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2 changed files with 48 additions and 158 deletions

View file

@ -255,9 +255,6 @@ render_parser.add_argument("--render-file",
render_parser.add_argument("--render-window",
help="Render a previewing to a window",
action='store_true')
render_parser.add_argument("--full-screen",
help="Set Window full screen",
action='store_true')
render_parser.add_argument("--render-url",
help="""Stream renderer on given URL. Two easy approaches:

View file

@ -18,7 +18,6 @@ import tempfile
from pathlib import Path
import shutil
import math
from collections import deque
from pyglet import shapes
from PIL import Image
@ -59,21 +58,15 @@ def relativePolarToPoint(origin, r, angle) -> tuple[float, float]:
class DrawnTrack:
def __init__(self, track_id, track: Track, renderer: Renderer, H):
# self.created_at = time.time()
self.update_at = self.created_at = time.time()
self.track_id = track_id
self.renderer = renderer
self.set_track(track, H)
self.drawn_positions = []
self.drawn_predictions = []
self.predictions: deque[DrawnPrediction] = deque(maxlen=20) # TODO; make configurable
self.shapes: list[pyglet.shapes.Line] = []
self.set_track(track, H)
self.set_prediction(track)
self.pred_shapes: list[list[pyglet.shapes.Line]] = []
def set_track(self, track: Track, H):
self.update_at = time.time()
self.track = track
self.H = H
self.coords = [d.get_foot_coords() for d in track.history]
@ -81,17 +74,11 @@ class DrawnTrack:
# perhaps only do in constructor:
self.inv_H = np.linalg.pinv(self.H)
def set_prediction(self, track: Track):
# TODO: turn into add_prediction
pred_coords = []
if not track.predictions:
return
for pred_i, pred in enumerate(track.predictions):
pred_coords.append(cv2.perspectiveTransform(np.array([pred]), self.inv_H)[0].tolist())
# self.pred_coords = pred_coords
self.predictions.append(DrawnPrediction(self, pred_coords))
self.pred_coords = pred_coords
# color = (128,0,128) if pred_i else (128,
@ -107,26 +94,23 @@ class DrawnTrack:
if len(self.coords) > len(self.drawn_positions):
self.drawn_positions.extend(self.coords[len(self.drawn_positions):])
# Superseded by individual drawnprediction elements
# 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])
# decay = max(3, (18/i) if i else 10) # points further away move with more delay
# decay = 6
# origin = self.drawn_positions[-1]
# drawn_r, drawn_angle = relativePointToPolar( origin, drawn_prediction[i])
# pred_r, pred_angle = relativePointToPolar(origin, self.pred_coords[a][i])
# r = exponentialDecay(drawn_r, pred_r, decay, dt)
# angle = exponentialDecay(drawn_angle, pred_angle, decay, dt)
# x, y = relativePolarToPoint(origin, r, angle)
# self.drawn_predictions[a][i] = int(x), int(y)
# # self.drawn_predictions[i][0] = int(exponentialDecay(self.drawn_predictions[i][0], self.pred_coords[i][0], decay, dt))
# # self.drawn_predictions[i][1] = int(exponentialDecay(self.drawn_predictions[i][1], self.pred_coords[i][1], decay, dt))
# if len(self.pred_coords) > len(self.drawn_predictions):
# self.drawn_predictions.extend(self.pred_coords[len(self.drawn_predictions):])
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])
decay = max(3, (18/i) if i else 10) # points further away move with more delay
decay = 6
origin = self.drawn_positions[-1]
drawn_r, drawn_angle = relativePointToPolar( origin, drawn_prediction[i])
