Fade effect, and prep for more advanced line corretion using Shapely
This commit is contained in:
Ruben van de Ven
parent
73671ddd69
commit
b5a6dfbf5a
8 changed files with 601 additions and 159 deletions
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@ -23,7 +23,8 @@ dependencies = [
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"bytetracker",
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"jsonlines>=4.0.0,<5",
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"tensorboardx>=2.6.2.2,<3",
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"shapely>=1,<2",
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"shapely>=2.1",
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#"shapely>=1,<2",
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"baumer-neoapi",
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"qrcode~=8.0",
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"pyusb>=1.3.1,<2",
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435
test_path_transforms.ipynb
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435
test_path_transforms.ipynb
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File diff suppressed because one or more lines are too long
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@ -65,7 +65,7 @@ class FrameEmitter:
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def emit_video(self, timer_counter):
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i = 0
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source = get_video_source(self.video_srcs, self.config.camera, int(self.config.video_offset), self.config.video_end, self.config.video_loop)
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source = get_video_source(self.video_srcs, self.config.camera, int(self.config.video_offset or 0), self.config.video_end, self.config.video_loop)
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for i, img in enumerate(source):
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with timer_counter.get_lock():
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67
trap/lines.py
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67
trap/lines.py
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@ -0,0 +1,67 @@
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from __future__ import annotations
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from dataclasses import dataclass
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from enum import Enum
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from typing import List, Tuple
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from simplification.cutil import simplify_coords_idx, simplify_coords_vw_idx
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"""
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See [notebook](../test_path_transforms.ipynb) for examples
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"""
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RenderablePosition = Tuple[float,float]
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@dataclass
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class SrgbaColor():
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red: float
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green: float
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blue: float
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alpha: float
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def with_alpha(self, alpha: float) -> SrgbaColor:
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return SrgbaColor(self.red, self.green, self.blue, alpha)
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def as_faded(self, alpha: float) -> SrgbaColor:
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return SrgbaColor(self.red, self.green, self.blue, self.alpha * alpha)
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@dataclass
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class RenderablePoint():
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position: RenderablePosition
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color: SrgbaColor
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@classmethod
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def from_list(cls, l: List[float, float], color: SrgbaColor) -> RenderablePoint:
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return cls([float(l[0]), float(l[1])], color)
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SIMPLIFY_FACTOR_RDP = .05 # smaller is more detailed
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SIMPLIFY_FACTOR_VW = 10
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class SimplifyMethod(Enum):
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RDP = 1 #' Ramer–Douglas–Peucker'
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VW = 2 # Visvalingam-Whyatt
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@dataclass
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class RenderableLine():
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points: List[RenderablePoint]
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def as_simplified(self, method: SimplifyMethod = SimplifyMethod.RDP):
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linestring = [p.position for p in self.points]
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if method == SimplifyMethod.RDP:
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indexes = simplify_coords_idx(linestring, SIMPLIFY_FACTOR_RDP)
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elif method == SimplifyMethod.VW:
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indexes = simplify_coords_vw_idx(linestring, SIMPLIFY_FACTOR_VW)
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points = [self.points[i] for i in indexes]
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return RenderableLine(points)
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@dataclass
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class RenderableLines():
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lines: List[RenderableLine]
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def as_simplified(self, method: SimplifyMethod = SimplifyMethod.RDP):
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"""Wraps RenderableLine simplification"""
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return RenderableLines(
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[line.as_simplified(method) for line in self.lines]
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)
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@ -50,4 +50,5 @@ class Node():
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@classmethod
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def start(cls, config: Namespace, is_running: BaseEvent, timer_counter: Optional[Timer]):
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instance = cls(config, is_running, timer_counter)
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instance.run()
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instance.run()
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instance.logger.info("Stopping")
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139
trap/stage.py
139
trap/stage.py
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@ -5,6 +5,7 @@ from dataclasses import dataclass
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from enum import Enum
