Render window option to preview without delay

trap/config.py

@@ -183,22 +183,22 @@ inference_parser.add_argument("--z-mode",
 connection_parser.add_argument('--zmq-trajectory-addr',
                     help='Manually specity communication addr for the trajectory messages',
                     type=str,
-                    default="ipc:///tmp/feeds/traj")
+                    default="ipc:///tmp/feeds_traj")
 
 connection_parser.add_argument('--zmq-camera-stream-addr',
                     help='Manually specity communication addr for the camera stream messages',
                     type=str,
-                    default="ipc:///tmp/feeds/img")
+                    default="ipc:///tmp/feeds_img")
 
 connection_parser.add_argument('--zmq-prediction-addr',
                     help='Manually specity communication addr for the prediction messages',
                     type=str,
-                    default="ipc:///tmp/feeds/preds")
+                    default="ipc:///tmp/feeds_preds")
 
 connection_parser.add_argument('--zmq-frame-addr',
                     help='Manually specity communication addr for the frame messages',
                     type=str,
-                    default="ipc:///tmp/feeds/frame")
+                    default="ipc:///tmp/feeds_frame")
 
 
 connection_parser.add_argument('--ws-port',
@@ -252,6 +252,9 @@ tracker_parser.add_argument("--smooth-tracks",
 render_parser.add_argument("--render-file",
                     help="Render a video file previewing the prediction, and its delay compared to the current frame",
                     action='store_true')
+render_parser.add_argument("--render-window",
+                    help="Render a previewing to a window",
+                    action='store_true')
 
 render_parser.add_argument("--render-url",
                     help="""Stream renderer on given URL. Two easy approaches:

trap/frame_emitter.py

@@ -145,7 +145,15 @@ class FrameEmitter:
         i = 0
         for video_path in self.video_srcs:
             logger.info(f"Play from '{str(video_path)}'")
-            video = cv2.VideoCapture(str(video_path))
+            if str(video_path).isdigit():
+                # numeric input is a CV camera
+                video = cv2.VideoCapture(int(str(video_path)))
+                video.set(cv2.CAP_PROP_FRAME_WIDTH, int(1280))
+                video.set(cv2.CAP_PROP_FRAME_HEIGHT, int(720))
+                print("exposure!", video.get(cv2.CAP_PROP_AUTO_EXPOSURE))
+                video.set(cv2.CAP_PROP_FPS, 1)
+            else:
+                video = cv2.VideoCapture(str(video_path))
             fps = video.get(cv2.CAP_PROP_FPS)
             target_frame_duration = 1./fps
             logger.info(f"Emit frames at {fps} fps")

trap/plumber.py

@@ -73,7 +73,7 @@ def start():
         ExceptionHandlingProcess(target=run_tracker, kwargs={'config': args, 'is_running': isRunning}, name='tracker'),
     ]
     
-    if args.render_file or args.render_url:
+    if args.render_file or args.render_url or args.render_window:
         procs.append(
             ExceptionHandlingProcess(target=run_renderer, kwargs={'config': args, 'is_running': isRunning}, name='renderer')
         )

trap/renderer.py

@@ -81,6 +81,10 @@ class Renderer:
         self.out_writer = self.start_writer() if self.config.render_file else None
         self.streaming_process = self.start_streaming() if self.config.render_url else None
 
+        if self.config.render_window:            
+            cv2.namedWindow("frame", cv2.WND_PROP_FULLSCREEN)
+            cv2.setWindowProperty("frame",cv2.WND_PROP_FULLSCREEN,cv2.WINDOW_FULLSCREEN)
+
     def start_writer(self):
         if not self.config.output_dir.exists():
             raise FileNotFoundError("Path does not exist")
@@ -147,11 +151,15 @@ class Renderer:
 
             # cv2.imwrite(str(img_path), img)
             
-            logger.debug(f"write frame {frame.time - first_time:.3f}s")
+            logger.info(f"write frame {frame.time - first_time:.3f}s")
             if self.out_writer:
                 self.out_writer.write(frame.img)
             if self.streaming_process:
                 self.streaming_process.stdin.write(frame.img.tobytes())
+            if self.config.render_window:
+                print('show')
+                cv2.imshow('frame',frame.img)
+                cv2.waitKey(1)
         logger.info('Stopping')
 
         if i>2: