karma/hdr_esim
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Added the possibility to get the hdr rgb images from a data provider.

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For now only made it work with 'from_folder' and 'opengl_renderer'
This commit is contained in:
Arnaud Fauconnet
2023-08-03 11:02:47 +02:00
parent 200975a3f0
commit 3ba975a830
12 changed files with 98 additions and 13 deletions
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21
event_camera_simulator/esim_data_provider/src/data_provider_from_folder.cpp
View File

@ -1,4 +1,11 @@
#include "esim/imp_multi_objects_2d/object.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/imgproc.hpp"
#include "opencv2/imgproc/types_c.h"
#include <cstdint>
#include <esim/data_provider/data_provider_from_folder.hpp>
#include <iostream>
#include <opencv2/imgcodecs/imgcodecs.hpp>
#include <ze/cameras/camera_impl.hpp>
#include <ze/common/file_utils.hpp>
@ -40,6 +47,11 @@ namespace event_camera_simulator {
sim_data_.images.emplace_back(ImagePtr(new Image(
cv::Size(camera_rig_->at(0).width(), camera_rig_->at(0).height())
)));
sim_data_.images_rgb.emplace_back(ImageRGBPtr(new ImageRGB(
camera_rig_->at(0).width(),
camera_rig_->at(0).height(),
CV_32FC3
)));
sim_data_.camera_rig = camera_rig_;
sim_data_.images_updated = true;
@ -74,12 +86,17 @@ namespace event_camera_simulator {
const std::string& path_to_image =
ze::joinPath(path_to_data_folder_, items[1]);
cv::Mat image = cv::imread(path_to_image, 0);
cv::Mat image = cv::imread(path_to_image);
CHECK(image.data)
<< "Could not load image from file: " << path_to_image;
VLOG(3) << "Read image from file: " << path_to_image;
image.convertTo(
image.copyTo(*sim_data_.images_rgb[0]);
cv::Mat image_gray = image;
cv::cvtColor(image, image_gray, CV_BGR2GRAY);
image_gray.convertTo(
*sim_data_.images[0],
cv::DataType<ImageFloatType>::type,
1. / 255.

6
event_camera_simulator/esim_data_provider/src/data_provider_online_render.cpp
View File

@ -103,11 +103,15 @@ namespace event_camera_simulator {
);
sim_data_.images.emplace_back(ImagePtr(new Image(size)));
sim_data_.images_rgb.emplace_back(
ImageRGBPtr(new ImageRGB(size, CV_32FC3))
);
sim_data_.depthmaps.emplace_back(DepthmapPtr(new Depthmap(size)));
sim_data_.optic_flows.emplace_back(OpticFlowPtr(new OpticFlow(size))
);
sim_data_.images[i]->setTo(0);
sim_data_.images_rgb[i]->setTo(0);
sim_data_.depthmaps[i]->setTo(0);
sim_data_.optic_flows[i]->setTo(0);
}
@ -241,6 +245,7 @@ namespace event_camera_simulator {
sim_data_.groundtruth.linear_velocity_obj_,
sim_data_.groundtruth.angular_velocity_obj_,
sim_data_.images[i],
sim_data_.images_rgb[i],
sim_data_.depthmaps[i],
sim_data_.optic_flows[i]
);
@ -249,6 +254,7 @@ namespace event_camera_simulator {
sim_data_.groundtruth.T_W_B * camera_rig_->T_B_C(i),
sim_data_.groundtruth.T_W_OBJ_,
sim_data_.images[i],
sim_data_.images_rgb[i],
sim_data_.depthmaps[i]
);
}