Refactoring for NN, scenarios, laser tests
This commit is contained in:
Ruben van de Ven
parent
eee73d675a
commit
fe9efc163f
10 changed files with 285 additions and 41 deletions
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@ -29,6 +29,8 @@ dependencies = [
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"pyusb>=1.3.1,<2",
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"ipywidgets>=8.1.5,<9",
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"foucault",
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"python-statemachine>=2.5.0",
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"facenet-pytorch>=2.5.3",
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]
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[project.scripts]
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60
trap/base.py
60
trap/base.py
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@ -203,6 +203,12 @@ class Track:
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predictions: Optional[list] = None
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fps: int = 12 # TODO)) convert this to camera? That way, incorporates H and dist, alternatively, each track is as a whole attached to a space
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source: Optional[int] = None # to keep track of processed tracks
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lost: bool = False
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created_at: Optional[float] = None
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def __post_init__(self):
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if not self.created_at:
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self.created_at = time.perf_counter()
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def get_projected_history(self, H: Optional[cv2.Mat] = None, camera: Optional[Camera]= None) -> np.array:
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foot_coordinates = [d.get_foot_coords() for d in self.history]
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@ -260,6 +266,7 @@ class Track:
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def get_sampled(self, step_size = 1, offset=0):
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"""Get copy of track, with every n-th frame"""
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if not self.is_complete():
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t = self.get_with_interpolated_history()
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else:
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@ -272,6 +279,37 @@ class Track:
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t.predictions,
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t.fps/step_size)
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def get_simplified_history(self, distance: float, camera: Camera) -> list[tuple[float, float]]:
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# TODO)) Simplify to get a point every n-th meter
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# usefull for both predicting and rendering with laser
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# raise RuntimeError("Not Implemented Yet")
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if len(self.history) < 1:
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return []
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path = self.get_projected_history(H=None, camera=camera)
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new_path: List[dict] = [path[0]]
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lengths = np.sqrt(np.sum(np.diff(path, axis=0)**2, axis=1))
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cum_lengths = np.cumsum(lengths)
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pos = distance
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for a, b, l_a, l_b in zip(path[:-1], path[1:], cum_lengths[:-1], cum_lengths[1:]):
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# check if segment has our next point (pos)
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# because running sequentially, this is if point b
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# is lower then our target position
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if l_b <= pos:
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continue
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relative_t = inv_lerp(l_a, l_b, pos)
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x = lerp(a[0], b[0], relative_t)
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y = lerp(a[1], b[1], relative_t)
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new_path.append([x,y])
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pos += distance
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return new_path
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def get_binned(self, bin_size, camera: Camera, bin_start=True):
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"""
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For an experiment: what if we predict using only concrete positions, by mapping
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@ -334,17 +372,21 @@ class Track:
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# todo Offsets to points:[ history for in points]
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return new_history
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def to_trajectron_node(self, camera: Camera, env: Environment) -> Node:
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def to_dataframe(self, camera: Camera) -> pd.DataFrame:
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positions = self.get_projected_history(None, camera)
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velocity = np.gradient(positions, 1/self.fps, axis=0)
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acceleration = np.gradient(velocity, 1/self.fps, axis=0)
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new_first_idx = self.history[0].frame_nr
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# # we can calculate heading based on the velocity components
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# heading = (np.arctan2(velocity[:,1], velocity[:,0]) * 180 / np.pi) % 360
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# # and derive it to get the rate of change of the heading
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# d_heading = np.gradient(heading, 1/self.fps, axis=0)
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data_columns = pd.MultiIndex.from_product([['position', 'velocity', 'acceleration'], ['x', 'y']])
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# data_columns = data_columns.append(pd.MultiIndex.from_tuples([('heading', '°'), ('heading', 'd°')]))
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# vx = derivative_of(x, scene.dt)
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# vy = derivative_of(y, scene.dt)
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# ax = derivative_of(vx, scene.dt)
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@ -356,10 +398,16 @@ class Track:
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('velocity', 'x'): velocity[:,0],
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('velocity', 'y'): velocity[:,1],
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('acceleration', 'x'): acceleration[:,0],
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('acceleration', 'y'): acceleration[:,1]
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('acceleration', 'y'): acceleration[:,1],
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# ('heading', '°'): heading,
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# ('heading', 'd°'): d_heading,
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}
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node_data = pd.DataFrame(data_dict, columns=data_columns)
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return pd.DataFrame(data_dict, columns=data_columns)
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def to_trajectron_node(self, camera: Camera, env: Environment) -> Node:
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node_data = self.to_dataframe(camera)
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new_first_idx = self.history[0].frame_nr
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return Node(node_type=env.NodeType.PEDESTRIAN, node_id=self.track_id, data=node_data, first_timestep=new_first_idx)
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@ -199,6 +199,10 @@ connection_parser.add_argument('--zmq-trajectory-addr',
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help='Manually specity communication addr for the trajectory messages',
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type=str,
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default="ipc:///tmp/feeds_traj")
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connection_parser.add_argument('--zmq-face-addr',
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help='Manually specity communication addr for the face detector messages',
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type=str,
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default="ipc:///tmp/feeds_faces")
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connection_parser.add_argument('--zmq-camera-stream-addr',
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help='Manually specity communication addr for the camera stream messages',
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@ -24,6 +24,7 @@ from typing import Dict, Iterable, Optional
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from pyglet import shapes
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from PIL import Image
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from trap.counter import CounterListerner
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from trap.frame_emitter import DetectionState, Frame, Track, Camera
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from trap.preview_renderer import FrameWriter
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from trap.tools import draw_track, draw_track_predictions, draw_track_projected, draw_trackjectron_history, to_point
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@ -38,6 +39,8 @@ class CvRenderer:
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self.config = config
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self.is_running = is_running
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self.counter_listener = CounterListerner()
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context = zmq.Context()
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self.prediction_sock = context.socket(zmq.SUB)
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self.prediction_sock.setsockopt(zmq.CONFLATE, 1) # only keep latest frame. NB. make sure this comes BEFORE connect, otherwise it's ignored!!
