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slowly fade predicted tracks

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This commit is contained in:
Ruben van de Ven 2024-12-17 11:10:31 +01:00
parent 6b12ddf08a
commit 5ceeda05d7
2 changed files with 44 additions and 9 deletions
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46
trap/cv_renderer.py
View file

@ -18,7 +18,7 @@ import tempfile
from pathlib import Path
import shutil
import math
from typing import Iterable, Optional
from typing import Dict, Iterable, Optional
from pyglet import shapes
@ -73,6 +73,9 @@ class CvRenderer:
self.tracker_frame: Frame|None = None
self.prediction_frame: Frame|None = None
self.tracks: Dict[str, Track] = {}
self.predictions: Dict[str, Track] = {}
# self.init_shapes()
@ -367,18 +370,24 @@ class CvRenderer:
try:
prediction_frame: Frame = self.prediction_sock.recv_pyobj(zmq.NOBLOCK)
for track_id, track in prediction_frame.tracks.items():
prediction_id = f"{track_id}-{track.history[-1].frame_nr}"
self.predictions[prediction_id] = track
except zmq.ZMQError as e:
logger.debug(f'reuse prediction')
try:
tracker_frame: Frame = self.tracker_sock.recv_pyobj(zmq.NOBLOCK)
for track_id, track in tracker_frame.tracks.items():
self.tracks[track_id] = track
except zmq.ZMQError as e:
logger.debug(f'reuse tracks')
if first_time is None:
first_time = frame.time
img = decorate_frame(frame, tracker_frame, prediction_frame, first_time, self.config)
img = decorate_frame(frame, tracker_frame, prediction_frame, first_time, self.config, self.tracks, self.predictions)
img_path = (self.config.output_dir / f"{i:05d}.png").resolve()
@ -390,6 +399,16 @@ class CvRenderer:
if self.config.render_window:
cv2.imshow('frame',cv2.resize(img, (1920, 1080)))
cv2.waitKey(1)
# clear out old tracks & predictions:
for track_id, track in list(self.tracks.items()):
if get_opacity(track, frame) == 0:
self.tracks.pop(track_id)
for prediction_id, track in list(self.predictions.items()):
if get_opacity(track, frame) == 0:
self.predictions.pop(prediction_id)
logger.info('Stopping')
# if i>2:
@ -421,6 +440,13 @@ colorset = [
# (0,0,0),
# ]
def get_opacity(track: Track, current_frame: Frame):
fade_duration = current_frame.camera.fps * 3
diff = current_frame.index - track.history[-1].frame_nr
return max(0, 1 - diff / fade_duration)
# track.history[-1].frame_nr < (current_frame.index - current_frame.camera.fps * 3)
# track.history[-1].frame_nr < (current_frame.index - current_frame.camera.fps * 3)
def convert_world_space_to_img_space(H: cv2.Mat):
"""Transform the given matrix so that it immediately converts
the points to img space"""
@ -435,8 +461,11 @@ def convert_world_points_to_img_points(points: Iterable):
return np.array(points) * 100
return [[p[0]*100, p[1]*100] for p in points]
# Deprecated
def decorate_frame(frame: Frame, tracker_frame: Frame, prediction_frame: Frame, first_time: float, config: Namespace) -> np.array:
def decorate_frame(frame: Frame, tracker_frame: Frame, prediction_frame: Frame, first_time: float, config: Namespace, tracks: Dict[str, Track], predictions: Dict[str, Track]) -> 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
@ -450,7 +479,7 @@ def decorate_frame(frame: Frame, tracker_frame: Frame, prediction_frame: Frame,
# Fill image with red color(set each pixel to red)
overlay[:] = (0, 0, 0)
img = cv2.addWeighted(dst_img, .7, overlay, .3, 0)
img = cv2.addWeighted(dst_img, .1, overlay, .3, 0)
# img = frame.img.copy()
# all not working:
@ -466,7 +495,7 @@ def decorate_frame(frame: Frame, tracker_frame: Frame, prediction_frame: Frame,
if not tracker_frame:
cv2.putText(img, f"and track", (650,17), cv2.FONT_HERSHEY_PLAIN, 1, (255,255,0), 1)
else:
for track_id, track in tracker_frame.tracks.items():
for track_id, track in tracks.items():
inv_H = np.linalg.pinv(tracker_frame.H)
draw_track_projected(img, track, int(track_id), config.camera, convert_world_points_to_img_points)
@ -474,11 +503,12 @@ def decorate_frame(frame: Frame, tracker_frame: Frame, prediction_frame: Frame,
cv2.putText(img, f"Waiting for prediction...", (500,17), cv2.FONT_HERSHEY_PLAIN, 1, (255,255,0), 1)
# continue
else:
for track_id, track in prediction_frame.tracks.items():
for track_id, track in predictions.items():
inv_H = np.linalg.pinv(prediction_frame.H)
# draw_track(img, track, int(track_id))
draw_trackjectron_history(img, track, int(track_id), convert_world_points_to_img_points)
draw_track_predictions(img, track, int(track_id)+1, config.camera, convert_world_points_to_img_points)
draw_trackjectron_history(img, track, int(track.track_id), convert_world_points_to_img_points)
opacity = get_opacity(track, frame)
draw_track_predictions(img, track, int(track.track_id)+1, config.camera, convert_world_points_to_img_points, opacity=opacity)
cv2.putText(img, f"{len(track.predictor_history) if track.predictor_history else 'none'}", to_point(track.history[0].get_foot_coords()), cv2.FONT_HERSHEY_COMPLEX, 1, (255,255,255), 1)
base_color = (255,)*3

7
trap/tools.py
View file

@ -185,7 +185,10 @@ def tracker_compare():
bar.set_description(f"[{frames.video_nr}/{len(frames.video_srcs)}] [{frames.frame_idx}/{frames.frame_count}] {str(frames.video_path)}")
def draw_track_predictions(img: cv2.Mat, track: Track, color_index: int, camera:Camera, convert_points: Optional[Callable]):
def draw_track_predictions(img: cv2.Mat, track: Track, color_index: int, camera:Camera, convert_points: Optional[Callable], opacity=1):
"""
Opacity: 0-1
"""
if not track.predictions:
return
@ -201,6 +204,8 @@ def draw_track_predictions(img: cv2.Mat, track: Track, color_index: int, camera:
# color = (128,0,128) if pred_i else (128,128,0)
color = bgr_colors[color_index % len(bgr_colors)]
color = tuple([int(c*opacity) for c in color])
for ci in range(0, len(pred_coords)):
if ci == 0: