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July 4, 2019 07:52
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viz_ts.py
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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_ |
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