Split tracker in renderer

trap/renderer.py

@@ -58,6 +58,8 @@ def relativePolarToPoint(origin, r, angle) -> tuple[float, float]:
 
 class DrawnTrack:
     def __init__(self, track_id, track: Track, renderer: Renderer, H):
+        # self.created_at = time.time()
+        self.update_at = self.created_at = time.time()
         self.track_id = track_id
         self.renderer = renderer
         self.set_track(track, H)
@@ -67,6 +69,8 @@ class DrawnTrack:
         self.pred_shapes: list[list[pyglet.shapes.Line]] = []
 
     def set_track(self, track: Track, H):
+        self.update_at = time.time()
+
         self.track = track
         self.H = H
         self.coords = [d.get_foot_coords() for d in track.history]
@@ -239,6 +243,11 @@ class Renderer:
         self.prediction_sock.setsockopt(zmq.SUBSCRIBE, b'')
         self.prediction_sock.connect(config.zmq_prediction_addr if not self.config.bypass_prediction else config.zmq_trajectory_addr)
         
+        self.tracker_sock = context.socket(zmq.SUB)
+        self.tracker_sock.setsockopt(zmq.CONFLATE, 1) # only keep latest frame. NB. make sure this comes BEFORE connect, otherwise it's ignored!!
+        self.tracker_sock.setsockopt(zmq.SUBSCRIBE, b'')
+        self.tracker_sock.connect(config.zmq_trajectory_addr)
+        
         self.frame_sock = context.socket(zmq.SUB)
         self.frame_sock.setsockopt(zmq.CONFLATE, 1) # only keep latest frame. NB. make sure this comes BEFORE connect, otherwise it's ignored!!
         self.frame_sock.setsockopt(zmq.SUBSCRIBE, b'')
@@ -282,6 +291,7 @@ class Renderer:
 
         self.first_time: float|None = None
         self.frame: Frame|None= None
+        self.tracker_frame: Frame|None = None
         self.prediction_frame: Frame|None = None
 
 
@@ -341,8 +351,9 @@ class Renderer:
 
     def init_labels(self):
         base_color = (255,)*4
-        info_color = (255,255,0, 255)
+        color_predictor = (255,255,0, 255)
-        info2_color = (255,0, 255, 255)
+        color_info = (255,0, 255, 255)
+        color_tracker = (0,255, 255, 255)
 
         options = []
         for option in ['prediction_horizon','num_samples','full_dist','gmm_mode','z_mode', 'model_dir']:
@@ -351,11 +362,13 @@ class Renderer:
         self.labels = {
             'waiting': pyglet.text.Label("Waiting for prediction"),
             'frame_idx': pyglet.text.Label("", x=20, y=self.window.height - 17, color=base_color, batch=self.batch_overlay),
-            'frame_time': pyglet.text.Label("t", x=120, y=self.window.height - 17, color=base_color, batch=self.batch_overlay),
+            'tracker_idx': pyglet.text.Label("", x=90, y=self.window.height - 17, color=color_tracker, batch=self.batch_overlay),
-            'pred_idx': pyglet.text.Label("", x=90, y=self.window.height - 17, color=info_color, batch=self.batch_overlay),
+            'pred_idx': pyglet.text.Label("", x=110, y=self.window.height - 17, color=color_predictor, batch=self.batch_overlay),
-            'frame_latency': pyglet.text.Label("", x=200, y=self.window.height - 17, color=info2_color, batch=self.batch_overlay),
+            'frame_time': pyglet.text.Label("t", x=140, y=self.window.height - 17, color=base_color, batch=self.batch_overlay),
-            'pred_time': pyglet.text.Label("", x=300, y=self.window.height - 17, color=info_color, batch=self.batch_overlay),
+            'frame_latency': pyglet.text.Label("", x=235, y=self.window.height - 17, color=color_info, batch=self.batch_overlay),
-            'track_len': pyglet.text.Label("", x=500, y=self.window.height - 17, color=base_color, batch=self.batch_overlay),
+            'tracker_time': pyglet.text.Label("", x=300, y=self.window.height - 17, color=color_tracker, batch=self.batch_overlay),
+            'pred_time': pyglet.text.Label("", x=360, y=self.window.height - 17, color=color_predictor, batch=self.batch_overlay),
+            'track_len': pyglet.text.Label("", x=800, y=self.window.height - 17, color=color_tracker, batch=self.batch_overlay),
             'options1': pyglet.text.Label(options.pop(-1), x=20, y=30, color=base_color, batch=self.batch_overlay),
             'options2': pyglet.text.Label(" | ".join(options), x=20, y=10, color=base_color, batch=self.batch_overlay),
         }
@@ -368,10 +381,15 @@ class Renderer:
             self.labels['frame_time'].text = f"{self.frame.time - self.first_time: >10.2f}s"
             self.labels['frame_latency'].text = f"{self.frame.time - time.time():.2f}s"
         