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@ -392,7 +395,8 @@ class CvRenderer:
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if first_time is None:
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first_time = frame.time
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img = decorate_frame(frame, tracker_frame, prediction_frame, first_time, self.config, self.tracks, self.predictions, self.config.render_clusters)
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# img = frame.img
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img = decorate_frame(frame, tracker_frame, prediction_frame, first_time, self.config, self.tracks, self.predictions, self.config.render_clusters, self.counter_listener)
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logger.debug(f"write frame {frame.time - first_time:.3f}s")
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if self.out_writer:
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@ -456,7 +460,7 @@ def get_animation_position(track: Track, current_frame: Frame):
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# Deprecated
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def decorate_frame(frame: Frame, tracker_frame: Frame, prediction_frame: Frame, first_time: float, config: Namespace, tracks: Dict[str, Track], predictions: Dict[str, Track], as_clusters = True) -> np.array:
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def decorate_frame(frame: Frame, tracker_frame: Frame, prediction_frame: Frame, first_time: float, config: Namespace, tracks: Dict[str, Track], predictions: Dict[str, Track], as_clusters = True, counter_listener: CounterListerner|None = None) -> np.array:
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# TODO: replace opencv with QPainter to support alpha? https://doc.qt.io/qtforpython-5/PySide2/QtGui/QPainter.html#PySide2.QtGui.PySide2.QtGui.QPainter.drawImage
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# or https://github.com/pygobject/pycairo?tab=readme-ov-file
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# or https://pyglet.readthedocs.io/en/latest/programming_guide/shapes.html
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@ -550,6 +554,10 @@ def decorate_frame(frame: Frame, tracker_frame: Frame, prediction_frame: Frame,
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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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# for i, (k, v) in enumerate(counter_listener.get_latest().items()):
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# cv2.putText(img, f"{k} {v.value()}", (20,img.shape[0]-(40*i)-40), cv2.FONT_HERSHEY_PLAIN, 1, base_color, 1)
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return img
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@ -24,10 +24,12 @@ from typing import Dict, Iterable, Optional
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from pyglet import shapes
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from PIL import Image
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from trap.scenarios import TrackScenario
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from trap.counter import CounterSender
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from trap.frame_emitter import DetectionState, Frame, Track, Camera
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# from trap.helios import HeliosDAC, HeliosPoint
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from trap.preview_renderer import FrameWriter
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from trap.tools import draw_track, draw_track_predictions, draw_track_projected, draw_trackjectron_history, to_point, track_predictions_to_lines
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from trap.preview_renderer import PROJECTION_MAP, DrawnTrack, FrameWriter
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from trap.tools import draw_track, draw_track_predictions, draw_track_projected, draw_trackjectron_history, drawntrack_predictions_to_lines, to_point, track_predictions_to_lines
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from trap.utils import convert_world_points_to_img_points, convert_world_space_to_img_space, lerp
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@ -228,7 +230,9 @@ class LaserRenderer:
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self.prediction_frame: Frame|None = None
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self.tracks: Dict[str, Track] = {}
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self.scenarios: Dict[str, TrackScenario] = {}
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self.predictions: Dict[str, Track] = {}
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self.drawn_tracks: Dict[str, DrawnTrack] = {}
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self.helios = ctypes.cdll.LoadLibrary("./trap/helios_dac/libHeliosDacAPI.so")
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numDevices = self.helios.OpenDevices()
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@ -310,9 +314,8 @@ class LaserRenderer:
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# for j, point in enumerate(pointlist_test):
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# frame[j] = CHeliosPoint(point.x, point.y, 0,40,0,0 if point.blank else 255)
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counter = CounterSender()
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print(f"RENDER DAC\n\n\n")
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last_laser_point = None
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@ -334,6 +337,18 @@ class LaserRenderer:
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for track_id, track in prediction_frame.tracks.items():
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prediction_id = f"{track_id}-{track.history[-1].frame_nr}"
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self.predictions[prediction_id] = track
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# TODO)) also for tracks:
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if track_id not in self.drawn_tracks:
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self.drawn_tracks[track_id] = DrawnTrack(track_id, track, self, prediction_frame.camera.H, PROJECTION_MAP, prediction_frame.camera)
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elif self.drawn_tracks[track_id].update_predictions_at < (time.time() - .5): # TODO)) only update predictions every n frames. configure
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# self.drawn_tracks[track_id].pred_track
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self.drawn_tracks[track_id].set_predictions(track)
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if track_id in self.scenarios:
