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Added the logging of the frames and the exposure times to the camera simulator

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(couldn't do it with the publisher because the info wasn't available in
the sim_data)
This commit is contained in:
Arnaud Fauconnet 2023-07-17 11:17:42 +02:00
parent d17d5e0a1a
commit 8280d179cd
1 changed files with 86 additions and 49 deletions
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135
event_camera_simulator/esim/src/camera_simulator.cpp
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@ -1,62 +1,99 @@
#include "esim/common/string_format.hpp"
#include "opencv2/imgcodecs.hpp"
#include <esim/esim/camera_simulator.hpp> #include <esim/esim/camera_simulator.hpp>
#include <fstream>
#include <iomanip>
#include <ostream>
#include <ze/common/file_utils.hpp>
#define FRAME_DIR_PATH "/home/arno/sim_ws/out/frames"
static uint frame_number = 0;
static std::ofstream exposures_file_;
static std::string output_folder = "/home/arno/sim_ws/out";
namespace event_camera_simulator { namespace event_camera_simulator {
void ImageBuffer::addImage(Time t, const Image& img) void ImageBuffer::addImage(Time t, const Image& img) {
{ if (!data_.empty()) {
if(!data_.empty()) // Check that the image timestamps are monotonically increasing
{ CHECK_GT(t, data_.back().stamp);
// Check that the image timestamps are monotonically increasing }
CHECK_GT(t, data_.back().stamp);
}
Duration exposure_time = data_.empty() ? 0 : t - data_.back().stamp; Duration exposure_time = data_.empty() ? 0 : t - data_.back().stamp;
VLOG(2) << "Adding image to buffer with stamp: " << t VLOG(2) << "Adding image to buffer with stamp: " << t
<< " and exposure time " << exposure_time; << " and exposure time " << exposure_time;
data_.push_back(ImageData(img.clone(), t, exposure_time)); data_.push_back(ImageData(img.clone(), t, exposure_time));
// Remove all the images with timestamp older than t - buffer_size_ns_ // Remove all the images with timestamp older than t - buffer_size_ns_
auto first_valid_element = std::lower_bound(data_.begin(), data_.end(), t - buffer_size_ns_, auto first_valid_element = std::lower_bound(
[](ImageData lhs, Time rhs) -> bool { return lhs.stamp < rhs; }); data_.begin(),
data_.end(),
t - buffer_size_ns_,
[](ImageData lhs, Time rhs) -> bool { return lhs.stamp < rhs; }
);
data_.erase(data_.begin(), first_valid_element); data_.erase(data_.begin(), first_valid_element);
VLOG(3) << "first/last element in buffer: " VLOG(3) << "first/last element in buffer: " << data_.front().stamp
<< data_.front().stamp << " " << data_.back().stamp;
<< " " << data_.back().stamp; VLOG(3) << "number of images in the buffer: " << data_.size();
VLOG(3) << "number of images in the buffer: " << data_.size();
CHECK_LE(data_.back().stamp - data_.front().stamp, buffer_size_ns_); CHECK_LE(data_.back().stamp - data_.front().stamp, buffer_size_ns_);
} }
bool CameraSimulator::imageCallback(
const Image& img, Time time, const ImagePtr& camera_image
) {
CHECK(camera_image);
CHECK_EQ(camera_image->size(), img.size());
buffer_->addImage(time, img);
static const Time initial_time = time;
if (time - initial_time < exposure_time_) {
LOG_FIRST_N(WARNING, 1) << "The images do not cover a time span "
"long enough to simulate the "
"exposure time accurately.";
return false;
}
// average all the images in the buffer to simulate motion blur
camera_image->setTo(0);
ze::real_t denom = 0.;
for (const ImageBuffer::ImageData& img : buffer_->getRawBuffer()) {
*camera_image +=
ze::nanosecToMillisecTrunc(img.exposure_time) * img.image;
denom += ze::nanosecToMillisecTrunc(img.exposure_time);
}
static uint frame_number = 0;
std::stringstream ss;
ss << output_folder << "/frames/frame_" << std::setfill('0')
<< std::setw(5) << frame_number++ << ".exr";
std::string frame_path = ss.str();
cv::imwrite(frame_path, *camera_image);
// ze::openOutputFileStream(
// ze::joinPath(output_folder, "exposures.csv"),
// &exposures_file_
// );
exposures_file_.open(
ze::joinPath(output_folder, "exposures.csv"),
std::ios::app
);
exposures_file_ << time << "," << frame_number << ","
<< buffer_->getExposureTime() << std::endl;
exposures_file_.close();
bool CameraSimulator::imageCallback(const Image &img, Time time, *camera_image /= denom;
const ImagePtr& camera_image) cv::Mat disp;
{ camera_image->convertTo(disp, CV_8U, 255);
CHECK(camera_image);
CHECK_EQ(camera_image->size(), img.size());
buffer_->addImage(time, img); return true;
}
static const Time initial_time = time;
if(time - initial_time < exposure_time_)
{
LOG_FIRST_N(WARNING, 1) << "The images do not cover a time span long enough to simulate the exposure time accurately.";
return false;
}
// average all the images in the buffer to simulate motion blur
camera_image->setTo(0);
ze::real_t denom = 0.;
for(const ImageBuffer::ImageData& img : buffer_->getRawBuffer())
{
*camera_image += ze::nanosecToMillisecTrunc(img.exposure_time) * img.image;
denom += ze::nanosecToMillisecTrunc(img.exposure_time);
}
*camera_image /= denom;
cv::Mat disp;
camera_image->convertTo(disp, CV_8U, 255);
return true;
}
} // namespace event_camera_simulator } // namespace event_camera_simulator