 connection_parser.add_argument('--zmq-camera-stream-addr',
                     help='Manually specity communication addr for the camera stream messages',

trap/frame_emitter.py

@@ -34,32 +34,6 @@ from trap.video_sources import get_video_source
 
 logger = logging.getLogger('trap.frame_emitter')
 
-class DataclassJSONEncoder(json.JSONEncoder):
-        def default(self, o):
-            if isinstance(o, np.ndarray):
-                return o.tolist()
-            if dataclasses.is_dataclass(o):
-                if isinstance(o, Frame):
-                    tracks = {}
-                    for track_id, track in o.tracks.items():
-                        track_obj = dataclasses.asdict(track)
-                        track_obj['history'] = track.get_projected_history(None, o.camera)
-                        tracks[track_id] = track_obj
-                    d = {
-                        'index': o.index,
-                        'time': o.time,
-                        'tracks': tracks,
-                        'camera': dataclasses.asdict(o.camera),
-                    }
-                else:
-                    d = dataclasses.asdict(o)
-                    # if isinstance(o, Frame):
-                    #     # Don't send images over JSON
-                    #     del d['img']
-                return d
-            return super().default(o)
-
-
 
     
 

trap/laser_renderer.py

@@ -24,7 +24,7 @@ from typing import Dict, Iterable, Optional
 from pyglet import shapes
 from PIL import Image
 
-from trap.scenarios import TrackScenario
+# from trap.scenarios import TrackScenario
 from trap.counter import CounterSender
 from trap.frame_emitter import DetectionState, Frame, Track, Camera
 # from trap.helios import HeliosDAC, HeliosPoint
@@ -230,7 +230,7 @@ class LaserRenderer:
         self.prediction_frame: Frame|None = None
 
         self.tracks: Dict[str, Track] = {}
-        self.scenarios: Dict[str, TrackScenario] = {}
+        # self.scenarios: Dict[str, TrackScenario] = {}
         self.predictions: Dict[str, Track] = {}
         self.drawn_tracks: Dict[str, DrawnTrack] = {}
 
@@ -345,8 +345,8 @@ class LaserRenderer:
                         # self.drawn_tracks[track_id].pred_track
                         self.drawn_tracks[track_id].set_predictions(track)
 
-                    if track_id in self.scenarios:
-                        self.scenarios[track_id].set_prediction(track)
+                    # if track_id in self.scenarios:
+                    #     self.scenarios[track_id].set_prediction(track)
 
                     # self.drawn_predictions[track_id] = track
             except zmq.ZMQError as e:
@@ -357,10 +357,10 @@ class LaserRenderer:
 
                 for track_id, track in tracker_frame.tracks.items():
                     self.tracks[track_id] = track
-                    if not track_id in self.scenarios:
-                        self.scenarios[track_id] = TrackScenario(track)
-                    else:
-                        self.scenarios[track_id].set_track(track)
+                    # if not track_id in self.scenarios:
+                    #     self.scenarios[track_id] = TrackScenario(track)
+                    # else:
+                    #     self.scenarios[track_id].set_track(track)
                         # self.scenarios[track_id].receive_track(track)
             except zmq.ZMQError as e:
                 logger.debug(f'reuse tracks')

trap/node.py

@@ -0,0 +1,53 @@
+import logging
+from multiprocessing.synchronize import Event as BaseEvent
+from argparse import Namespace
+from typing import Optional
+
+import zmq
+
+from trap.timer import Timer
+
+
+class Node():
+    def __init__(self, config: Namespace, is_running: BaseEvent, timer_counter: Timer):
+        self.config = config
+        self.is_running = is_running
+        self.timer_counter = timer_counter
+        self.zmq_context = zmq.Context()
+        self.logger = self._logger()
+
+        self.setup()
+
+    @classmethod
+    def _logger(cls):
+        return logging.getLogger(f"trap.{cls.__name__}")
+
+    def tick(self):
+        with self.timer_counter.get_lock():
+            self.timer_counter.value+=1
+    
+    def setup(self):
+        raise RuntimeError("Not implemented setup()")
+    
+    def run(self):
+        raise RuntimeError("Not implemented run()")
+    
+    def sub(self, addr: str):
+        "Default zmq sub configuration"
+        sock = self.zmq_context.socket(zmq.SUB)
+        sock.setsockopt(zmq.CONFLATE, 1) # only keep latest frame. NB. make sure this comes BEFORE connect, otherwise it's ignored!!
+        sock.setsockopt(zmq.SUBSCRIBE, b'')
+        sock.connect(addr)
+        return sock
+
+    def pub(self, addr: str):
+        "Default zmq pub configuration"
+        sock = self.zmq_context.socket(zmq.PUB)
+        sock.setsockopt(zmq.CONFLATE, 1) # only keep latest frame
+        sock.bind(addr)
+        return sock
+
+    @classmethod
+    def start(cls, config: Namespace, is_running: BaseEvent, timer_counter: Optional[Timer]):
+        instance = cls(config, is_running, timer_counter)
+        instance.run()

