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Ruben van de Ven
parent
373afb1d28
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5f5855e4ed
2 changed files with 128 additions and 7 deletions
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@ -134,7 +134,7 @@ class DrawnTrack:
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if ci >= len(self.shapes):
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# TODO: add color2
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line = self.renderer.gradientLine(x, y, x2, y2, 2, color, color, batch=self.renderer.batch_anim)
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line = self.renderer.gradientLine(x, y, x2, y2, 3, color, color, batch=self.renderer.batch_anim)
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line.opacity = 5
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self.shapes.append(line)
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@ -143,7 +143,7 @@ class DrawnTrack:
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line.x, line.y = x, y
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line.x2, line.y2 = x2, y2
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line.color = color
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line.opacity = int(exponentialDecay(line.opacity, 255, 3, dt))
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line.opacity = int(exponentialDecay(line.opacity, 180, 3, dt))
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# TODO: basically a duplication of the above, do this smarter?
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# TODO: add intermediate segment
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@ -183,9 +183,9 @@ class DrawnTrack:
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decay = (16/ci) if ci else 16
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half = len(drawn_predictions) / 2
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if ci < half:
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target_opacity = 255
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target_opacity = 180
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else:
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target_opacity = (1 - ((ci - half) / half)) * 255
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target_opacity = (1 - ((ci - half) / half)) * 180
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line.opacity = int(exponentialDecay(line.opacity, target_opacity, decay, dt))
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@ -266,11 +266,16 @@ class Renderer:
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self.window.set_handler('on_close', self.on_close)
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pyglet.gl.glClearColor(81./255, 20/255, 46./255, 0)
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self.fps_display = pyglet.window.FPSDisplay(window=self.window)
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self.fps_display = pyglet.window.FPSDisplay(window=self.window, color=(255,255,255,255))
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self.fps_display.label.x = self.window.width - 50
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self.fps_display.label.y = self.window.height - 17
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self.fps_display.label.bold = False
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self.fps_display.label.font_size = 10
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self.drawn_tracks: dict[str, DrawnTrack] = {}
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self.first_time: float|None = None
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self.frame: Frame|None= None
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self.prediction_frame: Frame|None = None
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@ -281,6 +286,8 @@ class Renderer:
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self.init_shapes()
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self.init_labels()
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def init_shapes(self):
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'''
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@ -327,9 +334,66 @@ class Renderer:
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self.gradientLine = GradientLine
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def init_labels(self):
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base_color = (255,)*4
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info_color = (255,255,0, 255)
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options = []
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for option in ['prediction_horizon','num_samples','full_dist','gmm_mode','z_mode', 'model_dir']:
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options.append(f"{option}: {self.config.__dict__[option]}")
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self.labels = {
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'waiting': pyglet.text.Label("Waiting for prediction"),
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'frame_idx': pyglet.text.Label("", x=20, y=self.window.height - 17, color=base_color, batch=self.batch_overlay),
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'frame_time': pyglet.text.Label("t", x=120, y=self.window.height - 17, color=base_color, batch=self.batch_overlay),
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'pred_idx': pyglet.text.Label("", x=90, y=self.window.height - 17, color=info_color, batch=self.batch_overlay),
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'pred_time': pyglet.text.Label("", x=200, y=self.window.height - 17, color=info_color, batch=self.batch_overlay),
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'track_len': pyglet.text.Label("", x=500, y=self.window.height - 17, color=base_color, batch=self.batch_overlay),
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'options1': pyglet.text.Label(options.pop(-1), x=20, y=30, color=base_color, batch=self.batch_overlay),
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'options2': pyglet.text.Label(" | ".join(options), x=20, y=10, color=base_color, batch=self.batch_overlay),
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}
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def refresh_labels(self, dt: float):
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"""Every frame"""
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if self.frame:
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self.labels['frame_idx'].text = f"{self.frame.index:06d}"
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self.labels['frame_time'].text = f"{self.frame.time - self.first_time:.3f}s"
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if self.prediction_frame:
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self.labels['pred_idx'].text = f"{self.prediction_frame.index - self.frame.index}"
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self.labels['pred_time'].text = f"{self.prediction_frame.time - time.time():.3f}s"
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self.labels['track_len'].text = f"{len(self.prediction_frame.tracks)} tracks"
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# cv2.putText(img, f"{frame.index:06d}", (20,17), cv2.FONT_HERSHEY_PLAIN, 1, base_color, 1)