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import json
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import logging
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import pickle
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import time
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from typing import Dict, List, Optional, Tuple
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import numpy as np
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@ -12,13 +13,13 @@ from statemachine import Event, State, StateMachine
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from statemachine.exceptions import TransitionNotAllowed
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import zmq
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from simplification.cutil import simplify_coords_idx, simplify_coords_vw_idx
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from sgan.sgan import data
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from trap import shapes
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from trap.base import DataclassJSONEncoder, Frame, Track
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from trap.counter import CounterSender
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from trap.laser_renderer import rotateMatrix
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from trap.lines import RenderableLine, RenderableLines, RenderablePoint, SrgbaColor
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from trap.node import Node
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from trap.timer import Timer
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from trap.utils import exponentialDecay, relativePointToPolar, relativePolarToPoint
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@ -33,6 +34,19 @@ class ScenarioScene(Enum):
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LOST = -1
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LOST_FADEOUT = 3
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PREDICTION_INTERVAL: float|None = 1
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PREDICTION_FADE_IN: float = 3
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PREDICTION_FADE_SLOPE: float = -10
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PREDICTION_FADE_AFTER_DURATION: float = 10 # seconds
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PREDICTION_END_FADE = 2 #frames
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# TRACK_MAX_POINTS = 100
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TRACK_FADE_AFTER_DURATION = 10. # seconds
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TRACK_END_FADE = 50 # points
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TRACK_FADE_ASSUME_FPS = 12
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# Don't render the first n points of the prediction,
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# helps to avoid jitter in the line transition
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PREDICTION_OFFSET = int(TRACK_FADE_ASSUME_FPS * PREDICTION_INTERVAL * .8)
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class TrackScenario(StateMachine):
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detected = State(initial=True)
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@ -70,7 +84,7 @@ class TrackScenario(StateMachine):
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def prediction_is_stale(self, track: Track):
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# TODO use displacement instead of time
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return bool(self.prediction_track and self.prediction_track.created_at < (time.perf_counter() - 2))
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return bool(self.prediction_track and self.prediction_track.created_at < (time.time() - 2))
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def prediction_is_playing(self, Track):
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return False
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@ -99,7 +113,7 @@ class TrackScenario(StateMachine):
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if not self.first_prediction_track:
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self.first_prediction_track = track
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if self.prediction_track and (track.created_at - self.prediction_track.created_at) < .7:
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if PREDICTION_INTERVAL is not None and self.prediction_track and (track.created_at - self.prediction_track.created_at) < PREDICTION_INTERVAL:
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# just drop tracks if the predictions come to quick
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return
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@ -236,7 +250,7 @@ class DrawnScenario(TrackScenario):
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# TODO: this should be done in polar space starting from origin (i.e. self.drawn_posision[-1])
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decay = max(3, (18/i) if i else 10) # points further away move with more delay
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decay = 16
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origin = self.drawn_positions[-1]
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origin = self.drawn_positions[-1]
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drawn_r, drawn_angle = relativePointToPolar( origin, drawn_prediction[i])
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pred_r, pred_angle = relativePointToPolar(origin, self.prediction_track.predictions[a][i+prediction_offset])
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r = exponentialDecay(drawn_r, pred_r, decay, dt)
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@ -253,17 +267,43 @@ class DrawnScenario(TrackScenario):
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# if len(self.pred_coords) > len(self.drawn_predictions):
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# self.drawn_predictions.extend(self.pred_coords[len(self.drawn_predictions):])
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def to_renderable_lines(self) -> RenderableLines:
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track_age = time.time() - self._track.created_at
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drawable_points, alphas = points_fade_out_alpha_mask(self.drawn_positions, track_age, TRACK_FADE_AFTER_DURATION, TRACK_END_FADE)
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# track_age_in_frames = int(track_age * TRACK_FADE_ASSUME_FPS)
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# track_max_points = TRACK_FADE_AFTER_DURATION * TRACK_FADE_ASSUME_FPS - track_age_in_frames
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lines: List[RenderableLine] = []
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color = SrgbaColor(1.,0.,0.,1.-self.lost_factor())
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# positions = [RenderablePosition.from_list(pos) for pos in self.drawn_positions]
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points = [RenderablePoint(pos, color) for pos in self.drawn_positions[::4]]
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points = [RenderablePoint(pos, color.as_faded(a)) for pos, a in zip(drawable_points, alphas)]