trap/plumber.py

@@ -16,6 +16,7 @@ from trap.prediction_server import run_prediction_server
 from trap.preview_renderer import run_preview_renderer
 from trap.animation_renderer import run_animation_renderer
 from trap.socket_forwarder import run_ws_forwarder
+from trap.stage import Stage
 from trap.timer import TimerCollection
 from trap.tracker import run_tracker
 
@@ -91,6 +92,7 @@ def start():
     timer_fe = timers.new('frame_emitter')
     timer_tracker = timers.new('tracker')
     timer_faces = timers.new('faces')
+    timer_stage = timers.new('stage')
 
     # instantiating process with arguments
     procs = [
@@ -98,6 +100,7 @@ def start():
         ExceptionHandlingProcess(target=run_frame_emitter, kwargs={'config': args, 'is_running': isRunning, 'timer_counter': timer_fe.iterations}, name='frame_emitter'),
         ExceptionHandlingProcess(target=run_tracker, kwargs={'config': args, 'is_running': isRunning, 'timer_counter': timer_tracker.iterations}, name='tracker'),
         ExceptionHandlingProcess(target=run_detector, kwargs={'config': args, 'is_running': isRunning, 'timer_counter': timer_faces.iterations}, name='detector'),
+        ExceptionHandlingProcess(target=Stage.start, kwargs={'config': args, 'is_running': isRunning, 'timer_counter': timer_stage.iterations}, name='stage'),
     ]
     
     # if args.render_file or args.render_url or args.render_window:

trap/preview_renderer.py

@@ -24,7 +24,7 @@ from typing import List, Optional
 from pyglet import shapes
 from PIL import Image
 
-from trap.utils import convert_world_points_to_img_points
+from trap.utils import convert_world_points_to_img_points, exponentialDecay, relativePointToPolar, relativePolarToPoint
 from trap.frame_emitter import DetectionState, Frame, Track, Camera
 
 
@@ -45,18 +45,6 @@ class FrameAnimation:
     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]
 