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self.scenarios[track_id].set_prediction(track)
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# self.drawn_predictions[track_id] = track
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except zmq.ZMQError as e:
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logger.debug(f'reuse prediction')
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@ -342,6 +357,11 @@ class LaserRenderer:
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for track_id, track in tracker_frame.tracks.items():
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self.tracks[track_id] = track
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if not track_id in self.scenarios:
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self.scenarios[track_id] = TrackScenario(track)
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else:
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self.scenarios[track_id].set_track(track)
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# self.scenarios[track_id].receive_track(track)
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except zmq.ZMQError as e:
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logger.debug(f'reuse tracks')
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@ -355,13 +375,20 @@ class LaserRenderer:
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# print('-------')
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paths = render_frame_to_pathlist( tracker_frame, prediction_frame, first_time, self.config, self.tracks, self.predictions, self.config.render_clusters)
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print(f"Paths: {len(paths)} ... points {sum([len(p.points) for p in paths])}")
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paths = render_frame_to_pathlist( tracker_frame, prediction_frame, self.drawn_tracks, first_time, self.config, self.tracks, self.predictions, self.config.render_clusters)
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counter.set('paths', len(paths))
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counter.set('points', sum([len(p.points) for p in paths]))
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if self.prediction_frame:
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counter.set('pred_render_latency', time.time() - self.prediction_frame.time)
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if self.tracker_frame:
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counter.set('track_render_latency', time.time() - self.tracker_frame.time)
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# print(f"Paths: {len(paths)} ... points {sum([len(p.points) for p in paths])}")
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laserframe = LaserFrame(paths)
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laserframe_cropped = laserframe.as_cropped_to_projector()
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counter.set('laser.removed', laserframe_cropped.point_count() - laserframe.point_count())
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if laserframe.point_count() > laserframe_cropped.point_count():
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logger.warning("Removed laser points out of frame!")
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# print(laserframe.point_count(), laserframe_cropped.point_count())
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# logger.warning("Removed laser points out of frame!")
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laserframe = laserframe_cropped
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# pointlist=pointlist_test
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# print([(p.x, p.y) for p in pointlist])
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@ -408,6 +435,12 @@ class LaserRenderer:
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if get_animation_position(track, tracker_frame) == 1:
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self.predictions.pop(prediction_id)
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for track_id in list(self.drawn_tracks.keys()):
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# TODO make delay configurable
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if self.drawn_tracks[track_id].update_at < time.time() - 5:
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# TODO fade out
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del self.drawn_tracks[track_id]
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logger.info('Stopping')
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self.helios.CloseDevices()
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@ -442,7 +475,7 @@ def get_animation_position(track: Track, current_frame: Frame) -> float:
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# track.history[-1].frame_nr < (current_frame.index - current_frame.camera.fps * 3)
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def circle_points(cx, cy, r, c: Color):
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r = 100
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# r = r
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steps = 30
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pointlist: list[LaserPoint] = []
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for i in range(steps):
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@ -464,7 +497,7 @@ def world_points_to_laser_points(points):
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return cv2.perspectiveTransform(np.array([points]), laser_H)
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# Deprecated
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def render_frame_to_pathlist(tracker_frame: Optional[Frame], prediction_frame: Optional[Frame], first_time: Optional[float], config: Namespace, tracks: Dict[str, Track], predictions: Dict[str, Track], as_clusters = True):
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def render_frame_to_pathlist(tracker_frame: Optional[Frame], prediction_frame: Optional[Frame], drawn_tracks: Optional[Dict[str, DrawnTrack]], first_time: Optional[float], config: Namespace, tracks: Dict[str, Track], predictions: Dict[str, Track], as_clusters = True):
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# TODO: replace opencv with QPainter to support alpha? https://doc.qt.io/qtforpython-5/PySide2/QtGui/QPainter.html#PySide2.QtGui.PySide2.QtGui.QPainter.drawImage
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# or https://github.com/pygobject/pycairo?tab=readme-ov-file
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# or https://pyglet.readthedocs.io/en/latest/programming_guide/shapes.html
