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initial commit
This commit is contained in:
Henri Rebecq
237
event_camera_simulator/esim/test/test_event_simulator.cpp
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237
event_camera_simulator/esim/test/test_event_simulator.cpp
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#include <esim/esim/event_simulator.hpp>
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#include <ze/common/test_entrypoint.hpp>
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#include <fstream>
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#include <ze/common/file_utils.hpp>
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#include <ze/common/path_utils.hpp>
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#include <ze/common/string_utils.hpp>
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#include <ze/common/file_utils.hpp>
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#include <ze/common/time_conversions.hpp>
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#include <ze/matplotlib/matplotlibcpp.hpp>
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#include <opencv2/highgui/highgui.hpp>
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#define USE_OPENCV
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namespace event_camera_simulator
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{
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class CSVImageLoader
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{
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public:
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CSVImageLoader(const std::string& path_to_data_folder)
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: path_to_data_folder_(path_to_data_folder)
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{
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images_in_str_.open(ze::joinPath(path_to_data_folder, "images.csv"));
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CHECK(images_in_str_.is_open());
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}
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bool next(int64_t& stamp, Image& img)
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{
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std::string line;
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if(!getline(images_in_str_, line))
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{
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LOG(INFO) << "Finished reading all the images in the folder";
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return false;
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}
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if('%' != line.at(0) && '#' != line.at(0))
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{
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std::vector<std::string> items = ze::splitString(line, delimiter_);
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stamp = std::stoll(items[0]);
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const std::string& path_to_image
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= ze::joinPath(path_to_data_folder_, "frame", "cam_0", items[1]);
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img = cv::imread(path_to_image, 0);
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CHECK(img.data) << "Error loading image: " << path_to_image;
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return true;
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}
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else
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{
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return next(stamp, img);
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}
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}
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private:
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std::ifstream images_in_str_;
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const char delimiter_{','};
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std::string path_to_data_folder_;
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};
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} // namespace event_camera_simulator
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std::string getTestDataDir(const std::string& dataset_name)
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{
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using namespace ze;
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const char* datapath_dir = std::getenv("ESIM_TEST_DATA_PATH");
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CHECK(datapath_dir != nullptr)
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<< "Did you download the esim_test_data repository and set "
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<< "the ESIM_TEST_DATA_PATH environment variable?";
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std::string path(datapath_dir);
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CHECK(isDir(path)) << "Folder does not exist: " << path;
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path = path + "/data/" + dataset_name;
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CHECK(isDir(path)) << "Dataset does not exist: " << path;
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return path;
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}
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TEST(EventSimulator, testImageReconstruction)
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{
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using namespace event_camera_simulator;
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// Load image sequence from folder
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const std::string path_to_data_folder = getTestDataDir("planar_carpet");
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CSVImageLoader reader(path_to_data_folder);
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EventSimulator::Config event_sim_config;
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event_sim_config.Cp = 0.05;
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event_sim_config.Cm = 0.03;
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event_sim_config.sigma_Cp = 0;
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event_sim_config.sigma_Cm = 0;
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event_sim_config.use_log_image = true;
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event_sim_config.log_eps = 0.001;
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EventSimulator simulator(event_sim_config);
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LOG(INFO) << "Testing event camera simulator with C+ = " << event_sim_config.Cp
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<< ", C- = " << event_sim_config.Cm;
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const ImageFloatType max_reconstruction_error
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= std::max(event_sim_config.Cp, event_sim_config.Cm);
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bool is_first_image = true;
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Image I, L, L_reconstructed;
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int64_t stamp;
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while(reader.next(stamp, I))
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{
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I.convertTo(I, cv::DataType<ImageFloatType>::type, 1./255.);
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cv::log(event_sim_config.log_eps + I, L);
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if(is_first_image)
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{
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// Initialize reconstructed image from the ground truth image
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L_reconstructed = L.clone();
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is_first_image = false;
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}
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Events events = simulator.imageCallback(I, stamp);
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// Reconstruct next image from previous one using the events in between
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for(const Event& e : events)
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{
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ImageFloatType pol = e.pol ? 1. : -1.;