 PROJECTION_IMG = 0
 PROJECTION_UNDISTORT = 1

trap/scenarios.py

@@ -1,125 +0,0 @@
-
-from enum import Enum
-import time
-from typing import Optional
-from statemachine import Event, State, StateMachine
-from statemachine.exceptions import TransitionNotAllowed
-
-from trap.base import Track
-
-
-class ScenarioScene(Enum):
-    DETECTED = 1
-    FIRST_PREDICTION = 2
-    CORRECTED_PREDICTION = 3
-    LOITERING = 4
-    PLAY = 4
-    LOST = -1
-
-class TrackScenario(StateMachine):
-    detected = State(initial=True)
-    substantial = State()
-    first_prediction = State()
-    corrected_prediction = State()
-    loitering = State()
-    play = State()
-    lost = State(final=True)
-    
-    receive_track = lost.from_(
-        detected, first_prediction, corrected_prediction, loitering, play, substantial, cond="track_is_lost"
-    ) | corrected_prediction.to(loitering, cond="track_is_loitering") | detected.to(substantial, cond="track_is_long")
-
-    receive_prediction = detected.to(first_prediction) | first_prediction.to(corrected_prediction, cond="prediction_is_stale") | corrected_prediction.to(play, cond="prediction_is_playing")
-
-    def __init__(self, track: Track):
-        self._track = track
-        self.first_prediction_track: Optional[Track] = None
-        self.prediction_track: Optional[Track] = None
-        super().__init__()
-
-    def track_is_long(self, track: Track):
-        return len(track.history) > 20
-
-    def track_is_lost(self, track: Track):
-        return track.lost
-
-    def track_is_loitering(self, track: Track):
-        # TODO)) Change to measure displacement over the last n seconds
-        return len(track.history) > (track.fps * 60) # seconds after which someone is loitering
-    
-    def prediction_is_stale(self, track: Track):
-        # TODO use displacement instead of time
-        return bool(self.prediction_track and self.prediction_track.created_at < (time.perf_counter() - 2))
-    
-    def prediction_is_playing(self, Track):
-        return False
-    
-    # @property
-    # def track(self):
-    #     return self._track
-    
-    def set_track(self, track: Track):
-        self._track = track
-        try:
-            self.receive_track(track)
-        except TransitionNotAllowed as e:
-            # state change is optional
-            pass
-    
-    def set_prediction(self, track: Track):
-        if not self.first_prediction_track:
-            self.first_prediction_track = track
-        
-        self.prediction_track = track
-        try:
-            self.receive_prediction(track)
-        except TransitionNotAllowed as e:
-            # state change is optional
-            pass
-    
-    def after_receive_track(self, track: Track):
-        print('change state')
-
-    def on_receive_track(self, track: Track):
-        # on event, because it happens for every receive, despite transition
-        print('updating track!')
-        # self.track = track
-
-    def on_receive_prediction(self, track: Track):
-        # on event, because it happens for every receive, despite transition
-        print('updating prediction!')
-        # self.track = track
-
-    def after_receive_prediction(self, track: Track):
-        # after 
-        self.prediction_track = track
-        if not self.first_prediction_track:
-            self.first_prediction_track = track
-
-    def on_enter_corrected_prediction(self):
-        print('corrected!')
-
-    def on_enter_detected(self):
-        print("DETECTED!")
-
-    def on_enter_first_prediction(self):
-        print("Hello!")
-
-    def on_enter_detected(self):
-        print(f"enter {self.current_state.id}")
-    def on_enter_substantial(self):
-        print(f"enter {self.current_state.id}")
-    def on_enter_first_prediction(self):
-        print(f"enter {self.current_state.id}")
-    def on_enter_corrected_prediction(self):
-        print(f"enter {self.current_state.id}")
-    def on_enter_loitering(self):
-        print(f"enter {self.current_state.id}")
-    def on_enter_play(self):
-        print(f"enter {self.current_state.id}")
-    def on_enter_lost(self):
-        print(f"enter {self.current_state.id}")
-    
-
-
-    