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@ -486,10 +519,10 @@ def render_frame_to_pathlist(tracker_frame: Optional[Frame], prediction_frame: O
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# cv2.imwrite(str(self.config.output_dir / "orig.png"), warpedFrame)
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# cv2.rectangle(img, (0,0), (img.shape[1],25), (0,0,0), -1)
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intensity = 40 # range 0-255
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intensity = 39 # range 0-255
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test_r = 100
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base_c = (0,0, intensity)
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base_c = (0,intensity, intensity)
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# base_c = (0,intensity, intensity)
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track_c = (intensity,0,0)
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pred_c = (0,intensity,0)
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@ -520,7 +553,6 @@ def render_frame_to_pathlist(tracker_frame: Optional[Frame], prediction_frame: O
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# print(not tracker_frame, not prediction_frame)
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if not tracker_frame:
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c = (intensity, intensity, 0) #dac.palette[3] # yellow
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paths.append(
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LaserPath(circle_points(0xFFF/2+2*test_r, 0xFFF/2, test_r, track_c))
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)
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@ -533,36 +565,45 @@ def render_frame_to_pathlist(tracker_frame: Optional[Frame], prediction_frame: O
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for track_id, track in tracks.items():
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inv_H = np.linalg.pinv(tracker_frame.H)
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# track = track.get_sampled(4)
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history = track.get_projected_history(camera=config.camera)
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history = world_points_to_laser_points(history)[0]
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projected_history = track.get_projected_history(camera=config.camera)
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history_for_laser = world_points_to_laser_points(projected_history)[0]
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# point_color = bgr_colors[color_index % len(bgr_colors)]
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points = np.rint(history.reshape((-1,1,2))).astype(np.int32)
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points = np.rint(history_for_laser.reshape((-1,1,2))).astype(np.int32)
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# print('point len',len(points))
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laserpoints = []
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for i, point in enumerate(points):
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laserpoints.append(LaserPoint(point[0][0], point[0][1], track_c, blank=False))
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path = LaserPath(laserpoints)
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paths.append(path)
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paths.append(
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LaserPath(circle_points(history_for_laser[-1][0], history_for_laser[-1][1], 20, track_c))
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)
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# draw_track_projected(img, track, int(track_id), config.camera, convert_world_points_to_img_points)
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if not prediction_frame:
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c = (intensity,0,intensity) # dac.palette[7] # magenta
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paths.append(
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LaserPath(circle_points(0xFFF/2+4*test_r, 0xFFF/2, test_r, pred_c))
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)
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# cv2.putText(img, f"Waiting for prediction...", (500,17), cv2.FONT_HERSHEY_PLAIN, 1, (255,255,0), 1)
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# continue
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elif True:
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pass
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else:
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for track_id, track in predictions.items():
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# elif True:
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# pass
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elif drawn_tracks:
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inv_H = np.linalg.pinv(prediction_frame.H)
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for track_id, drawn_track in drawn_tracks.items():
|
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drawn_track.update_drawn_positions(dt=None, no_shapes=True)
|
||||
|
||||
|
||||
inv_H = np.linalg.pinv(prediction_frame.H)
|
||||
# For debugging:
|
||||
# draw_trackjectron_history(img, track, int(track.track_id), convert_world_points_to_img_points)
|
||||
anim_position = 1 # TODO)) calculate without video frame: get_animation_position(track, tracker_frame)
|
||||
lines = track_predictions_to_lines(track, config.camera, anim_position)
|
||||
lines = drawntrack_predictions_to_lines(drawn_track, config.camera, anim_position)
|
||||
# if lines:
|
||||
# lines.extend(get_prediction_text(drawn_track))
|
||||
|
||||
if not lines:
|
||||
continue
|
||||
|
|
@ -575,7 +616,7 @@ def render_frame_to_pathlist(tracker_frame: Optional[Frame], prediction_frame: O
|
|||
# print('prediction line')
|
||||
line = world_points_to_laser_points(line)[0]
|
||||
# line = convert_world_points_to_img_points(line)
|
||||
line = np.rint(line).astype(int)
|
||||
line = np.rint(line).astype(np.int32)
|
||||
laserpoints = []
|
||||
for i, point in enumerate(line):
|
||||
laserpoints.append(LaserPoint(point[0], point[1], pred_c, blank=False))
|
||||
|
|
@ -588,7 +629,65 @@ def render_frame_to_pathlist(tracker_frame: Optional[Frame], prediction_frame: O
|
|||
# print(len(paths))
|
||||
return paths
|
||||
|
||||
def get_prediction_text(drawn_track: DrawnTrack)-> list[list[float, float]]:
|
||||
position_index = 20
|
||||
if not drawn_track.drawn_predictions:
|
||||
return []
|
||||
|
||||
if len(drawn_track.drawn_predictions[0]) < position_index:
|
||||
logger.warning("prediction to short!")
