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4 Commits

Author SHA1 Message Date
Arnaud Fauconnet
3ba975a830 Added the possibility to get the hdr rgb images from a data provider.
For now only made it work with 'from_folder' and 'opengl_renderer'
2023-08-03 11:02:47 +02:00
Arnaud Fauconnet
200975a3f0 commmented out the image callback from the hdr publisher because it
wasn't getting the motion blured version of the images
2023-08-03 11:01:06 +02:00
Arnaud Fauconnet
a4d013c9d7 updated the locations of the frames in config file 2023-08-03 10:59:50 +02:00
Arnaud Fauconnet
991de69b8f added clang-format to gitignore 2023-08-03 10:50:02 +02:00
15 changed files with 109 additions and 23 deletions

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@ -2,3 +2,4 @@
esim_ros/scripts/exp_* esim_ros/scripts/exp_*
*.swp *.swp
*.autosave *.autosave
.clang-format

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@ -11,12 +11,16 @@ namespace event_camera_simulator {
ZE_POINTER_TYPEDEFS(ImageBuffer); ZE_POINTER_TYPEDEFS(ImageBuffer);
struct ImageData { struct ImageData {
ImageData(Image img, Time stamp, Duration exposure_time) ImageData(
Image img, ImageRGB img_rgb, Time stamp, Duration exposure_time
)
: image(img), : image(img),
image_rgb(img_rgb),
stamp(stamp), stamp(stamp),
exposure_time(exposure_time) {} exposure_time(exposure_time) {}
Image image; Image image;
ImageRGB image_rgb;
Time stamp; Time stamp;
Duration exposure_time; // timestamp since last image (0 if this is Duration exposure_time; // timestamp since last image (0 if this is
// the first image) // the first image)
@ -27,7 +31,7 @@ namespace event_camera_simulator {
// Rolling image buffer of mazimum size 'buffer_size_ns'. // Rolling image buffer of mazimum size 'buffer_size_ns'.
ImageBuffer(Duration buffer_size_ns): buffer_size_ns_(buffer_size_ns) {} ImageBuffer(Duration buffer_size_ns): buffer_size_ns_(buffer_size_ns) {}
void addImage(Time t, const Image& img); void addImage(Time t, const Image& img, const ImageRGB& img_rgb);
std::deque<ImageData> getRawBuffer() const { std::deque<ImageData> getRawBuffer() const {
return data_; return data_;
@ -63,7 +67,10 @@ namespace event_camera_simulator {
} }
bool imageCallback( bool imageCallback(
const Image& img, Time time, const ImagePtr& camera_image const Image& img,
const ImageRGB& img_rgb,
Time time,
const ImagePtr& camera_image
); );
private: private:

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@ -4,6 +4,7 @@
#include <esim/esim/camera_simulator.hpp> #include <esim/esim/camera_simulator.hpp>
#include <fstream> #include <fstream>
#include <iomanip> #include <iomanip>
#include <iostream>
#include <ostream> #include <ostream>
#include <ze/common/file_utils.hpp> #include <ze/common/file_utils.hpp>
@ -12,7 +13,8 @@ static std::ofstream exposures_file_;
namespace event_camera_simulator { namespace event_camera_simulator {
void ImageBuffer::addImage(Time t, const Image& img) { void
ImageBuffer::addImage(Time t, const Image& img, const ImageRGB& img_rgb) {
if (!data_.empty()) { if (!data_.empty()) {
// Check that the image timestamps are monotonically increasing // Check that the image timestamps are monotonically increasing
CHECK_GT(t, data_.back().stamp); CHECK_GT(t, data_.back().stamp);
@ -21,7 +23,9 @@ namespace event_camera_simulator {
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(), img_rgb.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( auto first_valid_element = std::lower_bound(
@ -40,12 +44,16 @@ namespace event_camera_simulator {
} }
bool CameraSimulator::imageCallback( bool CameraSimulator::imageCallback(
const Image& img, Time time, const ImagePtr& camera_image const Image& img,
const ImageRGB& img_rgb,
Time time,
const ImagePtr& camera_image
) { ) {
CHECK(camera_image); CHECK(camera_image);
CHECK_EQ(camera_image->size(), img.size()); CHECK_EQ(camera_image->size(), img.size());
CHECK_EQ(img_rgb.size(), img.size());
buffer_->addImage(time, img); buffer_->addImage(time, img, img_rgb);
static const Time initial_time = time; static const Time initial_time = time;
if (time - initial_time < exposure_time_) { if (time - initial_time < exposure_time_) {
@ -55,10 +63,15 @@ namespace event_camera_simulator {
return false; return false;
} }
ImageRGB rgb(img.rows, img.cols, CV_32FC3);
rgb.setTo(0.);
// average all the images in the buffer to simulate motion blur // average all the images in the buffer to simulate motion blur
camera_image->setTo(0); camera_image->setTo(0);
ze::real_t denom = 0.; ze::real_t denom = 0.;
for (const ImageBuffer::ImageData& img : buffer_->getRawBuffer()) { for (const ImageBuffer::ImageData& img : buffer_->getRawBuffer()) {
rgb +=
ze::nanosecToMillisecTrunc(img.exposure_time) * img.image_rgb;
*camera_image += *camera_image +=
ze::nanosecToMillisecTrunc(img.exposure_time) * img.image; ze::nanosecToMillisecTrunc(img.exposure_time) * img.image;
denom += ze::nanosecToMillisecTrunc(img.exposure_time); denom += ze::nanosecToMillisecTrunc(img.exposure_time);
@ -70,7 +83,7 @@ namespace event_camera_simulator {
ss << hdr_output_folder << "/frames/frame_" << std::setfill('0') ss << hdr_output_folder << "/frames/frame_" << std::setfill('0')
<< std::setw(5) << frame_number++ << ".exr"; << std::setw(5) << frame_number++ << ".exr";
std::string frame_path = ss.str(); std::string frame_path = ss.str();
cv::imwrite(frame_path, *camera_image); cv::imwrite(frame_path, rgb);
// ze::openOutputFileStream( // ze::openOutputFileStream(
// ze::joinPath(output_folder, "exposures.csv"), // ze::joinPath(output_folder, "exposures.csv"),

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@ -46,6 +46,7 @@ namespace event_camera_simulator {
camera_simulator_success = camera_simulator_success =
camera_simulators_[i].imageCallback( camera_simulators_[i].imageCallback(
*sim_data.images[i], *sim_data.images[i],
*sim_data.images_rgb[i],
time, time,
corrupted_camera_images_[i] corrupted_camera_images_[i]
); );

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@ -42,12 +42,15 @@ namespace event_camera_simulator {
using Duration = ze::uint64_t; using Duration = ze::uint64_t;
using Image = cv::Mat_<ImageFloatType>; using Image = cv::Mat_<ImageFloatType>;
using ImagePtr = std::shared_ptr<Image>; using ImagePtr = std::shared_ptr<Image>;
using ImageRGB = cv::Mat;
using ImageRGBPtr = std::shared_ptr<ImageRGB>;
using Depthmap = cv::Mat_<ImageFloatType>; using Depthmap = cv::Mat_<ImageFloatType>;
using OpticFlow = cv::Mat_<cv::Vec<ImageFloatType, 2>>; using OpticFlow = cv::Mat_<cv::Vec<ImageFloatType, 2>>;
using OpticFlowPtr = std::shared_ptr<OpticFlow>; using OpticFlowPtr = std::shared_ptr<OpticFlow>;
using DepthmapPtr = std::shared_ptr<Depthmap>; using DepthmapPtr = std::shared_ptr<Depthmap>;
using ImagePtrVector = std::vector<ImagePtr>; using ImagePtrVector = std::vector<ImagePtr>;
using ImageRGBPtrVector = std::vector<ImageRGBPtr>;
using DepthmapPtrVector = std::vector<DepthmapPtr>; using DepthmapPtrVector = std::vector<DepthmapPtr>;
using OpticFlowPtrVector = std::vector<OpticFlowPtr>; using OpticFlowPtrVector = std::vector<OpticFlowPtr>;
@ -98,6 +101,7 @@ namespace event_camera_simulator {
//! Camera images. //! Camera images.
ImagePtrVector images; ImagePtrVector images;
ImageRGBPtrVector images_rgb;
//! Depth maps. //! Depth maps.
DepthmapPtrVector depthmaps; DepthmapPtrVector depthmaps;