trap/stage.py

@@ -0,0 +1,376 @@
+from __future__ import annotations
+
+from collections import defaultdict
+from dataclasses import dataclass
+from enum import Enum
+import json
+import logging
+import time
+from typing import Dict, List, Optional, Tuple
+from statemachine import Event, State, StateMachine
+from statemachine.exceptions import TransitionNotAllowed
+import zmq
+
+from sgan.sgan import data
+from trap.base import DataclassJSONEncoder, Frame, Track
+from trap.counter import CounterSender
+from trap.node import Node
+from trap.timer import Timer
+from trap.utils import exponentialDecay, relativePointToPolar, relativePolarToPoint
+
+
+class ScenarioScene(Enum):
+    DETECTED = 1
+    FIRST_PREDICTION = 2
+    CORRECTED_PREDICTION = 3
+    LOITERING = 4
+    PLAY = 4
+    LOST = -1
+
+LOST_FADEOUT = 3
+
+class TrackScenario(StateMachine):
+    detected = State(initial=True)
+    substantial = State()
+    first_prediction = State()
+    corrected_prediction = State()
+    loitering = State()
+    play = State()
+    lost = State(final=True)
+    
+    receive_track = lost.from_(
+        detected, first_prediction, corrected_prediction, loitering, play, substantial, cond="track_is_lost"
+    ) | corrected_prediction.to(loitering, cond="track_is_loitering") | detected.to(substantial, cond="track_is_long")
+
+    mark_lost = lost.from_(detected, substantial, first_prediction, corrected_prediction, loitering, play)
+
+    receive_prediction = detected.to(first_prediction) | first_prediction.to(corrected_prediction, cond="prediction_is_stale") | corrected_prediction.to(play, cond="prediction_is_playing")
+
+    def __init__(self):
+        self._track = None
+        self.first_prediction_track: Optional[Track] = None
+        self.prediction_track: Optional[Track] = None
+        super().__init__()
+
+    def track_is_long(self, track: Track):
+        return len(track.history) > 20
+
+    def track_is_lost(self, track: Track):
+        # return self._track and self._track.created_at < time.time() - 5
+        return track.lost # Note, for now this is not implemented in the tacker, see check_lost()
+
+    def track_is_loitering(self, track: Track):
+        # TODO)) Change to measure displacement over the last n seconds
+        return len(track.history) > (track.fps * 60) # seconds after which someone is loitering
+    
+    def prediction_is_stale(self, track: Track):
+        # TODO use displacement instead of time
+        return bool(self.prediction_track and self.prediction_track.created_at < (time.perf_counter() - 2))
+    
+    def prediction_is_playing(self, Track):
+        return False
+    
+    def check_lost(self):
+        if self.current_state is not self.lost and self._track and self._track.created_at < time.time() - 5:
+            self.mark_lost()
+    
+    def set_track(self, track: Track):
+        if self._track and self._track.created_at > track.created_at:
+            # ignore old track
+            return
+        
+        self._track = track
+        try:
+            self.receive_track(track)
+        except TransitionNotAllowed as e:
+            # state change is optional
+            pass
+    
+    def set_prediction(self, track: Track):
+        if not self._track:
+            # in case of the unlikely event that prediction was passed sooner
+            self.set_track(track)
+
+        if not self.first_prediction_track:
+            self.first_prediction_track = track
+
+        if self.prediction_track and (track.created_at - self.prediction_track.created_at) < .7:
+            # just drop tracks if the predictions come to quick
+            return
+
+        
+        self.prediction_track = track
+        try:
+            self.receive_prediction(track)
+        except TransitionNotAllowed as e:
+            # state change is optional
+            pass
+    
+    def after_receive_track(self, track: Track):
+        print('change state')
+
+    def on_receive_track(self, track: Track):
+        # on event, because it happens for every receive, despite transition
+        print('updating track!')
+        # self.track = track
+
+    def on_receive_prediction(self, track: Track):
+        # on event, because it happens for every receive, despite transition
+        print('updating prediction!')
+        # self.track = track
+
+    def after_receive_prediction(self, track: Track):
+        # after 
+        self.prediction_track = track
+        if not self.first_prediction_track:
+            self.first_prediction_track = track
+
+    def on_enter_corrected_prediction(self):
+        print('corrected!')
+
+    def on_enter_detected(self):
+        print("DETECTED!")
+
+    def on_enter_first_prediction(self):
+        print("Hello!")
+
+    def on_enter_detected(self):
+        print(f"enter {self.current_state.id}")
+    def on_enter_substantial(self):
+        print(f"enter {self.current_state.id}")
+    def on_enter_first_prediction(self):
+        print(f"enter {self.current_state.id}")
+    def on_enter_corrected_prediction(self):
+        print(f"enter {self.current_state.id}")
+    def on_enter_loitering(self):
+        print(f"enter {self.current_state.id}")
+    def on_enter_play(self):
+        print(f"enter {self.current_state.id}")
+    def on_enter_lost(self):
+        print(f"enter {self.current_state.id}")
+        self.lost_at = time.time()
+    
+    def lost_for(self):
+        if self.current_state is self.lost:
+            return time.time() - self.lost_at
+        return None
+
+    def lost_factor(self):
+        l = self.lost_for()
+        if not l:
+            return 0
+        return l/LOST_FADEOUT
+
+    def to_lines(self) -> List[RenderableLine]:
+        raise RuntimeError("Not implemented yet")
+    
+
+class DrawnScenario(TrackScenario):
+    """
+    Scenario contains the controls (scene, target positions)
+    DrawnScenario class does the actual drawing of points incl. transitions
+    """
+    def __init__(self):
+        # self.created_at = time.time()
+        # self.track_id = track_id
+        self.last_update_t = time.perf_counter()
+        
+        self.drawn_positions: List[Tuple[float,float]] = []
+        self.drawn_pred_history: List[Tuple[float,float]] = []
+        self.drawn_predictions: List[List[Tuple[float,float]]] = []
+        super().__init__()
+        
+    def update_drawn_positions(self) -> List:
+        '''
+        use dt to lerp the drawn positions in the direction of current prediction
+        '''
+        # TODO: make lerp, currently quick way to get results
+
+        def int_or_not(v):
+            """quick wrapper to toggle int'ing"""
+            return v
+            # return int(v)
+        
+        # 0. calculate dt
+        # if dt is None:
+        t = time.perf_counter()
+        dt = t - self.last_update_t
+        self.last_update_t = t
+
