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Faster cv rendering with polylines

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This commit is contained in:
Ruben van de Ven 2024-12-31 14:46:27 +01:00
parent 49c5e66f1d
commit 4bc1e56dad
1 changed files with 16 additions and 20 deletions
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34
trap/tools.py
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@ -200,7 +200,7 @@ def transition_path_points(path: np.array, t: float):
# distance = cum_lenghts[-1] * t
# ts = np.concatenate((np.array([0.]), cum_lenghts / cum_lenghts[-1]))
# print(cum_lenghts[-1])
DRAW_SPEED = 30 # fixed speed (independent of lenght) TODO)) make variable
DRAW_SPEED = 35 # fixed speed (independent of lenght) TODO)) make variable
ts = np.concatenate((np.array([0.]), cum_lenghts / DRAW_SPEED))
new_path = [path[0]]
@ -235,6 +235,7 @@ def draw_track_predictions(img: cv2.Mat, track: Track, color_index: int, camera:
# if convert_points:
# current_point = convert_points([current_point])[0]
lines = []
for pred_i, pred in enumerate(track.predictions):
pred_coords = pred #cv2.perspectiveTransform(np.array([pred]), inv_H)[0].tolist()
# line_points = pred_coords
@ -249,23 +250,15 @@ def draw_track_predictions(img: cv2.Mat, track: Track, color_index: int, camera:
color = bgr_colors[color_index % len(bgr_colors)]
color = tuple([int(c*opacity) for c in color])
line_points = line_points.reshape((-1,1,2))
lines.append(line_points)
for start, end in zip(line_points[:-1], line_points[1:]):
# for ci in range(0, len(pred_coords)):
# if ci == 0:
# # TODO)) prev point
# # continue
# start = [int(p) for p in current_point]
# # start = [int(p) for p in coords[-1]]
# # start = [0,0]?
# # print(start)
# else:
# start = [int(p) for p in pred_coords[ci-1]]
# end = [int(p) for p in pred_coords[ci]]
# print(np.rint(start),np.rint(end).tolist())
cv2.line(img, start, end, color, 2, lineType=cv2.LINE_AA)
pass
# cv2.circle(img, end, 2, color, 1, lineType=cv2.LINE_AA)
# draw in a single pass
cv2.polylines(img, lines, False, color, 2, cv2.LINE_AA)
# for start, end in zip(line_points[:-1], line_points[1:]):
# cv2.line(img, start, end, color, 2, lineType=cv2.LINE_AA)
# pass
# # cv2.circle(img, end, 2, color, 1, lineType=cv2.LINE_AA)
def draw_trackjectron_history(img: cv2.Mat, track: Track, color_index: int, convert_points: Optional[Callable]):
if not track.predictor_history:
@ -302,11 +295,14 @@ def draw_track_projected(img: cv2.Mat, track: Track, color_index: int, camera: C
point_color = bgr_colors[color_index % len(bgr_colors)]
cv2.circle(img, to_point(history[0]), 3, point_color, 2)
points = np.rint(history.reshape((-1,1,2))).astype(np.int32)
cv2.polylines(img, [points], False, point_color, 1)
for j in range(len(history)-1):
a = history[j]
# a = history[j]
b = history[j+1]
cv2.line(img, to_point(a), to_point(b), point_color, 1)
# cv2.line(img, to_point(a), to_point(b), point_color, 1)
cv2.circle(img, to_point(b), 3, point_color, 2)