+        if self.tracker_frame:
+            self.labels['tracker_idx'].text = f"{self.tracker_frame.index - self.frame.index}"
+            self.labels['tracker_time'].text = f"{self.tracker_frame.time - time.time():.3f}s"
+            self.labels['track_len'].text = f"{len(self.tracker_frame.tracks)} tracks"
+        
         if self.prediction_frame:
             self.labels['pred_idx'].text = f"{self.prediction_frame.index - self.frame.index}"
             self.labels['pred_time'].text = f"{self.prediction_frame.time - time.time():.3f}s"
-            self.labels['track_len'].text = f"{len(self.prediction_frame.tracks)} tracks"
+            # self.labels['track_len'].text = f"{len(self.prediction_frame.tracks)} tracks"
 
 
         # cv2.putText(img, f"{frame.index:06d}", (20,17), cv2.FONT_HERSHEY_PLAIN, 1, base_color, 1)
@@ -397,6 +415,7 @@ class Renderer:
         
 
     def check_frames(self, dt):
+        new_tracks = False
         try:
             self.frame: Frame = self.frame_sock.recv_pyobj(zmq.NOBLOCK)
             if not self.first_time:
@@ -413,28 +432,41 @@ class Renderer:
             pass
         try:
             self.prediction_frame: Frame = self.prediction_sock.recv_pyobj(zmq.NOBLOCK)
-            self.update_tracks()
+            new_tracks = True
         except zmq.ZMQError as e:
             pass
+        try:
+            self.tracker_frame: Frame = self.tracker_sock.recv_pyobj(zmq.NOBLOCK)
+            new_tracks = True
+        except zmq.ZMQError as e:
+            pass
+        
+        if new_tracks:
+            self.update_tracks()
 
     def update_tracks(self):
         """Updates the track objects and shapes. Called after setting `prediction_frame`
         """
         
         # clean up
-        for track_id in list(self.drawn_tracks.keys()):
+        # for track_id in list(self.drawn_tracks.keys()):
-            if track_id not in self.prediction_frame.tracks.keys():
+        #     if track_id not in self.prediction_frame.tracks.keys():
+        #         # TODO fade out
+        #         del self.drawn_tracks[track_id]
+        
+        if self.prediction_frame:
+            for track_id, track in self.prediction_frame.tracks.items():
+                if track_id not in self.drawn_tracks:
+                    self.drawn_tracks[track_id] = DrawnTrack(track_id, track, self, self.prediction_frame.H)
+                else:
+                    self.drawn_tracks[track_id].set_track(track, self.prediction_frame.H)
+        
+        # clean up
+        for track in self.drawn_tracks.values():
+            if track.update_at < time.time() - 5:
                 # TODO fade out
                 del self.drawn_tracks[track_id]
     
-
-        for track_id, track in self.prediction_frame.tracks.items():
-            if track_id not in self.drawn_tracks:
-                self.drawn_tracks[track_id] = DrawnTrack(track_id, track, self, self.prediction_frame.H)
-            else:
-                self.drawn_tracks[track_id].set_track(track, self.prediction_frame.H)
-            
-    
     def on_key_press(self, symbol, modifiers):
         print('A key was pressed, use f to hide')
         if symbol == ord('f'):
@@ -550,6 +582,7 @@ class Renderer:
     def run(self):
         frame = None
         prediction_frame = None
+        tracker_frame = None
 
         i=0
         first_time = None
@@ -626,7 +659,7 @@ colorset = [(0, 0, 0),
  (255, 255, 0)
  ]
 
-
+# Deprecated
 def decorate_frame(frame: Frame, prediction_frame: Frame, first_time: float, config: Namespace) -> 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