hdr_esim/event_camera_simulator/esim/src/simulator.cpp

#include <esim/common/utils.hpp>
#include <esim/esim/simulator.hpp>
#include <ze/common/timer_collection.hpp>

namespace event_camera_simulator {

    DECLARE_TIMER(
        TimerEventSimulator,
        timers_event_simulator_,
        simulate_events,
        visualization
    );

    Simulator::~Simulator() {
        timers_event_simulator_.saveToFile("/tmp", "event_simulator.csv");
    }

    void Simulator::dataProviderCallback(const SimulatorData& sim_data) {
        CHECK_EQ(event_simulators_.size(), num_cameras_);

        bool camera_simulator_success;

        if (sim_data.images_updated) {
            EventsVector events(num_cameras_);
            Time time = sim_data.timestamp;
            // simulate the events and camera images for every sensor in the rig
            {
                auto t = timers_event_simulator_
                             [TimerEventSimulator::simulate_events]
                                 .timeScope();
                for (size_t i = 0; i < num_cameras_; ++i) {
                    events[i] = event_simulators_[i].imageCallback(
                        *sim_data.images[i],
                        time
                    );

                    if (corrupted_camera_images_.size() < num_cameras_) {
                        // allocate memory for the corrupted camera images and
                        // set them to 0
                        corrupted_camera_images_.emplace_back(
                            std::make_shared<Image>(sim_data.images[i]->size())
                        );
                        corrupted_camera_images_[i]->setTo(0.);
                    }

                    camera_simulator_success =
                        camera_simulators_[i].imageCallback(
                            *sim_data.images[i],
                            time,
                            corrupted_camera_images_[i]
                        );
                }
            }

            // publish the simulation data + events
            {
                auto t =
                    timers_event_simulator_[TimerEventSimulator::visualization]
                        .timeScope();
                publishData(
                    sim_data,
                    events,
                    camera_simulator_success,
                    corrupted_camera_images_
                );
            }
        } else {
            {
                // just forward the simulation data to the publisher
                auto t =
                    timers_event_simulator_[TimerEventSimulator::visualization]
                        .timeScope();
                publishData(
                    sim_data,
                    {},
                    camera_simulator_success,
                    corrupted_camera_images_
                );
            }
        }
    }

    void Simulator::publishData(
        const SimulatorData& sim_data,
        const EventsVector& events,
        bool camera_simulator_success,
        const ImagePtrVector& camera_images
    ) {
        if (publishers_.empty()) {
            LOG_FIRST_N(WARNING, 1) << "No publisher available";
            return;
        }

        Time time = sim_data.timestamp;
        const Transformation& T_W_B = sim_data.groundtruth.T_W_B;
        const TransformationVector& T_W_Cs = sim_data.groundtruth.T_W_Cs;
        const ze::CameraRig::Ptr& camera_rig = sim_data.camera_rig;

        // Publish the new data (events, images, depth maps, poses, point
        // clouds, etc.)
        if (!events.empty())
            for (const Publisher::Ptr& publisher : publishers_)
                publisher->eventsCallback(events);
        if (sim_data.poses_updated)
            for (const Publisher::Ptr& publisher : publishers_)
                publisher->poseCallback(T_W_B, T_W_Cs, time);
        if (sim_data.twists_updated)
            for (const Publisher::Ptr& publisher : publishers_)
                publisher->twistCallback(
                    sim_data.groundtruth.angular_velocities_,
                    sim_data.groundtruth.linear_velocities_,
                    time
                );
        if (sim_data.imu_updated)
            for (const Publisher::Ptr& publisher : publishers_)
                publisher->imuCallback(
                    sim_data.specific_force_corrupted,
                    sim_data.angular_velocity_corrupted,
                    time
                );

        if (camera_rig)
            for (const Publisher::Ptr& publisher : publishers_)
                publisher->cameraInfoCallback(camera_rig, time);
        if (sim_data.images_updated) {
            for (const Publisher::Ptr& publisher : publishers_) {
                publisher->imageCallback(sim_data.images, time);

                if (camera_simulator_success && time >= exposure_time_) {
                    // the images should be timestamped at mid-exposure
                    const Time mid_exposure_time = time - 0.5 * exposure_time_;
                    publisher->imageCorruptedCallback(
                        camera_images,
                        mid_exposure_time
                    );
                }
            }
        }
        if (sim_data.depthmaps_updated)
            for (const Publisher::Ptr& publisher : publishers_)
                publisher->depthmapCallback(sim_data.depthmaps, time);
        if (sim_data.optic_flows_updated)
            for (const Publisher::Ptr& publisher : publishers_)
                publisher->opticFlowCallback(sim_data.optic_flows, time);
        if (sim_data.depthmaps_updated && !events.empty()) {
            PointCloudVector pointclouds(num_cameras_);
            for (size_t i = 0; i < num_cameras_; ++i) {
                CHECK(sim_data.depthmaps[i]);
                pointclouds[i] = eventsToPointCloud(
                    events[i],
                    *sim_data.depthmaps[i],
                    camera_rig->atShared(i)
                );
            }
            for (const Publisher::Ptr& publisher : publishers_)
                publisher->pointcloudCallback(pointclouds, time);
        }
    }

} // namespace event_camera_simulator