viz_ts.py

viz_ts.py

from __future__ import print_function
import time
import numpy as np
import cv2
from prophesee_utils.td_video import ChronoVideo

if __name__ == '__main__':
    delay = 1
    base_delay = 1
    stop = False

    tau = 1e6
    mu = 1e5
    std = 1e5
    tmax = 100000
    path = '/home/eperot/workspace/data/videos/mercredi_moorea_0_0_td.dat'
    video = ChronoVideo(path)
    height, width = video.get_size()
    video.seek_time(1e6)

    scale = 1

    ts = np.zeros((height, width, 2), dtype=np.float32)

    ts_debug = np.zeros((height, width, 2), dtype=np.float32)
    viz = np.zeros((height, width, 3), dtype=np.float32)
    hsvImg = np.zeros((height, width, 3), dtype=np.uint8)

    def nothing(x): pass
    cv2.namedWindow('ts')
    cv2.createTrackbar('tau', 'ts', 2, 10, nothing)
    cv2.setTrackbarPos('tau', 'ts', 6)

    while not video.done:
        if not stop:

            try:
                xypt = video.load_delta_t(tmax)
            except BaseException:
                break

        start = time.time()

        x = xypt['x']
        y = xypt['y']
        p = xypt['p']
        t = xypt['ts']

        last_time = t[-1]
        ts[y, x, p] = t  # magic hack

        tsp = ts.reshape(height / scale, scale, width / scale, scale, 2)
        tsm = np.mean(tsp, axis=(1, 3))
        max_ts = tsm.max(axis=(0, 1))[None, None, :]
        delta = (tsm - max_ts) / tau
        expdelta = np.exp(delta)

        # max_ts = np.max(ts, axis=(0,1))
        # expdelta = ts / max_ts * tau

        min_ed = expdelta.min(axis=(0, 1))[None, None, :]
        max_ed = expdelta.max(axis=(0, 1))[None, None, :]
        img = (expdelta - min_ed) / (max_ed - min_ed + 1e-7)
        # print(img.min(), img.max(), img.mean())


        img = cv2.resize(img, (width, height), interpolation=cv2.INTER_NEAREST)
        viz[...] = 0
        viz[..., :2] = img
        cv2.imshow('ts', viz)



        key = cv2.waitKey(10)

        if key & 0xFF == ord('a'):
            next_time = video.current_time - 1e7
            video.seek_time(next_time)
            tracks = []
            print('current time = ', video.current_time * 1e-6)
        if key & 0xFF == ord('z'):
            next_time = video.current_time + 1e7
            video.seek_time(next_time)
            tracks = []
            print('current time = ', video.current_time * 1e-6)
        if key & 0xFF == ord('p'):
            stop = 1 - stop

        tau_ = cv2.getTrackbarPos('tau', 'ts')
        tau = 10**tau_