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test_training.py
TimerCallback.cpp 18.25 KiB
/**
* @file TimerCallback.cpp
* @author Ulrich Kemloh <kemlohulrich@gmail.com>
* @version 0.1
* Copyright (C) <2009-2010>
*
* @section LICENSE
* This file is part of OpenPedSim.
*
* OpenPedSim is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* any later version.
*
* OpenPedSim is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with OpenPedSim. If not, see <http://www.gnu.org/licenses/>.
*
* @section DESCRIPTION
* This class is called by the timer and update all elements on the screen
*
* \brief Callback class for the visualisation thread. Triggered by the timer
*
*
*
* Created on: 11.05.2009
*
*/
#include <string>
#include <vector>
#include <algorithm>
#include <cstdlib>
#include <iostream>
#ifdef TRAVISTO_FFMPEG
#ifdef _WIN32
#include <vtkAVIWriter.h>
#include <windows.h>
#else
#include <vtkFFMPEGWriter.h>
#endif
#endif
#include "general/Macros.h"
#include <QObject>
#include <QString>
#include <QTime>
#include <QDir>
#include <qwaitcondition.h>
#include <vtkCommand.h>
#include <vtkPolyData.h>
#include <vtkWindowToImageFilter.h>
#include <vtkRenderer.h>
#include <vtkRendererCollection.h>
#include <vtkRenderWindow.h>
#include <vtkRenderWindowInteractor.h>
#include <vtkPNGWriter.h>
#include <vtkPostScriptWriter.h>
#include <vtkActor2DCollection.h>
#include <vtkTextActor.h>
#include <vtkCamera.h>#include <vtkTextProperty.h>
#include <vtkSphereSource.h>
#include <vtkMapper2D.h>
#include <vtkMapper.h>
#include <vtkSmartPointer.h>
#include <vtkPolyDataMapper.h>
#include <vtkLabeledDataMapper.h>
#include <vtkMath.h>
#include "geometry/FacilityGeometry.h"
#include "geometry/Point.h"
#include "Pedestrian.h"
#include "Frame.h"
#include "FrameElement.h"
#include "TrajectoryPoint.h"
#include "SyncData.h"
#include "SystemSettings.h"
#include "TrailPlotter.h"
#include "geometry/PointPlotter.h"
#include "TimerCallback.h"
#define VTK_CREATE(type, name) \
vtkSmartPointer<type> name = vtkSmartPointer<type>::New()
using namespace std;
TimerCallback* TimerCallback::New()
{
TimerCallback *cb = new TimerCallback;
cb->RenderTimerId = 0;
cb->windowToImageFilter=NULL;
cb->runningTime=NULL;
return cb;
}
void TimerCallback::Execute(vtkObject *caller, unsigned long eventId,
void *callData)
{
if (vtkCommand::TimerEvent == eventId) {
int frameNumber=0;
int nPeds=0;
static bool isRecording =false;
int tid = * static_cast<int *>(callData);
if (tid == this->RenderTimerId) {
//dont update anything if the system is actually paused
//if(extern_is_pause) return;
vtkRenderWindowInteractor *iren = vtkRenderWindowInteractor::SafeDownCast(caller);
vtkRenderWindow *renderWindow = iren->GetRenderWindow();
vtkRenderer *renderer =renderWindow->GetRenderers()->GetFirstRenderer();
if (iren && renderWindow && renderer) {
//first pedestrian group
if(extern_first_dataset_loaded) {
Frame * frame=NULL;
// return the same frame if the system is paused
// in fact you could just return, but in this case no update will be made
// e.g showing captions/trails...