|
||||
return []
|
||||
|
||||
# draw only for first prediction
|
||||
draw_pos = drawn_track.drawn_predictions[0][position_index-1]
|
||||
current_pos = drawn_track.drawn_positions[-1]
|
||||
|
||||
angle = np.arctan2(draw_pos[0]-current_pos[0], draw_pos[1]-current_pos[1]) + np.pi
|
||||
# print('angle', angle)
|
||||
|
||||
text_paths = []
|
||||
|
||||
with open("your_future_points_test.json", 'r') as fp:
|
||||
lines = json.load(fp)
|
||||
|
||||
for i, line in enumerate(lines):
|
||||
if i != 0:
|
||||
continue
|
||||
points = np.array(line)
|
||||
|
||||
avg_x = np.average(points[:,0])
|
||||
avg_y = np.average(points[:,1])
|
||||
|
||||
minx, maxx = np.min(points[:,0]), np.max(points[:,0])
|
||||
miny, maxy = np.min(points[:,1]), np.max(points[:,1])
|
||||
|
||||
sx = maxx-minx
|
||||
sy = maxy-miny
|
||||
|
||||
points[:,0] -= avg_x
|
||||
points[:,1] -= avg_y - i/2
|
||||
points /= sx # scale to 1
|
||||
|
||||
points @= rotateMatrix(angle)
|
||||
|
||||
points += draw_pos
|
||||
|
||||
|
||||
text_paths.append(points)
|
||||
|
||||
|
||||
return text_paths
|
||||
|
||||
def rotateMatrix(a):
|
||||
return np.array([[np.cos(a), -np.sin(a)], [np.sin(a), np.cos(a)]])
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
def run_laser_renderer(config: Namespace, is_running: BaseEvent, timer_counter):
|
||||
renderer = LaserRenderer(config, is_running)
|
||||
renderer.run(timer_counter)
|
||||
|
|
@ -7,7 +7,9 @@ import signal
|
|||
import sys
|
||||
import time
|
||||
from trap.config import parser
|
||||
from trap.counter import CounterListerner
|
||||
from trap.cv_renderer import run_cv_renderer
|
||||
from trap.face_detector import run_detector
|
||||
from trap.frame_emitter import run_frame_emitter
|
||||
from trap.laser_renderer import run_laser_renderer
|
||||
from trap.prediction_server import run_prediction_server
|
||||
|
|
@ -88,12 +90,14 @@ def start():
|
|||
timers = TimerCollection()
|
||||
timer_fe = timers.new('frame_emitter')
|
||||
timer_tracker = timers.new('tracker')
|
||||
timer_faces = timers.new('faces')
|
||||
|
||||
# instantiating process with arguments
|
||||
procs = [
|
||||
# ExceptionHandlingProcess(target=run_ws_forwarder, kwargs={'config': args, 'is_running': isRunning}, name='forwarder'),
|
||||
ExceptionHandlingProcess(target=run_frame_emitter, kwargs={'config': args, 'is_running': isRunning, 'timer_counter': timer_fe.iterations}, name='frame_emitter'),
|
||||
ExceptionHandlingProcess(target=run_tracker, kwargs={'config': args, 'is_running': isRunning, 'timer_counter': timer_tracker.iterations}, name='tracker'),
|
||||
ExceptionHandlingProcess(target=run_detector, kwargs={'config': args, 'is_running': isRunning, 'timer_counter': timer_faces.iterations}, name='detector'),
|
||||
]
|
||||
|
||||
# if args.render_file or args.render_url or args.render_window:
|
||||
|
|
@ -119,10 +123,14 @@ def start():
|
|||
)
|
||||
|
||||
def timer_process(timers: TimerCollection, is_running: Event):
|
||||
counter_listener = CounterListerner()
|
||||
|
||||
while is_running.is_set():
|
||||
time.sleep(1)
|
||||
timers.snapshot()
|
||||
print(timers.to_string())
|
||||
counter_listener.snapshot()
|
||||
print(timers.to_string(), counter_listener.to_string())
|
||||
|
||||
|
||||
procs.append(
|
||||
ExceptionHandlingProcess(target=timer_process, kwargs={'is_running':isRunning, 'timers': timers}, name='timer'),
|
||||
|
|
|
|||
|
|
@ -67,7 +67,8 @@ class DrawnTrack:
|
|||
def __init__(self, track_id, track: Track, renderer: PreviewRenderer, H, draw_projection = PROJECTION_IMG, camera: Optional[Camera] = None):
|
||||
# self.created_at = time.time()
|
||||
self.draw_projection = draw_projection
|
||||