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

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@ -103,11 +103,15 @@ namespace event_camera_simulator {
); );
sim_data_.images.emplace_back(ImagePtr(new Image(size))); 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_.depthmaps.emplace_back(DepthmapPtr(new Depthmap(size)));
sim_data_.optic_flows.emplace_back(OpticFlowPtr(new OpticFlow(size)) sim_data_.optic_flows.emplace_back(OpticFlowPtr(new OpticFlow(size))
); );
sim_data_.images[i]->setTo(0); sim_data_.images[i]->setTo(0);
sim_data_.images_rgb[i]->setTo(0);
sim_data_.depthmaps[i]->setTo(0); sim_data_.depthmaps[i]->setTo(0);
sim_data_.optic_flows[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.linear_velocity_obj_,
sim_data_.groundtruth.angular_velocity_obj_, sim_data_.groundtruth.angular_velocity_obj_,
sim_data_.images[i], sim_data_.images[i],
sim_data_.images_rgb[i],
sim_data_.depthmaps[i], sim_data_.depthmaps[i],
sim_data_.optic_flows[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_B * camera_rig_->T_B_C(i),
sim_data_.groundtruth.T_W_OBJ_, sim_data_.groundtruth.T_W_OBJ_,
sim_data_.images[i], sim_data_.images[i],
sim_data_.images_rgb[i],
sim_data_.depthmaps[i] sim_data_.depthmaps[i]
); );
} }

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@ -19,6 +19,7 @@ namespace event_camera_simulator {
const Transformation& T_W_C, const Transformation& T_W_C,
const std::vector<Transformation>& T_W_OBJ, const std::vector<Transformation>& T_W_OBJ,
const ImagePtr& out_image, const ImagePtr& out_image,
const ImageRGBPtr& out_image_rgb,
const DepthmapPtr& out_depthmap const DepthmapPtr& out_depthmap
) const = 0; ) const = 0;
@ -36,6 +37,7 @@ namespace event_camera_simulator {
const std::vector<LinearVelocity>& linear_velocity_obj, const std::vector<LinearVelocity>& linear_velocity_obj,
const std::vector<AngularVelocity>& angular_velocity_obj, const std::vector<AngularVelocity>& angular_velocity_obj,
const ImagePtr& out_image, const ImagePtr& out_image,
const ImageRGBPtr& out_image_rgb,
const DepthmapPtr& out_depthmap, const DepthmapPtr& out_depthmap,
const OpticFlowPtr& optic_flow_map const OpticFlowPtr& optic_flow_map
) const {} ) const {}

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@ -1,7 +1,7 @@
--data_source=2 --data_source=2
--path_to_output_bag=/tmp/out.bag # --path_to_output_bag=/tmp/out.bag
--path_to_data_folder=/tmp/tests/frames --path_to_data_folder=/home/arno/Videos/sponze/frames
--hdr_output_folder=/home/arno/sim_ws/out --hdr_output_folder=/home/arno/sim_ws/out
--ros_publisher_frame_rate=60 --ros_publisher_frame_rate=60