if(extern_is_pause)
{
frame=extern_trajectories_firstSet.getFrame(extern_trajectories_firstSet.getFrameCursor()); }
else
{
frame = extern_trajectories_firstSet.getNextFrame();
}
frameNumber=extern_trajectories_firstSet.getFrameCursor();
if(frame==NULL)
{
} else {
nPeds= frame->getSize();
if(SystemSettings::get2D()==true) {
vtkPolyData* pData=frame->GetPolyData2D();
#if VTK_MAJOR_VERSION <= 5
extern_glyphs_pedestrians->SetInput(pData);
((vtkLabeledDataMapper*)extern_pedestrians_labels->GetMapper())->SetInput(pData);
#else
extern_glyphs_pedestrians->SetInputData(pData);
extern_pedestrians_labels->GetMapper()->SetInputDataObject(pData);
#endif
extern_glyphs_pedestrians->Update();
} else {
vtkPolyData* pData=frame->GetPolyData3D();
#if VTK_MAJOR_VERSION <= 5
extern_glyphs_pedestrians_3D->SetInput(pData);
((vtkLabeledDataMapper*)extern_pedestrians_labels->GetMapper())->SetInput(pData);
#else
extern_glyphs_pedestrians_3D->SetInputData(pData);
extern_pedestrians_labels->GetMapper()->SetInputDataObject(pData);
#endif
extern_glyphs_pedestrians_3D->Update();
}
if(SystemSettings::getShowTrajectories()) {
const std::vector<FrameElement *> &elements=frame->GetFrameElements();
for(unsigned int i=0; i<elements.size(); i++) {
FrameElement* el = elements[i];
double pos[3];
double color;
el->GetPos(pos);
el->GetColor(&color);
extern_trail_plotter->PlotPoint(pos,color);
}
}
//virtual cam
if(SystemSettings::getVirtualAgent()!=-1){
updateVirtualCamera(frame,renderer);
}
}
}
int* winSize=renderWindow->GetSize();
static int lastWinX=winSize[0]+1; // +1 to trigger a first change
static int lastWinY=winSize[1];
sprintf(runningTimeText,"Pedestrians: %d Time: %ld Sec",nPeds,frameNumber*iren->GetTimerDuration(tid)/1000);
runningTime->SetInput(runningTimeText);
runningTime->Modified();
if((lastWinX!=winSize[0]) || (lastWinY!=winSize[1]) /*|| (frameNumber<10)*/) {
static std::string winBaseName(renderWindow->GetWindowName());
std::string winName=winBaseName;
std::string s;
winName.append(" [ "); s=QString::number(winSize[0]).toStdString();
winName.append(s);
winName.append(" x ");
s=QString::number(winSize[1]).toStdString();
winName.append(s);
winName.append(" ] -->");
int posY=winSize[1]*(1.0-30.0/536.0);
int posX=winSize[0]*(1.0-450.0/720.0);
runningTime->SetPosition(posX,posY);
renderWindow->SetWindowName(winName.c_str());
lastWinX=winSize[0];
lastWinY=winSize[1];
}
iren->Render();
if(extern_force_system_update) {
updateSettings(renderWindow);
}
if(extern_take_screenshot) {
takeScreenshot(renderWindow);
}
if(SystemSettings::getRecordPNGsequence()) {
takeScreenshotSequence(renderWindow);
}
if (frameNumber!=0) {
int desiredfps=1000.0/iren->GetTimerDuration(tid);
int effectivefps=1/(renderer->GetLastRenderTimeInSeconds());
effectivefps = (effectivefps>desiredfps)?desiredfps:effectivefps;
emit signalFrameNumber(frameNumber);
emit signalRunningTime(frameNumber*iren->GetTimerDuration(tid));
emit signalRenderingTime(effectivefps);
}
#ifdef TRAVISTO_FFMPEG
if(extern_launch_recording) {
extern_launch_recording=false; //reset
windowToImageFilter=vtkWindowToImageFilter::New();
#ifdef _WIN32
pAVIWriter=vtkAVIWriter::New();
#endif
#ifdef __linux__
pAVIWriter=vtkFFMPEGWriter::New();
#endif
pAVIWriter->SetQuality(2);
pAVIWriter->SetRate(1000.0/iren->GetTimerDuration(tid));
QString videoName;
SystemSettings::getOutputDirectory(videoName);
//create directory if not exits
if(!QDir(videoName).exists()) {
QDir dir;
if(!dir.mkpath (videoName )) {