pred_r, pred_angle = relativePointToPolar(origin, self.pred_coords[a][i])
r = exponentialDecay(drawn_r, pred_r, decay, dt)
angle = exponentialDecay(drawn_angle, pred_angle, decay, dt)
x, y = relativePolarToPoint(origin, r, angle)
self.drawn_predictions[a][i] = int(x), int(y)
# self.drawn_predictions[i][0] = int(exponentialDecay(self.drawn_predictions[i][0], self.pred_coords[i][0], decay, dt))
# self.drawn_predictions[i][1] = int(exponentialDecay(self.drawn_predictions[i][1], self.pred_coords[i][1], decay, dt))
if len(self.pred_coords) > len(self.drawn_predictions):
self.drawn_predictions.extend(self.pred_coords[len(self.drawn_predictions):])
# for a, drawn_prediction in self.drawn_predictions:
# if len(self.pred_coords) > len(self.drawn_predictions):
# self.drawn_predictions.extend(self.pred_coords[len(self.drawn_predictions):])
@ -204,55 +188,6 @@ class DrawnTrack:
target_opacity = (1 - ((ci - half) / half)) * 180
line.opacity = int(exponentialDecay(line.opacity, target_opacity, decay, dt))
class DrawnPrediction:
def __init__(self, drawn_track: DrawnTrack, coords: list[list] = []):
self.created_at = time.time()
# self.renderer = renderer
self.drawn_track = drawn_track
self.coords = coords
self.color = colorset[self.drawn_track.track_id % len(colorset)]
self.pred_shapes: list[list[pyglet.shapes.Line]] = []
# coords is a list of predictions
for a, coords in enumerate(self.coords):
prediction_shapes = []
for ci in range(0, len(coords)):
if ci == 0:
x, y = [int(p) for p in self.drawn_track.coords[-1]]
else:
x, y = [int(p) for p in coords[ci-1]]
x2, y2 = [int(p) for p in coords[ci]]
# flip in window:
y, y2 = self.drawn_track.renderer.window.height - y, self.drawn_track.renderer.window.height - y2
line = self.drawn_track.renderer.gradientLine(x, y, x2, y2, 3, self.color, self.color, batch=self.drawn_track.renderer.batch_anim)
line.opacity = 5
prediction_shapes.append(line)
self.pred_shapes.append(prediction_shapes)
def update_opacities(self, dt: float):
"""
Update the opacties of the drawn line, by only using the dt provided by the renderer
Done using exponential decal, with a different decay value per item
"""
for a, coords in enumerate(self.coords):
for ci in range(0, len(coords)):
line = self.pred_shapes[a][ci-1]
# Positions of prediction no longer update
# line.x, line.y = x, y
# line.x2, line.y2 = x2, y2
# line.color = color
decay = (16/ci) if ci else 16
half = len(coords) / 2
if ci < half:
target_opacity = 180
else:
target_opacity = (1 - ((ci - half) / half)) * 180
line.opacity = int(exponentialDecay(line.opacity, target_opacity, decay, dt))
class FrameWriter:
"""
@ -304,11 +239,6 @@ class Renderer:
self.prediction_sock.setsockopt(zmq.SUBSCRIBE, b'')
self.prediction_sock.connect(config.zmq_prediction_addr if not self.config.bypass_prediction else config.zmq_trajectory_addr)
self.tracker_sock = context.socket(zmq.SUB)
self.tracker_sock.setsockopt(zmq.CONFLATE, 1) # only keep latest frame. NB. make sure this comes BEFORE connect, otherwise it's ignored!!
self.tracker_sock.setsockopt(zmq.SUBSCRIBE, b'')
self.tracker_sock.connect(config.zmq_trajectory_addr)
self.frame_sock = context.socket(zmq.SUB)
self.frame_sock.setsockopt(zmq.CONFLATE, 1) # only keep latest frame. NB. make sure this comes BEFORE connect, otherwise it's ignored!!