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@ -100,14 +100,14 @@ namespace event_camera_simulator {
} }
void HdrPublisher::imageCallback(const ImagePtrVector& images, Time t) { void HdrPublisher::imageCallback(const ImagePtrVector& images, Time t) {
CHECK_EQ(images.size(), 1); // CHECK_EQ(images.size(), 1);
static uint frame_number = 0; // static uint frame_number = 0;
std::stringstream ss; // std::stringstream ss;
ss << output_folder_ << "/frames/frame_" << std::setfill('0') // ss << output_folder_ << "/frames/frame_" << std::setfill('0')
<< std::setw(5) << frame_number++ << ".exr"; // << std::setw(5) << frame_number++ << ".exr";
std::string frame_path = ss.str(); // std::string frame_path = ss.str();
//
cv::imwrite(frame_path, *images[0]); // cv::imwrite(frame_path, *images[0]);
} }
void HdrPublisher::eventsCallback(const EventsVector& events) { void HdrPublisher::eventsCallback(const EventsVector& events) {

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@ -24,8 +24,9 @@ namespace event_camera_simulator {
const Transformation& T_W_C, const Transformation& T_W_C,
const std::vector<Transformation>& T_W_OBJ, const std::vector<Transformation>& T_W_OBJ,
const ImagePtr& out_image, const ImagePtr& out_image,
const ImageRGBPtr& out_image_rgb,
const DepthmapPtr& out_depthmap const DepthmapPtr& out_depthmap
) const; ) const override;
//! Returns true if the rendering engine can compute optic flow, false //! Returns true if the rendering engine can compute optic flow, false
//! otherwise //! otherwise
@ -43,6 +44,7 @@ namespace event_camera_simulator {
const std::vector<LinearVelocity>& linear_velocity_obj, const std::vector<LinearVelocity>& linear_velocity_obj,
const std::vector<AngularVelocity>& angular_velocity_obj, const std::vector<AngularVelocity>& angular_velocity_obj,
const ImagePtr& out_image, const ImagePtr& out_image,
const ImageRGBPtr& out_image_rgb,
const DepthmapPtr& out_depthmap, const DepthmapPtr& out_depthmap,
const OpticFlowPtr& optic_flow_map const OpticFlowPtr& optic_flow_map
) const override; ) const override;

