feat: path with moving camera

inference.py

@@ -3,7 +3,7 @@ import glob
 import os
 
 import numpy as np
-from norfair import Paths, Tracker, Video
+from norfair import AbsolutePaths, FixedCamera, Paths, Tracker, Video
 from norfair.camera_motion import HomographyTransformationGetter, MotionEstimator
 
 from inference_utils import (
@@ -47,10 +47,14 @@ def inference(
 
     coord_transformations = None
     paths_drawer = None
+    fix_paths = False
     track_points = Style[track_points].value
     model = YOLO(ModelsPath[model].value)
     video = Video(input_path=input_video, output_path=output_path)
 
+    if motion_estimation and drawing_paths:
+        fix_paths = True
+
     if motion_estimation:
         transformations_getter = HomographyTransformationGetter()
 
@@ -70,6 +74,9 @@ def inference(
     if drawing_paths:
         paths_drawer = Paths(center, attenuation=0.01)
 
+    if fix_paths:
+        paths_drawer = AbsolutePaths(max_history=5, thickness=2)
+
     for frame in video:
         yolo_detections = model(
             frame,
@@ -92,7 +99,15 @@ def inference(
             detections=detections, coord_transformations=coord_transformations
         )
 
-        frame = draw(paths_drawer, track_points, frame, detections, tracked_objects)
+        frame = draw(
+            paths_drawer,
+            track_points,
+            frame,
+            detections,
+            tracked_objects,
+            coord_transformations,
+            fix_paths,
+        )
         video.write(frame)
 
     base_file_name = input_video.split("/")[-1].split(".")[0]

inference_utils.py

@@ -8,7 +8,7 @@ import norfair
 import numpy as np
 import torch
 import torchvision.ops.boxes as bops
-from norfair import Detection
+from norfair import Detection, draw_absolute_grid
 
 DISTANCE_THRESHOLD_BBOX: float = 3.33
 DISTANCE_THRESHOLD_CENTROID: int = 30
@@ -148,7 +148,15 @@ def clean_videos(path: str):
             os.remove(file)
 
 
-def draw(paths_drawer, track_points, frame, detections, tracked_objects):
+def draw(
+    paths_drawer,
+    track_points,
+    frame,
+    detections,
+    tracked_objects,
+    coord_transformations,
+    fix_paths,
+):
     if track_points == "centroid":
         norfair.draw_points(frame, detections)
         norfair.draw_tracked_objects(frame, tracked_objects)
@@ -156,7 +164,9 @@ def draw(paths_drawer, track_points, frame, detections, tracked_objects):
         norfair.draw_boxes(frame, detections)
         norfair.draw_tracked_boxes(frame, tracked_objects)
 
-    if paths_drawer is not None:
+    if fix_paths:
+        frame = paths_drawer.draw(frame, tracked_objects, coord_transformations)
+    elif paths_drawer is not None:
         frame = paths_drawer.draw(frame, tracked_objects)
 
     return frame