self.frame_sock.setsockopt(zmq.SUBSCRIBE, b'')
@ -335,7 +265,7 @@ class Renderer:
config = pyglet.gl.Config(sample_buffers=1, samples=4)
# , fullscreen=self.config.render_window
self.window = pyglet.window.Window(width=self.frame_size[0], height=self.frame_size[1], config=config, fullscreen=self.config.full_screen)
self.window = pyglet.window.Window(width=self.frame_size[0], height=self.frame_size[1], config=config)
self.window.set_handler('on_draw', self.on_draw)
self.window.set_handler('on_refresh', self.on_refresh)
self.window.set_handler('on_close', self.on_close)
@ -352,7 +282,6 @@ class Renderer:
self.first_time: float|None = None
self.frame: Frame|None= None
self.tracker_frame: Frame|None = None
self.prediction_frame: Frame|None = None
@ -412,9 +341,7 @@ class Renderer:
def init_labels(self):
base_color = (255,)*4
color_predictor = (255,255,0, 255)
color_info = (255,0, 255, 255)
color_tracker = (0,255, 255, 255)
info_color = (255,255,0, 255)
options = []
for option in ['prediction_horizon','num_samples','full_dist','gmm_mode','z_mode', 'model_dir']:
@ -423,15 +350,13 @@ class Renderer:
self.labels = {
'waiting': pyglet.text.Label("Waiting for prediction"),
'frame_idx': pyglet.text.Label("", x=20, y=self.window.height - 17, color=base_color, batch=self.batch_overlay),
'tracker_idx': pyglet.text.Label("", x=90, y=self.window.height - 17, color=color_tracker, batch=self.batch_overlay),
'pred_idx': pyglet.text.Label("", x=110, y=self.window.height - 17, color=color_predictor, batch=self.batch_overlay),
'frame_time': pyglet.text.Label("t", x=140, y=self.window.height - 17, color=base_color, batch=self.batch_overlay),
'frame_latency': pyglet.text.Label("", x=235, y=self.window.height - 17, color=color_info, batch=self.batch_overlay),
'tracker_time': pyglet.text.Label("", x=300, y=self.window.height - 17, color=color_tracker, batch=self.batch_overlay),
'pred_time': pyglet.text.Label("", x=360, y=self.window.height - 17, color=color_predictor, batch=self.batch_overlay),
'track_len': pyglet.text.Label("", x=800, y=self.window.height - 17, color=color_tracker, batch=self.batch_overlay),
'frame_time': pyglet.text.Label("t", x=120, y=self.window.height - 17, color=base_color, batch=self.batch_overlay),
'pred_idx': pyglet.text.Label("", x=90, y=self.window.height - 17, color=info_color, batch=self.batch_overlay),
'pred_time': pyglet.text.Label("", x=200, y=self.window.height - 17, color=info_color, batch=self.batch_overlay),
'track_len': pyglet.text.Label("", x=500, y=self.window.height - 17, color=base_color, batch=self.batch_overlay),
'options1': pyglet.text.Label(options.pop(-1), x=20, y=30, color=base_color, batch=self.batch_overlay),
'options2': pyglet.text.Label(" | ".join(options), x=20, y=10, color=base_color, batch=self.batch_overlay),
}
def refresh_labels(self, dt: float):
@ -439,18 +364,12 @@ class Renderer:
if self.frame:
self.labels['frame_idx'].text = f"{self.frame.index:06d}"
self.labels['frame_time'].text = f"{self.frame.time - self.first_time: >10.2f}s"
self.labels['frame_latency'].text = f"{self.frame.time - time.time():.2f}s"
if self.tracker_frame:
self.labels['tracker_idx'].text = f"{self.tracker_frame.index - self.frame.index}"
self.labels['tracker_time'].text = f"{self.tracker_frame.time - time.time():.3f}s"
self.labels['track_len'].text = f"{len(self.tracker_frame.tracks)} tracks"
self.labels['frame_time'].text = f"{self.frame.time - self.first_time:.3f}s"
if self.prediction_frame:
self.labels['pred_idx'].text = f"{self.prediction_frame.index - self.frame.index}"
self.labels['pred_time'].text = f"{self.prediction_frame.time - time.time():.3f}s"
# self.labels['track_len'].text = f"{len(self.prediction_frame.tracks)} tracks"
self.labels['track_len'].text = f"{len(self.prediction_frame.tracks)} tracks"
# cv2.putText(img, f"{frame.index:06d}", (20,17), cv2.FONT_HERSHEY_PLAIN, 1, base_color, 1)
@ -481,9 +400,8 @@ class Renderer:
