display debug points from homography

trap/animation_renderer.py

@@ -22,6 +22,7 @@ import math
 from pyglet import shapes
 
 from PIL import Image
+import json
 
 from trap.frame_emitter import DetectionState, Frame, Track
 from trap.preview_renderer import DrawnTrack, PROJECTION_IMG, PROJECTION_MAP
@@ -115,6 +116,26 @@ class AnimationRenderer:
 
         ]
 
+        self.debug_points = []
+        # print(self.config.debug_points_file)
+        if self.config.debug_points_file:
+            with self.config.debug_points_file.open('r') as fp:
+                img_points = np.array(json.load(fp))
+                # to place points accurate I used a 2160p image, but during calibration and
+                # prediction I use(d) a 1440p image, so convert points to different space:
+                img_points = np.array(img_points)
+                # first undistort the points so that lines are actually straight
+                undistorted_img_points = cv2.undistortPoints(np.array([img_points]).astype('float32'), self.config.camera.mtx, self.config.camera.dist, None, self.config.camera.newcameramtx)
+                dst_img_points = cv2.perspectiveTransform(np.array(undistorted_img_points), self.config.camera.H)
+                if dst_img_points.shape[1:] == (1,2):
+                    dst_img_points = np.reshape(dst_img_points, (dst_img_points.shape[0], 2))
+            
+                self.debug_points = [
+                    pyglet.shapes.Circle(p[0], self.window.height - p[1], 3, color=(255,0,0,255), batch=self.batch_overlay) for p in dst_img_points
+                ]
+                
+        
+
         
         self.init_shapes()
 

trap/config.py

@@ -326,3 +326,9 @@ render_parser.add_argument("--render-url",
                     type=str,
                     default=None)
 
+
+render_parser.add_argument("--debug-points-file",
+                           help="A json file with points to test projection/homography etc.",
+                           type=Path,
+                           required=False,
+                           )

trap/frame_emitter.py

@@ -215,7 +215,6 @@ class FrameEmitter:
                 i = self.config.video_offset
 
 
-
             # if '-' in video_path.path().stem:
             #     path_stem = video_path.stem[:video_path.stem.rfind('-')]
             # else:

trap/preview_renderer.py

@@ -111,6 +111,7 @@ class DrawnTrack:
         if len(self.coords) > len(self.drawn_positions):
             self.drawn_positions.extend(self.coords[len(self.drawn_positions):])
 
+        if len(self.pred_coords):
             for a, drawn_prediction in enumerate(self.drawn_predictions):
                 for i, pos in enumerate(drawn_prediction):
                     # TODO: this should be done in polar space starting from origin (i.e. self.drawn_posision[-1])