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53c18d9a7b
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53c18d9a7b | |
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531d61b69a | |
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7f1c3d86f7 | |
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d9547bb372 |
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@ -183,22 +183,22 @@ inference_parser.add_argument("--z-mode",
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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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default="ipc:///tmp/feeds_traj")
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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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type=str,
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default="ipc:///tmp/feeds/img")
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default="ipc:///tmp/feeds_img")
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connection_parser.add_argument('--zmq-prediction-addr',
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help='Manually specity communication addr for the prediction messages',
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type=str,
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default="ipc:///tmp/feeds/preds")
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default="ipc:///tmp/feeds_preds")
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connection_parser.add_argument('--zmq-frame-addr',
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help='Manually specity communication addr for the frame messages',
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type=str,
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default="ipc:///tmp/feeds/frame")
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default="ipc:///tmp/feeds_frame")
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connection_parser.add_argument('--ws-port',
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@ -252,6 +252,9 @@ tracker_parser.add_argument("--smooth-tracks",
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render_parser.add_argument("--render-file",
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help="Render a video file previewing the prediction, and its delay compared to the current frame",
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action='store_true')
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render_parser.add_argument("--render-window",
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help="Render a previewing to a window",
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action='store_true')
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render_parser.add_argument("--render-url",
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help="""Stream renderer on given URL. Two easy approaches:
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@ -145,7 +145,16 @@ class FrameEmitter:
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i = 0
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for video_path in self.video_srcs:
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logger.info(f"Play from '{str(video_path)}'")
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video = cv2.VideoCapture(str(video_path))
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if str(video_path).isdigit():
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# numeric input is a CV camera
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video = cv2.VideoCapture(int(str(video_path)))
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# TODO: make config variables
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video.set(cv2.CAP_PROP_FRAME_WIDTH, int(1280))
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video.set(cv2.CAP_PROP_FRAME_HEIGHT, int(720))
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print("exposure!", video.get(cv2.CAP_PROP_AUTO_EXPOSURE))
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video.set(cv2.CAP_PROP_FPS, 5)
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else:
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video = cv2.VideoCapture(str(video_path))
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fps = video.get(cv2.CAP_PROP_FPS)
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target_frame_duration = 1./fps
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logger.info(f"Emit frames at {fps} fps")
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@ -73,7 +73,7 @@ def start():
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ExceptionHandlingProcess(target=run_tracker, kwargs={'config': args, 'is_running': isRunning}, name='tracker'),
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]
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if args.render_file or args.render_url:
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if args.render_file or args.render_url or args.render_window:
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procs.append(
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ExceptionHandlingProcess(target=run_renderer, kwargs={'config': args, 'is_running': isRunning}, name='renderer')
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)
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@ -326,13 +326,18 @@ class PredictionServer:
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start = time.time()
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with warnings.catch_warnings():
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warnings.simplefilter('ignore') # prevent deluge of UserWarning from torch's rrn.py
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# in the OnlineMultimodalGenerativeCVAE (see trajectron.model.online_mgcvae.py) each node's distribution
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# is put stored in self.latent.p_dist by OnlineMultimodalGenerativeCVAE.p_z_x(). Type: torch.distributions.OneHotCategorical
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# Later sampling in discrete_latent.py: DiscreteLatent.sample_p()
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dists, preds = trajectron.incremental_forward(input_dict,
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maps,
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prediction_horizon=self.config.prediction_horizon, # TODO: make variable
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num_samples=self.config.num_samples, # TODO: make variable
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full_dist=self.config.full_dist,
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gmm_mode=self.config.gmm_mode,
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z_mode=self.config.z_mode)
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full_dist=self.config.full_dist, # "The model’s full sampled output, where z and y are sampled sequentially"
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gmm_mode=self.config.gmm_mode, # "If True: The mode of the Gaussian Mixture Model (GMM) is sampled (see trajectron.model.mgcvae.py)"
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z_mode=self.config.z_mode # "Predictions from the model’s most-likely high-level latent behavior mode" (see trajecton.models.components.discrete_latent:sample_p(most_likely_z=z_mode))
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)
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end = time.time()
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logger.debug("took %.2f s (= %.2f Hz) w/ %d nodes and %d edges" % (end - start,
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1. / (end - start), len(trajectron.nodes),
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@ -81,6 +81,10 @@ class Renderer:
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self.out_writer = self.start_writer() if self.config.render_file else None
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self.streaming_process = self.start_streaming() if self.config.render_url else None
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if self.config.render_window:
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cv2.namedWindow("frame", cv2.WND_PROP_FULLSCREEN)
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cv2.setWindowProperty("frame",cv2.WND_PROP_FULLSCREEN,cv2.WINDOW_FULLSCREEN)
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def start_writer(self):
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if not self.config.output_dir.exists():
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raise FileNotFoundError("Path does not exist")
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@ -121,18 +125,33 @@ class Renderer:
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def run(self):
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frame = None
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prediction_frame = None
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i=0
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first_time = None
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while self.is_running.is_set():
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i+=1
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zmq_ev = self.frame_sock.poll(timeout=2000)
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if not zmq_ev:
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# when no data comes in, loop so that is_running is checked
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continue
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frame: Frame = self.frame_sock.recv_pyobj()
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# zmq_ev = self.frame_sock.poll(timeout=2000)
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# if not zmq_ev:
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# # when no data comes in, loop so that is_running is checked
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# continue
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try:
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frame: Frame = self.frame_sock.recv_pyobj(zmq.NOBLOCK)
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except zmq.ZMQError as e:
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idx = frame.index if frame else "NONE"
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logger.debug(f"reuse video frame {idx}")
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else:
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logger.debug(f'new video frame {frame.index}')
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if frame is None:
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# might need to wait a few iterations before first frame comes available
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time.sleep(.1)
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continue
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try:
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prediction_frame: Frame = self.prediction_sock.recv_pyobj(zmq.NOBLOCK)
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except zmq.ZMQError as e:
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@ -141,7 +160,7 @@ class Renderer:
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if first_time is None:
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first_time = frame.time
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decorate_frame(frame, prediction_frame, first_time, self.config)
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img = decorate_frame(frame, prediction_frame, first_time, self.config)
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img_path = (self.config.output_dir / f"{i:05d}.png").resolve()
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@ -149,9 +168,12 @@ class Renderer:
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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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self.out_writer.write(frame.img)
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self.out_writer.write(img)
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if self.streaming_process:
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self.streaming_process.stdin.write(frame.img.tobytes())
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self.streaming_process.stdin.write(img.tobytes())
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if self.config.render_window:
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cv2.imshow('frame',img)
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cv2.waitKey(1)
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logger.info('Stopping')
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if i>2:
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@ -181,8 +203,8 @@ def decorate_frame(frame: Frame, prediction_frame: Frame, first_time: float, con
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# Fill image with red color(set each pixel to red)
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overlay[:] = (130, 0, 75)
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frame.img = cv2.addWeighted(frame.img, .4, overlay, .6, 0)
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img = frame.img
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img = cv2.addWeighted(frame.img, .4, overlay, .6, 0)
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# img = frame.img.copy()
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# all not working:
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# if i == 1:
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