cerr<<"could not create directory: "<< videoName.toStdString();
videoName=""; // current
}
}
videoName += "/tvtvid_"+QDateTime::currentDateTime().toString("yyMMdd_hh_mm_").append(SystemSettings::getFilenamePrefix()).append(".avi");
pAVIWriter->SetFileName(videoName.toStdString().c_str());
if(windowToImageFilter!=NULL)
if(windowToImageFilter->GetInput()==NULL) { //should be the case by first call
windowToImageFilter->SetInput(renderWindow);
#if VTK_MAJOR_VERSION <= 5
pAVIWriter->SetInput(windowToImageFilter->GetOutput());
#else
pAVIWriter->SetInputConnection(windowToImageFilter->GetOutputPort());
#endif
pAVIWriter->Start();
}
extern_recording_enable=true;
isRecording=true;
}
if(isRecording) {
windowToImageFilter->Modified();
// only write when not paused
if(!extern_is_pause) pAVIWriter->Write();
if(extern_recording_enable==false) { //stop the recording
pAVIWriter->End();
windowToImageFilter->Delete();
pAVIWriter->Delete();
isRecording=false;
}
}
#endif //TRAVISTO_FFMPEG
if(extern_shutdown_visual_thread) {
emit signalFrameNumber(0);
// this will force an update of the windows
lastWinX=0;
lastWinY=0;
//exit if and only if the recording process is terminated
if(isRecording) extern_recording_enable=false;
else iren->ExitCallback();
}
}
}
}
}
void TimerCallback::updateSettings(vtkRenderWindow* renderWindow)
{
static bool fullscreen=false;
extern_glyphs_pedestrians_actor_2D->SetVisibility(SystemSettings::getShowAgents()&& SystemSettings::get2D());
extern_glyphs_pedestrians_actor_3D->SetVisibility(SystemSettings::getShowAgents()&& !SystemSettings::get2D());
extern_trail_plotter->SetVisibility(SystemSettings::getShowTrajectories());
//agents captions
extern_pedestrians_labels->SetVisibility(SystemSettings::getShowAgentsCaptions());
//geometry captions
//enable / disable full screen
if(fullscreen!=extern_fullscreen_enable) {
renderWindow->SetFullScreen(extern_fullscreen_enable);
//renderWindow->GetRenderers()->GetFirstRenderer()->ResetCamera();
fullscreen=extern_fullscreen_enable;
}
// take
extern_force_system_update=false;
}
void TimerCallback::getTrail(int datasetID, int frameNumber)
{
int trailCount=0;
int trailType=0;
int trailForm=0;
int tcMin=0;
int tcMax=0;
SystemSettings::getTrailsInfo(&trailCount,&trailType,&trailForm);
switch(trailType) {
case 0://backward
tcMin=frameNumber-trailCount;
tcMax=frameNumber;
break;
case 1://symetric
tcMin=frameNumber-trailCount/2;
tcMax=frameNumber+trailCount/2;
break;
case 2://forward
tcMin=frameNumber;
tcMax=frameNumber+trailCount;
break;
}
for (int i=tcMin; i<tcMax; i++) {
Frame* frame = extern_trajectories_firstSet.getFrame(i);
if(frame==NULL) {
// cerr<<"Trajectory not available in getTrail(), first data set"<<endl;
} else {
FrameElement* point=NULL;
while(NULL!=(point=frame->getNextElement())) {
//extern_pedestrians_firstSet[point->getIndex()]->plotTrail(point->getX(),point->getY(),point->getZ());
//extern_pedestrians_firstSet[point->getIndex()]->setTrailGeometry(trailForm);
}
frame->resetCursor();
}
}
}
void TimerCallback::updateVirtualCamera(Frame *frame, vtkRenderer *renderer)
{
//look for the position of that agent
const std::vector <FrameElement *> elements= frame->GetFrameElements();
for(unsigned int i=0;i<elements.size();i++){
FrameElement * el= elements[i];
if(el->GetId()==SystemSettings::getVirtualAgent())
{
static bool cam=true;
double pos[3]={0,0,0};
double orien[3]={0,0,0};
double pedSize=170;
el->GetPos(pos);
el->GetOrientation(orien);