self.update_at = self.created_at = time.time()
|
||||
self.update_at = self.created_at = self.update_predictions_at = time.time()
|
||||
self.last_update_t = time.perf_counter()
|
||||
self.track_id = track_id
|
||||
self.renderer = renderer
|
||||
self.camera = camera
|
||||
|
|
@ -93,6 +94,7 @@ class DrawnTrack:
|
|||
self.inv_H = np.linalg.pinv(self.H)
|
||||
|
||||
def set_predictions(self, track: Track, H = None):
|
||||
self.update_predictions_at = time.time()
|
||||
|
||||
pred_coords = []
|
||||
pred_history_coords = []
|
||||
|
|
@ -112,7 +114,7 @@ class DrawnTrack:
|
|||
# color = (128,0,128) if pred_i else (128,
|
||||
|
||||
|
||||
def update_drawn_positions(self, dt) -> List:
|
||||
def update_drawn_positions(self, dt: float|None, no_shapes=False) -> List:
|
||||
'''
|
||||
use dt to lerp the drawn positions in the direction of current prediction
|
||||
'''
|
||||
|
|
@ -122,6 +124,11 @@ class DrawnTrack:
|
|||
"""quick wrapper to toggle int'ing"""
|
||||
return v
|
||||
# return int(v)
|
||||
|
||||
if dt is None:
|
||||
t = time.perf_counter()
|
||||
dt = t - self.last_update_t
|
||||
self.last_update_t = t
|
||||
|
||||
# 1. track history
|
||||
for i, pos in enumerate(self.drawn_positions):
|
||||
|
|
@ -170,7 +177,8 @@ class DrawnTrack:
|
|||
|
||||
|
||||
# finally: update shapes from coordinates
|
||||
self.update_shapes(dt)
|
||||
if not no_shapes: # to be used when not rendering to pyglet (e.g. laser renderer)
|
||||
self.update_shapes(dt)
|
||||
return self.drawn_positions
|
||||
|
||||
def update_shapes(self, dt):
|
||||
|
|
|
|||
|
|
@ -12,6 +12,7 @@ import numpy as np
|
|||
import pandas as pd
|
||||
import shapely
|
||||
from shapely.ops import split
|
||||
from trap.preview_renderer import DrawnTrack
|
||||
import trap.tracker
|
||||
from trap.config import parser
|
||||
from trap.frame_emitter import Camera, Detection, DetectionState, video_src_from_config, Frame
|
||||
|
|
@ -343,6 +344,27 @@ def track_predictions_to_lines(track: Track, camera:Camera, anim_position=.8):
|
|||
# break # TODO: only one
|
||||
return lines
|
||||
|
||||
def drawntrack_predictions_to_lines(drawn_track: DrawnTrack, camera:Camera, anim_position=.8):
|
||||
if not drawn_track.drawn_predictions:
|
||||
return
|
||||
|
||||
# current_point = drawn_track.pred_track.get_projected_history(camera=camera)[-1] # not guaranteed to be up to date
|
||||
current_point = drawn_track.drawn_predictions[0][0]
|
||||
# print(current_point)
|
||||
slide_t = min(1, max(0, inv_lerp(0, 0.8, anim_position))) # slide_position
|
||||
|
||||
lines = []
|
||||
for pred_i, pred in enumerate(drawn_track.drawn_predictions):
|
||||
pred_coords = pred #cv2.perspectiveTransform(np.array([pred]), inv_H)[0].tolist()
|
||||
# line_points = pred_coords
|
||||
line_points = np.concatenate(([current_point], pred_coords)) # 'current point' is amoving target
|
||||
# print(pred_coords, current_point, line_points)
|
||||
line_points = transition_path_points(line_points, slide_t)
|
||||
lines.append(line_points)
|
||||
# print("prediction line", len(line_points))
|
||||
# break # TODO: only one
|
||||
return lines
|
||||
|
||||
def draw_track_predictions(img: cv2.Mat, track: Track, color_index: int, camera:Camera, convert_points: Optional[Callable], anim_position=.8, as_clusters=False):
|
||||
"""
|
||||
anim_position: 0-1
|
||||
|
|
|
|||
|
|
@ -10,11 +10,12 @@ import multiprocessing
|
|||
from pathlib import Path
|
||||
import pickle
|
||||
import time
|
||||
from typing import Dict, Optional, List
|
||||
from typing import DefaultDict, Dict, Optional, List
|
||||
import jsonlines
|
||||
import numpy as np
|
||||
import torch
|
||||
import torchvision
|
||||
import ultralytics
|
||||