+        # 1. track history, direct update
+        positions = self._track.get_projected_history(None, self.camera)
+        # TODO)) Limit history to N points, or N lenght
+        for i, pos in enumerate(self.drawn_positions):
+            self.drawn_positions[i][0] = positions[i][0]
+            self.drawn_positions[i][1] = positions[i][1]
+
+        if len(positions) > len(self.drawn_positions):
+            self.drawn_positions.extend(positions[len(self.drawn_positions):])
+
+        if self.prediction_track and self.prediction_track.predictor_history:
+            # 2. history as seen by predictor (Trajectron)
+            for i, pos in enumerate(self.drawn_pred_history):
+                if len(self.prediction_track.predictor_history) > i:
+                    self.drawn_pred_history[i][0] = int_or_not(exponentialDecay(self.drawn_pred_history[i][0], self.prediction_track.predictor_history[i][0], 16, dt))
+                    self.drawn_pred_history[i][1] = int_or_not(exponentialDecay(self.drawn_pred_history[i][1], self.prediction_track.predictor_history[i][1], 16, dt))
+
+            if len(self.prediction_track.predictor_history) > len(self.drawn_pred_history):
+                self.drawn_pred_history.extend(positions[len(self.drawn_pred_history):])
+
+        if self.prediction_track and self.prediction_track.predictions:
+            # 3. predictions
+            if len(self.prediction_track.predictions):
+                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 = 16
+                        origin = self.drawn_positions[-1]
+                        drawn_r, drawn_angle = relativePointToPolar(  origin, drawn_prediction[i])
+                        pred_r, pred_angle = relativePointToPolar(origin, self.prediction_track.predictions[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_or_not(x), int_or_not(y)
+                        # self.drawn_predictions[i][0] = int(exponentialDecay(self.drawn_predictions[i][0], self.prediction_track.predictions[i][0], decay, dt))
+                        # self.drawn_predictions[i][1] = int(exponentialDecay(self.drawn_predictions[i][1], self.prediction_track.predictions[i][1], decay, dt))
+
+            if len(self.prediction_track.predictions) > len(self.drawn_predictions):
+                self.drawn_predictions.extend(self.prediction_track.predictions[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):])
+    def to_renderable_lines(self) -> RenderableLines:
+        lines = []
+        color = SrgbaColor(1.,0.,0.,1.-self.lost_factor())
+        # positions = [RenderablePosition.from_list(pos) for pos in self.drawn_positions]
+        points = [RenderablePoint(pos, color) for pos in self.drawn_positions]
+        lines.append(RenderableLine(points))
+
+        if len(self.drawn_predictions):
+            color = SrgbaColor(0.,0.5,0.,1.-self.lost_factor())
+            # positions = [RenderablePosition.from_list(pos) for pos in self.drawn_positions]
+            points = [RenderablePoint(pos, color) for pos in self.drawn_predictions[0]]
+            lines.append(RenderableLine(points))
+
+        return lines
+
+        # drawn_pred_history
+        # drawn_predictions
+
+
+# @dataclass
+# class RenderablePosition():
+#     x: float
+#     y: float
+
+#     @classmethod
+#     def from_list(cls, l: List[float, float]) -> RenderablePosition:
+#         return cls(x = float(l[0]), y=float(l[1]))
+
+RenderablePosition = Tuple[float,float]
+    
+@dataclass
+class SrgbaColor():
+    red: float
+    green: float
+    blue: float
+    alpha: float
+
+@dataclass
+class RenderablePoint():
+    position: RenderablePosition
+    color: SrgbaColor
+
+    @classmethod
+    def from_list(cls, l: List[float, float], color: SrgbaColor) -> RenderablePoint:
+        return cls([float(l[0]), float(l[1])], color)
+
+@dataclass
+class RenderableLine():
+    points: List[RenderablePoint]
+
+@dataclass
+class RenderableLines():
+    lines: List[RenderableLine]
+
+class Stage(Node):
+    """
+    Render a stage, on which different TrackScenarios take place to a
+    single image of lines. Which can be passed to different renderers
+    E.g. the laser or image renderers.
+    """
+
+    FPS = 60
+
+    def setup(self):
+        # self.scenarios: List[DrawnScenario] = []
+        self.scenarios: Dict[str, DrawnScenario] = defaultdict(lambda: DrawnScenario())
+        self.trajectory_sock = self.sub(self.config.zmq_trajectory_addr)
+        self.prediction_sock = self.sub(self.config.zmq_prediction_addr)
+        self.stage_sock = self.pub(self.config.zmq_stage_addr)
+
+        self.counter = CounterSender()
+        
+    
+    def run(self):
+        prev_time = time.perf_counter()
+        while self.is_running.is_set():
+            self.tick() 
+
+            # 1) poll & update
+            self.loop_receive()
+
+            # 2) render
+            self.loop_render()
+
+            # 3) calculate latency for desired FPS
+            now = time.perf_counter()
+            time_diff = (now - prev_time)
+            if time_diff < 1/self.FPS:
+                # print(f"sleep {1/self.FPS - time_diff}")
+                time.sleep(1/self.FPS - time_diff)
+                now += 1/self.FPS - time_diff
+            
+            prev_time = now
+
+    def loop_receive(self):
+        # 1) receive predictions
+        try:
+            prediction_frame: Frame = self.prediction_sock.recv_pyobj(zmq.NOBLOCK)
+            for track_id, track in prediction_frame.tracks.items():
+                self.scenarios[track_id].set_prediction(track)
+        except zmq.ZMQError as e:
+            self.logger.debug(f'reuse prediction')
+        
+        # 2) receive tracker tracks
+        try:
+            trajectory_frame: Frame = self.trajectory_sock.recv_pyobj(zmq.NOBLOCK)
+            for track_id, track in trajectory_frame.tracks.items():
+                self.scenarios[track_id].set_track(track)
+                self.scenarios[track_id].camera = trajectory_frame.camera # little hack to pass camera!
+        except zmq.ZMQError as e:
+            self.logger.debug(f'reuse tracks')
+        
+        # 3) Remove stale tracks
+        for track_id, scenario in list(self.scenarios.items()):
+            # check when last tracker update was received
+            scenario.check_lost()
+
+            if scenario.lost_factor() > 1:
+                self.logger.info(f"rm track {track_id}")
+                del self.scenarios[track_id]
+
+    def loop_render(self):
+        lines: RenderableLine = []
+        for track_id, scenario in self.scenarios.items():
+            scenario.update_drawn_positions()
+            
+            lines.extend(scenario.to_renderable_lines())
+        
+        # print(lines)
+        rl = RenderableLines(lines)
+        self.counter.set("stage.lines", len(lines))
+        self.stage_sock.send_json(rl, cls=DataclassJSONEncoder)
+
+    