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const ImageFloatType C = e.pol ? event_sim_config.Cp : event_sim_config.Cm;
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L_reconstructed(e.y,e.x) += pol * C;
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}
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// Check that the reconstruction error is bounded by the contrast thresholds
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for(int y=0; y<I.rows; ++y)
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{
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for(int x=0; x<I.cols; ++x)
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{
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const ImageFloatType reconstruction_error = std::fabs(L_reconstructed(y,x) - L(y,x));
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VLOG_EVERY_N(2, I.rows * I.cols) << reconstruction_error;
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EXPECT_LE(reconstruction_error, max_reconstruction_error);
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}
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}
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#ifdef USE_OPENCV
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const ImageFloatType vmin = std::log(event_sim_config.log_eps);
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const ImageFloatType vmax = std::log(1.0 + event_sim_config.log_eps);
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cv::Mat disp = 255.0 * (L_reconstructed - vmin) / (vmax - vmin);
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disp.convertTo(disp, CV_8U);
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cv::imshow("Reconstructed", disp);
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cv::waitKey(1);
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#endif
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}
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}
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TEST(EventSimulator, testEvolutionReconstructionError)
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{
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using namespace event_camera_simulator;
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// Load image sequence from folder
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const std::string path_to_data_folder = getTestDataDir("planar_carpet");
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CSVImageLoader reader(path_to_data_folder);
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EventSimulator::Config event_sim_config;
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event_sim_config.Cp = 0.5;
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event_sim_config.Cm = event_sim_config.Cp;
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event_sim_config.sigma_Cp = 0;
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event_sim_config.sigma_Cm = event_sim_config.sigma_Cp;
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event_sim_config.use_log_image = true;
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event_sim_config.log_eps = 0.001;
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EventSimulator simulator(event_sim_config);
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const double contrast_bias = 0.0;
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LOG(INFO) << "Testing event camera simulator with C+ = " << event_sim_config.Cp
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<< ", C- = " << event_sim_config.Cm;
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std::vector<ze::real_t> times, mean_errors, stddev_errors;
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bool is_first_image = true;
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Image I, L, L_reconstructed;
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int64_t stamp;
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while(reader.next(stamp, I))
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{
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LOG_EVERY_N(INFO, 50) << "t = " << ze::nanosecToSecTrunc(stamp) << " s";
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I.convertTo(I, cv::DataType<ImageFloatType>::type, 1./255.);
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cv::log(event_sim_config.log_eps + I, L);
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if(is_first_image)
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{
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// Initialize reconstructed image from the ground truth image
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L_reconstructed = L.clone();
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is_first_image = false;
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}
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Events events = simulator.imageCallback(I, stamp);
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// Reconstruct next image from previous one using the events in between
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for(const Event& e : events)
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{
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ImageFloatType pol = e.pol ? 1. : -1.;
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ImageFloatType C = e.pol ? event_sim_config.Cp : event_sim_config.Cm;
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C += contrast_bias;
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L_reconstructed(e.y,e.x) += pol * C;
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}
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// Compute the mean and average reconstruction error over the whole image
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Image error;
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cv::absdiff(L, L_reconstructed, error);
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cv::Scalar mean_error, stddev_error;
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cv::meanStdDev(error, mean_error, stddev_error);
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VLOG(1) << "Mean error: " << mean_error
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<< ", Stddev: " << stddev_error;
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times.push_back(ze::nanosecToSecTrunc(stamp));
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mean_errors.push_back(mean_error[0]);
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stddev_errors.push_back(stddev_error[0]);
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#ifdef USE_OPENCV
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const ImageFloatType vmin = std::log(event_sim_config.log_eps);
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const ImageFloatType vmax = std::log(1.0 + event_sim_config.log_eps);
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cv::Mat disp = 255.0 * (L_reconstructed - vmin) / (vmax - vmin);
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disp.convertTo(disp, CV_8U);
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cv::imshow("Reconstructed", disp);
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cv::waitKey(1);
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#endif
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}
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// Plot the mean and stddev reconstruction error over time
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ze::plt::plot(times, mean_errors, "r");
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ze::plt::plot(times, stddev_errors, "b--");
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std::stringstream title;
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title << "C = " << event_sim_config.Cp
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<< ", sigma = " << event_sim_config.sigma_Cp
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<< ", bias = " << contrast_bias;
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ze::plt::title(title.str());
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ze::plt::xlabel("Time (s)");
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ze::plt::ylabel("Mean / Stddev reconstruction error");
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ze::plt::grid(true);
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ze::plt::save("/tmp/evolution_reconstruction_error.pdf");
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ze::plt::show();
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}
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ZE_UNITTEST_ENTRYPOINT
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