import zmq
|
||||
import cv2
|
||||
|
||||
|
|
@ -64,6 +65,7 @@ RCNN_SCALE = .4 # seems to have no impact on detections in the corners
|
|||
def _yolov8_track(frame: Frame, model: YOLO, **kwargs) -> List[Detection]:
|
||||
|
||||
results: List[YOLOResult] = list(model.track(frame.img, persist=True, tracker="custom_bytetrack.yaml", verbose=False, conf=0.00001, **kwargs))
|
||||
|
||||
if results[0].boxes is None or results[0].boxes.id is None:
|
||||
# work around https://github.com/ultralytics/ultralytics/issues/5968
|
||||
return []
|
||||
|
|
@ -178,6 +180,9 @@ class TrackReader:
|
|||
for track_id in self._tracks:
|
||||
yield self.get(track_id)
|
||||
|
||||
def track_ids(self):
|
||||
return list(self._tracks.keys())
|
||||
|
||||
def read_tracks_json(path: Path, fps):
|
||||
"""
|
||||
Reader for tracks.json produced by TrainingDataWriter
|
||||
|
|
@ -374,8 +379,10 @@ class ByteTrackWrapper(TrackerWrapper):
|
|||
detections = np.ndarray((0,0)) # needs to be 2-D
|
||||
|
||||
_ = self.tracker.update(detections)
|
||||
removed_tracks = self.tracker.removed_stracks
|
||||
active_tracks = [track for track in self.tracker.tracked_stracks if track.is_activated]
|
||||
active_tracks = [track for track in active_tracks if track.start_frame < (self.tracker.frame_id - 5)]
|
||||
# TODO)) why was this in here:
|
||||
# active_tracks = [track for track in active_tracks if track.start_frame < (self.tracker.frame_id - 5)]
|
||||
return [Detection.from_bytetrack(track, frame_idx) for track in active_tracks]
|
||||
|
||||
|
||||
|
|
@ -389,7 +396,7 @@ class Tracker:
|
|||
self.device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
|
||||
|
||||
# TODO: support removal
|
||||
self.tracks = defaultdict(lambda: Track())
|
||||
self.tracks: DefaultDict[str, Track] = defaultdict(lambda: Track())
|
||||
|
||||
|
||||
logger.debug(f"Load tracker: {self.config.detector}")
|
||||
|
|
@ -579,7 +586,16 @@ class Tracker:
|
|||
active_tracks = {t.track_id: t.get_with_interpolated_history() for t in self.tracks.values() if t.track_id in active_track_ids}
|
||||
active_tracks = displacement_filter.apply_to_dict(active_tracks, frame.camera)# a filter to remove just detecting static objects
|
||||
|
||||
|
||||
removable_tracks = []
|
||||
for track_id, track in self.tracks.items():
|
||||
if not len(track.history):
|
||||
continue
|
||||
detection: Detection = track.history[-1]
|
||||
if detection.frame_nr < (frame.index - frame.camera.fps * 5):
|
||||
removable_tracks.append(track_id)
|
||||
for track_id in removable_tracks:
|
||||
del self.tracks[track_id]
|
||||
|
||||
# active_tracks = {t.track_id: t for t in self.tracks.values() if t.track_id in active_track_ids}
|
||||
# active_tracks = {t.track_id: t for t in self.tracks.values() if t.track_id in active_track_ids}
|
||||
# logger.info(f"{trajectories}")
|
||||
|
|
@ -764,7 +780,7 @@ class Smoother:
|
|||
frame.tracks = {t.track_id: t for t in new_tracks}
|
||||
return frame
|
||||
|
||||
def smooth_frame_predictions(self, frame) -> Frame:
|
||||
def smooth_frame_predictions(self, frame: Frame) -> Frame:
|
||||
|
||||
for track in frame.tracks.values():
|
||||
new_predictions = []
|
||||
|
|
|
|||
29
uv.lock
29
uv.lock
|
|
@ -463,6 +463,22 @@ wheels = [
|
|||
{ url = "https://files.pythonhosted.org/packages/7b/8f/c4d9bafc34ad7ad5d8dc16dd1347ee0e507a52c3adb6bfa8887e1c6a26ba/executing-2.2.0-py2.py3-none-any.whl", hash = "sha256:11387150cad388d62750327a53d3339fad4888b39a6fe233c3afbb54ecffd3aa", size = 26702 },
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "facenet-pytorch"
|
||||
version = "2.5.3"
|
||||
source = { registry = "https://pypi.org/simple" }
|
||||
dependencies = [
|
||||
{ name = "numpy" },