double angle=vtkMath::RadiansFromDegrees(orien[2]);
//cout<<"new Pos: "<<pos[0]<<" " <<pos[1] <<" "<<pos[2]<<endl;
vtkCamera* virtualCam=renderer->GetActiveCamera();
virtualCam->Print(std::cout); exit(0);
virtualCam->SetPosition(pos[0]+15,pos[1],pos[2]+pedSize);
//new focal point
double eyeRange=150;//15m
double x=pos[0]+eyeRange*cos(angle);
double y=pos[1]+eyeRange*sin(angle);
double z = pos[2];
//virtualCam->SetFocalPoint(pos[0]+15,pos[1],pos[2]+pedSize+8);
virtualCam->SetFocalPoint(x,y,z+pedSize+8);
//virtualCam->Azimuth(pedestrianOrienation);
//virtualCam->Azimuth(pedestrianOrienation);
//virtualCam->Yaw(pedestrianOrienation);
virtualCam->SetDistance(eyeRange);
if(cam)virtualCam->SetRoll(90);
cam=false;
virtualCam->Modified();
return;
}
}
}
void TimerCallback::takeScreenshot(vtkRenderWindow *renderWindow)
{
static int imageID=0;
vtkWindowToImageFilter * winToImFilter = vtkWindowToImageFilter::New();
winToImFilter->SetInput( renderWindow );
//winToImFilter->SetMagnification(4);
//renderWindow->Delete();
//vtkPostScriptWriter * image = vtkPostScriptWriter::New();
vtkPNGWriter * image = vtkPNGWriter::New();
image->SetInputConnection(winToImFilter->GetOutputPort());
winToImFilter->Delete();
QString screenshots;
SystemSettings::getOutputDirectory(screenshots);
//create directory if not exits
if(!QDir(screenshots).exists()) {
QDir dir;
if(!dir.mkpath (screenshots )) {
//Debug::Error("could not create directory: %s",screenshots.toStdString().c_str());
//try with the current directory
screenshots="";
}
}
char filename[256]= {0};
// sprintf(filename,"travisto_video_%d.png",imageID++);
std::string date= QString(QDateTime::currentDateTime().toString("yyMMdd_hh")).toStdString();
sprintf(filename,"travisto_snap_%sh_%d.png",date.c_str(),imageID++);
//append the prefix
screenshots+=SystemSettings::getFilenamePrefix();
screenshots+=QString(filename);
image->SetFileName(screenshots.toStdString().c_str());
winToImFilter->Modified();
image->Write ();
image->Delete();
extern_take_screenshot=false;
}
/// take png screenshot sequence
void TimerCallback::takeScreenshotSequence(vtkRenderWindow* renderWindow)
{ static int imageID=0;
vtkWindowToImageFilter * winToImFilter = vtkWindowToImageFilter::New();
winToImFilter->SetInput( renderWindow );
//renderWindow->Delete();
vtkPNGWriter * image = vtkPNGWriter::New();
//vtkPostScriptWriter * image = vtkPostScriptWriter::New();
image->SetInputConnection( winToImFilter->GetOutputPort());
winToImFilter->Delete();
QString screenshots;
SystemSettings::getOutputDirectory(screenshots);
screenshots.append("./png_seq_"+QDateTime::currentDateTime().toString("yyMMddhh")+"_"+SystemSettings::getFilenamePrefix());
screenshots.truncate(screenshots.size()-1);
//create directory if not exits
if(!QDir(screenshots).exists()) {
QDir dir;
if(!dir.mkpath (screenshots )) {
cerr<<"could not create directory: "<< screenshots.toStdString();
//try with the current directory
screenshots="./png_seq_"+QDateTime::currentDateTime().toString("yyMMdd")+"_"+SystemSettings::getFilenamePrefix();
screenshots.truncate(screenshots.size()-1);
}
}
char filename[30]= {0};
sprintf(filename,"/tmp_%07d.png",imageID++);
screenshots.append(filename);
image->SetFileName(screenshots.toStdString().c_str());
winToImFilter->Modified();
image->Write ();
image->Delete();
}
void TimerCallback::SetRenderTimerId(int tid)
{
this->RenderTimerId = tid;
}
void TimerCallback::setTextActor(vtkTextActor* ra)
{
runningTime=ra;
}