trap/timer.py

@@ -1,13 +1,13 @@
 import collections
-from re import A
 import time
-from multiprocessing.sharedctypes import RawValue, Value, Array
-from ctypes import c_double
+from multiprocessing.sharedctypes import Value
 from typing import MutableSequence
 
 
 class Timer():
     """
+    Multiprocess timer. Count iterations in one process, while converting that
+    to fps in the other.
     Measure 2 independent things: the freuency of tic, and the duration of tic->toc
     Note that indeed these don't need to be equal
     """
@@ -40,7 +40,6 @@ class Timer():
 
     @property
     def fps(self):
-        fpses = []
         if len(self.tocs) < 2:
             return 0
         dt = self.tocs[-1][0] - self.tocs[0][0]

trap/utils.py

@@ -1,5 +1,6 @@
 # lerp & inverse lerp from https://gist.github.com/laundmo/b224b1f4c8ef6ca5fe47e132c8deab56
 import linecache
+import math
 import os
 from pathlib import Path
 import tracemalloc
@@ -27,6 +28,20 @@ def inv_lerp(a: float, b: float, v: float) -> float:
     """
     return (v - a) / (b - a)
 
+
+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]
+
 # def line_intersection(line1, line2):
 #     xdiff = (line1[0][0] - line1[1][0], line2[0][0] - line2[1][0])
 #     ydiff = (line1[0][1] - line1[1][1], line2[0][1] - line2[1][1])