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lines.append(RenderableLine(points))
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if len(self.drawn_predictions):
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color = SrgbaColor(0.,0.5,0.,1.-self.lost_factor())
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color = SrgbaColor(0.,1,0.,1.-self.lost_factor())
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prediction_track_age = time.time() - self.first_prediction_track.created_at
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t_factor = prediction_track_age / PREDICTION_FADE_IN
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# positions = [RenderablePosition.from_list(pos) for pos in self.drawn_positions]
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points = [RenderablePoint(pos, color) for pos in self.drawn_predictions[0]]
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lines.append(RenderableLine(points))
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for drawn_prediction in self.drawn_predictions:
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# drawn_prediction, alphas1 = points_fade_out_alpha_mask(drawn_prediction, prediction_track_age, TRACK_FADE_AFTER_DURATION, TRACK_END_FADE, no_frame_max=True)
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gradient = np.linspace(0, PREDICTION_FADE_SLOPE, len(drawn_prediction))
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alphas2 = np.clip(gradient + t_factor * (-1*PREDICTION_FADE_SLOPE), 0, 1)
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# print(alphas)
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# colors = [color.with_alpha(np.clip(t_factor*3-(p_index/len(drawn_prediction)), 0, 1)) for p_index in range(len(drawn_prediction))]
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# colors = [color.with_alpha(np.clip(t_factor*2-(p_index/len(drawn_prediction)), 0, 1)) for p_index in range(len(drawn_prediction))]
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# apply both fade in and fade out mask:
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colors = [color.as_faded(a2) for a2 in alphas2]
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# colors = [color.as_faded(a1*a2) for a1, a2 in zip(alphas1, alphas2)]
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points = [RenderablePoint(pos, pos_color) for pos, pos_color in zip(drawn_prediction[PREDICTION_OFFSET:], colors[PREDICTION_OFFSET:])]
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lines.append(RenderableLine(points))
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# # print(self.current_state)
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# if self.current_state is self.first_prediction or self.current_state is self.corrected_prediction:
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@ -315,7 +355,32 @@ class DrawnScenario(TrackScenario):
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def points_fade_out_alpha_mask(positions: List, track_age_seconds: float, fade_after_duration: float, fade_frames: int, no_frame_max=False):
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track_age_in_frames = int(track_age_seconds * TRACK_FADE_ASSUME_FPS)
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if not no_frame_max:
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track_max_points = int(fade_after_duration * TRACK_FADE_ASSUME_FPS) - track_age_in_frames
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else:
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if track_age_seconds < fade_after_duration:
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track_max_points = len(positions) #+ fade_frames
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else:
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FADE_DURATION = 2
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t_fade = max(0, track_age_seconds - fade_after_duration) / FADE_DURATION
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track_max_points = int(t_fade * len(positions) / FADE_DURATION)
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drawable_points = positions[-track_max_points:]
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alphas = []
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for i, point in enumerate(drawable_points):
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reverse_i = len(drawable_points) - i
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fade_i = reverse_i - (track_max_points - fade_frames) # -90
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fade_i /= fade_frames # / 10
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fade_i = np.clip(fade_i, 0, 1)
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alpha = 1 - fade_i
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if alpha > 0:
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alphas.append(alpha)
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return drawable_points, alphas
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# drawn_pred_history
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# drawn_predictions
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@ -331,58 +396,6 @@ class DrawnScenario(TrackScenario):
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# return cls(x = float(l[0]), y=float(l[1]))
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# TODO)) Or Shapely point?
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RenderablePosition = Tuple[float,float]
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@dataclass
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class SrgbaColor():
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red: float
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green: float
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blue: float
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alpha: float
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def with_alpha(self, alpha: float) -> SrgbaColor:
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return SrgbaColor(self.red, self.green, self.blue, alpha)
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@dataclass
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class RenderablePoint():
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position: RenderablePosition
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color: SrgbaColor
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@classmethod
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def from_list(cls, l: List[float, float], color: SrgbaColor) -> RenderablePoint:
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return cls([float(l[0]), float(l[1])], color)
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SIMPLIFY_FACTOR_RDP = .5
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SIMPLIFY_FACTOR_VW = 10
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class SimplifyMethod(Enum):
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RDP = 1 #' Ramer–Douglas–Peucker'
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VW = 2 # Visvalingam-Whyatt
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@dataclass
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class RenderableLine():
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points: List[RenderablePoint]