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@ -17,6 +17,7 @@
#include <esim/imp_opengl_renderer/opengl_renderer.hpp> #include <esim/imp_opengl_renderer/opengl_renderer.hpp>
#include <glad/glad.h> #include <glad/glad.h>
#include <iomanip>
#include <learnopengl/shader.h> #include <learnopengl/shader.h>
#include <learnopengl/model.h> #include <learnopengl/model.h>
#include <GLFW/glfw3.h> #include <GLFW/glfw3.h>
@ -314,18 +315,23 @@ namespace event_camera_simulator {
const Transformation& T_W_C, const Transformation& T_W_C,
const std::vector<Transformation>& T_W_OBJ, const std::vector<Transformation>& T_W_OBJ,
const ImagePtr& out_image, const ImagePtr& out_image,
const ImageRGBPtr& out_image_rgb,
const DepthmapPtr& out_depthmap const DepthmapPtr& out_depthmap
) const { ) const {
CHECK(is_initialized_) << "Called render() but the renderer was not " CHECK(is_initialized_) << "Called render() but the renderer was not "
"initialized yet. Have you " "initialized yet. Have you "
"first called setCamera()?"; "first called setCamera()?";
CHECK(out_image); CHECK(out_image);
CHECK(out_image_rgb);
CHECK(out_depthmap); CHECK(out_depthmap);
CHECK_EQ(out_image->cols, width_); CHECK_EQ(out_image->cols, width_);
CHECK_EQ(out_image_rgb->cols, width_);
CHECK_EQ(out_image->rows, height_); CHECK_EQ(out_image->rows, height_);
CHECK_EQ(out_image_rgb->rows, height_);
CHECK_EQ(out_depthmap->cols, width_); CHECK_EQ(out_depthmap->cols, width_);
CHECK_EQ(out_depthmap->rows, height_); CHECK_EQ(out_depthmap->rows, height_);
CHECK_EQ(out_image->type(), CV_32F); CHECK_EQ(out_image->type(), CV_32F);
CHECK_EQ(out_image_rgb->type(), CV_32FC3);
CHECK_EQ(out_depthmap->type(), CV_32F); CHECK_EQ(out_depthmap->type(), CV_32F);
// draw to our framebuffer instead of screen // draw to our framebuffer instead of screen
@ -413,6 +419,29 @@ namespace event_camera_simulator {
// read out what we just rendered // read out what we just rendered
cv::Mat img_color(height_, width_, CV_8UC3); cv::Mat img_color(height_, width_, CV_8UC3);
{
float pixels[height_ * width_ * 3];
glReadPixels(
0,
0,
img_color.cols,
img_color.rows,
GL_RGB,
GL_FLOAT,
pixels
);
cv::Mat rgb(height_, width_, CV_32FC3, pixels);
rgb.copyTo(*out_image_rgb);
}
// static uint frame_number = 0;
// std::stringstream ss;
// ss << "/tmp/tests"
// << "/frames/frame_" << std::setfill('0') << std::setw(5)
// << frame_number++ << ".exr";
// cv::imwrite(ss.str(), rgb);
glPixelStorei(GL_PACK_ALIGNMENT, (img_color.step & 3) ? 1 : 4); glPixelStorei(GL_PACK_ALIGNMENT, (img_color.step & 3) ? 1 : 4);
glPixelStorei( glPixelStorei(
GL_PACK_ROW_LENGTH, GL_PACK_ROW_LENGTH,
@ -480,10 +509,11 @@ namespace event_camera_simulator {
const std::vector<LinearVelocity>& linear_velocity_obj, const std::vector<LinearVelocity>& linear_velocity_obj,
const std::vector<AngularVelocity>& angular_velocity_obj, const std::vector<AngularVelocity>& angular_velocity_obj,
const ImagePtr& out_image, const ImagePtr& out_image,
const ImageRGBPtr& out_image_rgb,
const DepthmapPtr& out_depthmap, const DepthmapPtr& out_depthmap,
const OpticFlowPtr& optic_flow_map const OpticFlowPtr& optic_flow_map
) const { ) const {
render(T_W_C, T_W_OBJ, out_image, out_depthmap); render(T_W_C, T_W_OBJ, out_image, out_image_rgb, out_depthmap);
// draw to our optic flow framebuffer instead of screen // draw to our optic flow framebuffer instead of screen
glBindFramebuffer(GL_FRAMEBUFFER, fbo_of); glBindFramebuffer(GL_FRAMEBUFFER, fbo_of);

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@ -26,6 +26,7 @@ namespace event_camera_simulator {
const Transformation& T_W_C, const Transformation& T_W_C,
const std::vector<Transformation>& T_W_OBJ, const std::vector<Transformation>& T_W_OBJ,
const ImagePtr& out_image, const ImagePtr& out_image,
const ImageRGBPtr& out_image_rgb,
const DepthmapPtr& out_depthmap const DepthmapPtr& out_depthmap
) const override { ) const override {
render(T_W_C, out_image, out_depthmap); render(T_W_C, out_image, out_depthmap);

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@ -31,6 +31,7 @@ namespace event_camera_simulator {
const Transformation& T_W_C, const Transformation& T_W_C,
const std::vector<Transformation>& T_W_OBJ, const std::vector<Transformation>& T_W_OBJ,
const ImagePtr& out_image, const ImagePtr& out_image,
const ImageRGBPtr& out_image_rbg,
const DepthmapPtr& out_depthmap const DepthmapPtr& out_depthmap
) const override { ) const override {
render(T_W_C, out_image, out_depthmap); render(T_W_C, out_image, out_depthmap);

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@ -21,8 +21,9 @@ namespace event_camera_simulator {
const Transformation& T_W_C, const Transformation& T_W_C,
const std::vector<Transformation>& T_W_OBJ, const std::vector<Transformation>& T_W_OBJ,
const ImagePtr& out_image, const ImagePtr& out_image,
const ImageRGBPtr& out_image_rgb,
const DepthmapPtr& out_depthmap const DepthmapPtr& out_depthmap
) const { ) const override {
render(T_W_C, out_image, out_depthmap); render(T_W_C, out_image, out_depthmap);
} }