|
||||
{ name = "pillow" },
|
||||
{ name = "requests" },
|
||||
{ name = "torchvision", version = "0.13.1", source = { registry = "https://pypi.org/simple" }, marker = "sys_platform != 'linux'" },
|
||||
{ name = "torchvision", version = "0.13.1+cu113", source = { url = "https://download.pytorch.org/whl/cu113/torchvision-0.13.1%2Bcu113-cp310-cp310-linux_x86_64.whl" }, marker = "sys_platform == 'linux'" },
|
||||
]
|
||||
sdist = { url = "https://files.pythonhosted.org/packages/80/cd/29d55c5d8675c7f8892c9b79288b633cd97b276d8fb24952f1e74fb7bfcc/facenet-pytorch-2.5.3.tar.gz", hash = "sha256:98cc5b42a48f837c023eb92f2a571cd4ac6a46687c5e71b9e99b491087273e2b", size = 1885286 }
|
||||
wheels = [
|
||||
{ url = "https://files.pythonhosted.org/packages/40/c1/0a15058f478c8f0f29cacb6e35530b97ead780be99737e62810e71dc477e/facenet_pytorch-2.5.3-py3-none-any.whl", hash = "sha256:b8002c3ee7a3af471c433cbda1fdcab9ae2d46a4aac43435ba08259c45ffc884", size = 1882784 },
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "fastapi"
|
||||
version = "0.115.12"
|
||||
|
|
@ -1851,6 +1867,15 @@ asyncio-client = [
|
|||
{ name = "aiohttp" },
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "python-statemachine"
|
||||
version = "2.5.0"
|
||||
source = { registry = "https://pypi.org/simple" }
|
||||
sdist = { url = "https://files.pythonhosted.org/packages/45/91/4f05f3931d1e9b1df71b17dc08c43feddf2bed7dbf13f95323df2cc8e340/python_statemachine-2.5.0.tar.gz", hash = "sha256:ae88cd22e47930b92b983a2176e61d811e571b69897be2568ec812c2885fb93a", size = 403718 }
|
||||
wheels = [
|
||||
{ url = "https://files.pythonhosted.org/packages/bf/2d/1c95ebe84df60d630f8e855d1df2c66368805444ac167e9b50f29eabe917/python_statemachine-2.5.0-py3-none-any.whl", hash = "sha256:0ed53846802c17037fcb2a92323f4bc0c833290fa9d17a3587c50886c1541e62", size = 50415 },
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "pytz"
|
||||
version = "2025.2"
|
||||
|
|
@ -2517,6 +2542,7 @@ dependencies = [
|
|||
{ name = "baumer-neoapi" },
|
||||
{ name = "bytetracker" },
|
||||
{ name = "deep-sort-realtime" },
|
||||
{ name = "facenet-pytorch" },
|
||||
{ name = "ffmpeg-python" },
|
||||
{ name = "foucault" },
|
||||
{ name = "gdown" },
|
||||
|
|
@ -2526,6 +2552,7 @@ dependencies = [
|
|||
{ name = "pandas-helper-calc" },
|
||||
{ name = "pyglet" },
|
||||
{ name = "pyglet-cornerpin" },
|
||||
{ name = "python-statemachine" },
|
||||
{ name = "pyusb" },
|
||||
{ name = "qrcode" },
|
||||
{ name = "setproctitle" },
|
||||
|
|
@ -2546,6 +2573,7 @@ requires-dist = [
|
|||
{ name = "baumer-neoapi", path = "../../Downloads/Baumer_neoAPI_1.4.1_lin_x86_64_python/wheel/baumer_neoapi-1.4.1-cp34.cp35.cp36.cp37.cp38.cp39.cp310.cp311.cp312-none-linux_x86_64.whl" },
|
||||
{ name = "bytetracker", git = "https://github.com/rubenvandeven/bytetrack-pip" },
|
||||
{ name = "deep-sort-realtime", specifier = ">=1.3.2,<2" },
|
||||
{ name = "facenet-pytorch", specifier = ">=2.5.3" },
|
||||
{ name = "ffmpeg-python", specifier = ">=0.2.0,<0.3" },
|
||||
{ name = "foucault", git = "https://git.rubenvandeven.com/r/conductofconduct" },
|
||||
{ name = "gdown", specifier = ">=4.7.1,<5" },
|
||||
|
|
@ -2555,6 +2583,7 @@ requires-dist = [
|
|||
{ name = "pandas-helper-calc", git = "https://github.com/scls19fr/pandas-helper-calc" },
|
||||
{ name = "pyglet", specifier = ">=2.0.15,<3" },
|
||||
{ name = "pyglet-cornerpin", specifier = ">=0.3.0,<0.4" },
|
||||
{ name = "python-statemachine", specifier = ">=2.5.0" },
|
||||
{ name = "pyusb", specifier = ">=1.3.1,<2" },
|
||||
{ name = "qrcode", specifier = "~=8.0" },
|
||||
{ name = "setproctitle", specifier = ">=1.3.3,<2" },
|
||||
|
|
|
|||
Loading…
Reference in a new issue