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def as_simplified(self, method: SimplifyMethod = SimplifyMethod.RDP):
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linestring = [p.position for p in self.points]
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if method == SimplifyMethod.RDP:
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indexes = simplify_coords_idx(linestring, SIMPLIFY_FACTOR_RDP)
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elif method == SimplifyMethod.VW:
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indexes = simplify_coords_vw_idx(linestring, SIMPLIFY_FACTOR_VW)
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points = [self.points[i] for i in indexes]
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return RenderableLine(points)
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@dataclass
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class RenderableLines():
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lines: List[RenderableLine]
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def as_simplified(self, method: SimplifyMethod = SimplifyMethod.RDP):
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"""Wraps RenderableLine simplification"""
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return RenderableLines(
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[line.as_simplified(method) for line in self.lines]
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)
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class Stage(Node):
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"""
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@ -460,7 +473,9 @@ class Stage(Node):
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# print(lines)
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rl = RenderableLines(lines)
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rl = rl.as_simplified()
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# with open('/tmp/lines.pcl', 'wb') as fp:
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# pickle.dump(rl, fp)
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rl = rl.as_simplified() # or segmentise (see shapely)
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self.counter.set("stage.lines", len(lines))
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self.stage_sock.send_json(rl, cls=DataclassJSONEncoder)
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@ -29,6 +29,8 @@ def inv_lerp(a: float, b: float, v: float) -> float:
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return (v - a) / (b - a)
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def exponentialDecay(a, b, decay, dt):
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"""Exponential decay as alternative to Lerp
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Introduced by Freya Holmér: https://www.youtube.com/watch?v=LSNQuFEDOyQ
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109
uv.lock
109
uv.lock
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@ -265,15 +265,6 @@ dependencies = [
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{ name = "scipy" },
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]
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[[package]]
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name = "cachetools"
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version = "5.5.2"
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source = { registry = "https://pypi.org/simple" }
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sdist = { url = "https://files.pythonhosted.org/packages/6c/81/3747dad6b14fa2cf53fcf10548cf5aea6913e96fab41a3c198676f8948a5/cachetools-5.5.2.tar.gz", hash = "sha256:1a661caa9175d26759571b2e19580f9d6393969e5dfca11fdb1f947a23e640d4", size = 28380 }
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wheels = [
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{ url = "https://files.pythonhosted.org/packages/72/76/20fa66124dbe6be5cafeb312ece67de6b61dd91a0247d1ea13db4ebb33c2/cachetools-5.5.2-py3-none-any.whl", hash = "sha256:d26a22bcc62eb95c3beabd9f1ee5e820d3d2704fe2967cbe350e20c8ffcd3f0a", size = 10080 },
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]
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[[package]]
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name = "certifi"
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version = "2025.1.31"
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|
|
@ -415,18 +406,6 @@ wheels = [
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|||
{ url = "https://files.pythonhosted.org/packages/07/6c/aa3f2f849e01cb6a001cd8554a88d4c77c5c1a31c95bdf1cf9301e6d9ef4/defusedxml-0.7.1-py2.py3-none-any.whl", hash = "sha256:a352e7e428770286cc899e2542b6cdaedb2b4953ff269a210103ec58f6198a61", size = 25604 },
|
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]
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[[package]]
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name = "descartes"
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version = "1.1.0"
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source = { registry = "https://pypi.org/simple" }
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||||
dependencies = [
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{ name = "matplotlib" },
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]
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sdist = { url = "https://files.pythonhosted.org/packages/1d/6f/81735a30432b74f41db6754dd13869021ccfed3088d1cf7a6cfc0af9ac49/descartes-1.1.0.tar.gz", hash = "sha256:135a502146af5ed6ff359975e2ebc5fa4b71b5432c355c2cafdc6dea1337035b", size = 3525 }
|
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wheels = [
|
||||
{ url = "https://files.pythonhosted.org/packages/e5/b6/1ed2eb03989ae574584664985367ba70cd9cf8b32ee8cad0e8aaeac819f3/descartes-1.1.0-py3-none-any.whl", hash = "sha256:4c62dc41109689d03e4b35de0a2bcbdeeb81047badc607c4415d5c753bd683af", size = 5804 },
|
||||
]
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||||
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[[package]]
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||||
name = "dill"
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||||
version = "0.3.9"
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|
|
@ -523,15 +502,6 @@ wheels = [
|
|||
{ url = "https://files.pythonhosted.org/packages/4d/36/2a115987e2d8c300a974597416d9de88f2444426de9571f4b59b2cca3acc/filelock-3.18.0-py3-none-any.whl", hash = "sha256:c401f4f8377c4464e6db25fff06205fd89bdd83b65eb0488ed1b160f780e21de", size = 16215 },
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||||
]
|
||||
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[[package]]
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name = "fire"
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version = "0.7.0"
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source = { registry = "https://pypi.org/simple" }
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dependencies = [
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{ name = "termcolor" },
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]
|
||||
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@ -2549,6 +2469,7 @@ requires-dist = [
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Loading…
Reference in a new issue