if not self.first_time:
self.first_time = self.frame.time
img = cv2.GaussianBlur(self.frame.img, (15, 15), 0)
img = cv2.cvtColor(cv2.cvtColor(img, cv2.COLOR_BGR2GRAY), cv2.COLOR_GRAY2RGB)
channels = 3 # unfortunately, pyglet seems to draw single channel as Red only
img = pyglet.image.ImageData(self.frame_size[0], self.frame_size[1], 'RGB', img.tobytes(), pitch=self.frame_size[0] * -1 * channels)
img = cv2.flip(cv2.cvtColor(img, cv2.COLOR_BGR2RGB), 0)
img = pyglet.image.ImageData(self.frame_size[0], self.frame_size[1], 'RGB', img.tobytes())
# don't draw in batch, so that it is the background
self.video_sprite = pyglet.sprite.Sprite(img=img, batch=self.batch_bg)
self.video_sprite.opacity = 100
@ -493,49 +411,26 @@ class Renderer:
pass
try:
self.prediction_frame: Frame = self.prediction_sock.recv_pyobj(zmq.NOBLOCK)
self.update_predictions()
except zmq.ZMQError as e:
pass
try:
self.tracker_frame: Frame = self.tracker_sock.recv_pyobj(zmq.NOBLOCK)
self.update_tracks()
except zmq.ZMQError as e:
pass
def update_tracks(self):
"""Updates the track objects and shapes. Called after setting `prediction_frame`
"""
# clean up
# for track_id in list(self.drawn_tracks.keys()):
# if track_id not in self.prediction_frame.tracks.keys():
# # TODO fade out
# del self.drawn_tracks[track_id]
if self.tracker_frame:
for track_id, track in self.tracker_frame.tracks.items():
if track_id not in self.drawn_tracks:
self.drawn_tracks[track_id] = DrawnTrack(track_id, track, self, self.tracker_frame.H)
else:
self.drawn_tracks[track_id].set_track(track, self.tracker_frame.H)
# clean up
for track_id in list(self.drawn_tracks.keys()):
# TODO make delay configurable
if self.drawn_tracks[track_id].update_at < time.time() - 5:
if track_id not in self.prediction_frame.tracks.keys():
# TODO fade out
del self.drawn_tracks[track_id]
def update_predictions(self):
if self.prediction_frame:
for track_id, track in self.prediction_frame.tracks.items():
if track_id not in self.drawn_tracks:
self.drawn_tracks[track_id] = DrawnTrack(track_id, track, self, self.prediction_frame.H)
logger.warning("Prediction for uninitialised frame. This should not happen? (maybe huge delay in prediction?)")
else:
self.drawn_tracks[track_id].set_prediction(track)
self.drawn_tracks[track_id].set_track(track, self.prediction_frame.H)
def on_key_press(self, symbol, modifiers):
@ -575,8 +470,7 @@ class Renderer:
for shape in track.shapes:
shape.draw() # for some reason the batches don't work
for track in self.drawn_tracks.values():
for prediction in track.predictions:
for shapes in prediction.pred_shapes:
for shapes in track.pred_shapes:
for shape in shapes:
shape.draw()
# self.batch_anim.draw()
@ -654,7 +548,6 @@ class Renderer:
def run(self):
frame = None
prediction_frame = None
tracker_frame = None
i=0
first_time = None
@ -731,7 +624,7 @@ colorset = [(0, 0, 0),
(255, 255, 0)
]
# Deprecated
def decorate_frame(frame: Frame, prediction_frame: Frame, first_time: float, config: Namespace) -> np.array:
# TODO: replace opencv with QPainter to support alpha? https://doc.qt.io/qtforpython-5/PySide2/QtGui/QPainter.html#PySide2.QtGui.PySide2.QtGui.QPainter.drawImage
# or https://github.com/pygobject/pycairo?tab=readme-ov-file
@ -740,12 +633,12 @@ def decorate_frame(frame: Frame, prediction_frame: Frame, first_time: float, con
# or https://api.arcade.academy/en/stable/index.html (supports gradient color in line -- "Arcade is built on top of Pyglet and OpenGL.")
frame.img
# # Fill image with red color(set each pixel to red)
# overlay = np.zeros(frame.img.shape, np.uint8)
# overlay[:] = (130, 0, 75)
overlay = np.zeros(frame.img.shape, np.uint8)
# Fill image with red color(set each pixel to red)
overlay[:] = (130, 0, 75)
# img = cv2.addWeighted(frame.img, .4, overlay, .6, 0)
img = frame.img.copy()
img = cv2.addWeighted(frame.img, .4, overlay, .6, 0)
# img = frame.img.copy()
# all not working:
# if i == 1: