trap/frame_emitter.py

@@ -37,7 +37,6 @@ class FrameEmitter:
         video = cv2.VideoCapture(str(self.config.video_src))
         fps = video.get(cv2.CAP_PROP_FPS)
         frame_duration = 1./fps
-        logger.info(f"Emit frames at {fps} fps")
 
         prev_time = time.time()
         while self.is_running.is_set():
@@ -66,5 +65,4 @@ class FrameEmitter:
 
 def run_frame_emitter(config: Namespace, is_running: Event):
     router = FrameEmitter(config, is_running)
-    router.emit_video()
-    is_running.clear()
+    router.emit_video()

trap/plumber.py

@@ -1,11 +1,7 @@
-import atexit
 import logging
 from logging.handlers import SocketHandler
 from multiprocessing import Event, Process, Queue
-import multiprocessing
-import signal
 import sys
-import time
 from trap.config import parser
 from trap.frame_emitter import run_frame_emitter
 from trap.prediction_server import run_prediction_server
@@ -16,28 +12,17 @@ from trap.tracker import run_tracker
 
 logger = logging.getLogger("trap.plumbing")
 
-
 class ExceptionHandlingProcess(Process):
-            
+    
     def run(self):
         assert 'is_running' in self._kwargs
-
-        # exit handler to make sure that on many kinds of crashes and kills the
-        # suprocess warns parent/siblings
-        # TODO: Does not work with OOM kill. Would need a watchdog process for that
-        def exit_handler(*args):
-            self._kwargs['is_running'].clear()
-
-        atexit.register(exit_handler)
-        signal.signal(signal.SIGTERM, exit_handler)
-        signal.signal(signal.SIGINT, exit_handler)
-
         try:
             super(Process, self).run()
         except Exception as e:
             logger.exception(e)
             self._kwargs['is_running'].clear()
 
+
 def start():
     args = parser.parse_args()
     loglevel = logging.NOTSET if args.verbose > 1 else logging.DEBUG if args.verbose > 0  else logging.INFO
@@ -55,8 +40,6 @@ def start():
     isRunning.set()
     
 
-
-
     if args.remote_log_addr:
         logging.captureWarnings(True)
         root_logger.setLevel(logging.NOTSET)  # to send all records to cutelog
@@ -81,9 +64,6 @@ def start():
     for proc in procs:
         proc.start()
 
-    # wait for processes to clean up
     for proc in procs:
         proc.join()
-    
-    logger.info('Stop')
 

trap/prediction_server.py

@@ -207,13 +207,8 @@ class PredictionServer:
         trajectron.set_environment(online_env, init_timestep)
 
         timestep = init_timestep + 1
-        prev_run_time = 0
         while self.is_running.is_set():
             timestep += 1
-            this_run_time = time.time()
-            logger.debug(f'test {prev_run_time - this_run_time}')
-            time.sleep(max(0, prev_run_time - this_run_time + .5))
-            prev_run_time = time.time()
             # for timestep in range(init_timestep + 1, eval_scene.timesteps):
 
             # input_dict = eval_scene.get_clipped_input_dict(timestep, hyperparams['state'])

trap/renderer.py

@@ -1,6 +1,5 @@
 
 from argparse import Namespace
-import datetime
 import logging
 from multiprocessing import Event
 import cv2
@@ -37,15 +36,6 @@ class Renderer:
         if not self.config.output_dir.exists():
             raise FileNotFoundError("Path does not exist")
     
-        date_str = datetime.datetime.now().isoformat(timespec="minutes")
-        filename = self.config.output_dir / f"render_predictions-{date_str}.mp4"
-        logger.info(f"Write to {filename}")
-
-        fourcc = cv2.VideoWriter_fourcc(*'vp09')
-        # TODO: get FPS from frame_emitter
-        self.out = cv2.VideoWriter(str(filename), fourcc, 23.97, (1280,720))
-
-    
     def run(self):
         predictions = {}
         i=0
@@ -91,10 +81,8 @@ class Renderer:
 
             img_path = (self.config.output_dir / f"{i:05d}.png").resolve()
 
-            # cv2.imwrite(str(img_path), img)
-            self.out.write(img)
+            cv2.imwrite(str(img_path), img)
         logger.info('Stopping')
-        self.out.release()