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# cv2.putText(img, f"{frame.time - first_time:.3f}s", (120,17), cv2.FONT_HERSHEY_PLAIN, 1, base_color, 1)
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# if prediction_frame:
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# # render Δt and Δ frames
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# cv2.putText(img, f"{prediction_frame.index - frame.index}", (90,17), cv2.FONT_HERSHEY_PLAIN, 1, info_color, 1)
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# cv2.putText(img, f"{prediction_frame.time - time.time():.2f}s", (200,17), cv2.FONT_HERSHEY_PLAIN, 1, info_color, 1)
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# cv2.putText(img, f"{len(prediction_frame.tracks)} tracks", (500,17), cv2.FONT_HERSHEY_PLAIN, 1, base_color, 1)
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# cv2.putText(img, f"h: {np.average([len(t.history or []) for t in prediction_frame.tracks.values()]):.2f}", (580,17), cv2.FONT_HERSHEY_PLAIN, 1, info_color, 1)
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# cv2.putText(img, f"ph: {np.average([len(t.predictor_history or []) for t in prediction_frame.tracks.values()]):.2f}", (660,17), cv2.FONT_HERSHEY_PLAIN, 1, info_color, 1)
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# cv2.putText(img, f"p: {np.average([len(t.predictions or []) for t in prediction_frame.tracks.values()]):.2f}", (740,17), cv2.FONT_HERSHEY_PLAIN, 1, info_color, 1)
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# options = []
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# for option in ['prediction_horizon','num_samples','full_dist','gmm_mode','z_mode', 'model_dir']:
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# options.append(f"{option}: {config.__dict__[option]}")
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# cv2.putText(img, options.pop(-1), (20,img.shape[0]-30), cv2.FONT_HERSHEY_PLAIN, 1, base_color, 1)
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# cv2.putText(img, " | ".join(options), (20,img.shape[0]-10), cv2.FONT_HERSHEY_PLAIN, 1, base_color, 1)
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def check_frames(self, dt):
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try:
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self.frame: Frame = self.frame_sock.recv_pyobj(zmq.NOBLOCK)
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if not self.first_time:
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self.first_time = self.frame.time
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img = cv2.GaussianBlur(self.frame.img, (15, 15), 0)
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img = cv2.flip(cv2.cvtColor(img, cv2.COLOR_BGR2RGB), 0)
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img = pyglet.image.ImageData(self.frame_size[0], self.frame_size[1], 'RGB', img.tobytes())
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@ -384,8 +448,11 @@ class Renderer:
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for track_id, track in self.drawn_tracks.items():
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track.update_drawn_positions(dt)
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self.shape1 = shapes.Circle(700, 150, 100, color=(50, 0, 30), batch=self.batch_anim)
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self.shape3 = shapes.Circle(800, 150, 100, color=(100, 225, 30), batch=self.batch_anim)
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self.refresh_labels(dt)
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# self.shape1 = shapes.Circle(700, 150, 100, color=(50, 0, 30), batch=self.batch_anim)
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# self.shape3 = shapes.Circle(800, 150, 100, color=(100, 225, 30), batch=self.batch_anim)
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pass
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def on_draw(self):
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54
trap/timer.py
Normal file
54
trap/timer.py
Normal file
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@ -0,0 +1,54 @@
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import time
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from multiprocessing.sharedctypes import RawValue, Value, Array
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from ctypes import c_double
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class Timer():
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"""
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Measure 2 independent things: the freuency of tic, and the duration of tic->toc
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Note that indeed these don't need to be equal
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"""
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def __init__(self) -> None:
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self.last_tic = RawValue(c_double, -1)
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self.last_toc = RawValue(c_double, -1)
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self.fps = RawValue(c_double, -1)
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self.processing_duration = RawValue(c_double, -1)
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self.smoothing = .1
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def tic(self):
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now = time.time()
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if self.last_tic is None:
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self.last_tic = now
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return
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duration = now - self.last_tic
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self.last_tic = now
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current_fps = 1 / duration
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if not self.fps:
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self.fps = current_fps
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else:
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self.fps = self.fps * (1-self.smoothing) + current_fps * self.smoothing
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def toc(self):
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self.last_toc = time.time()
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duration = self.last_toc - self.last_tic
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self.processing_duration = self.processing_duration * (1-self.smoothing) + duration * self.smoothing
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@property
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def fps(self):
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pass
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class TimerCollection():
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def __init__(self) -> None:
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self._timers = set()
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def print(self)->str:
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print('Update', end='\r')
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