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import numpy as np
import cv2
import esim_py
# camera = cv2.VideoCapture(0)
camera = cv2.VideoCapture('video.mp4')
POS_THRESHOLD = 0.5
NEG_THRESHOLD = 0.5
REF_PERIOD = 0.000
esim = esim_py.EventSimulator(POS_THRESHOLD, NEG_THRESHOLD, REF_PERIOD, 1e-4, True)
# # generate events from list of images and timestamps
# events_list_of_images = esim.generateFromStampedImageSequence(
# list_of_image_files, # list of absolute paths to images
# list_of_timestamps # list of timestamps in ascending order
# )
fps = cv2.CAP_PROP_FPS
ts_s = 1 / fps
ts_ns = ts_s * 1e9 # convert s to ns
is_init = False
idx = 0
while True:
_, frame_bgr = camera.read()
frame_gray = cv2.cvtColor(frame_bgr, cv2.COLOR_BGR2GRAY)
frame_log = np.log(frame_gray.astype("float32") / 255 + 1e-4)
height, width = frame_log.shape[:2]
current_ts_ns = idx * ts_ns
if not is_init:
esim.init(frame_log, current_ts_ns)
is_init = True
idx += 1
continue
events = esim.generateEventFromCVImage(frame_log, current_ts_ns)
x, y, t, p = events.T
t = t.astype(dtype=np.float32) * 1e-6 # convert ns to milliseconds
last_timestamp = t[-1]
event_frame = np.zeros((height, width, 3), dtype=np.float32)
x = x.astype(dtype=np.int32)
y = y.astype(dtype=np.int32)
p = p.astype(dtype=np.int32)
print(idx, events.shape)
if last_timestamp <= 0:
continue
event_frame[y, x, 1 - p] = (last_timestamp - t) / (last_timestamp - t[0])
event_frame *= 255
event_frame = event_frame.astype(dtype=np.uint8)
stack = np.hstack([frame_bgr, event_frame])
cv2.imwrite(f"outputs/stack_{idx}.png", stack)
# cv2.imwrite("frame.png", frame_bgr)
# input(idx)
# # t, x, y, p = event
# # x, y = x.astype(dtype=np.int32), y.astype(dtype=np.int32)
# # events = np.hstack([x[..., None], y[..., None], t[..., None], p[..., None]])
# # event_labels = segmentation[y, x].astype(dtype=np.uint8)
# # write_frame = False
# # show_frame = False
# # if write_frame or show_frame:
# # ts, xs, ys, ps = event
# # h, w = frame_color.shape[:2]
# # event_bgr = np.zeros((h, w, 3), dtype=np.uint8)
# # for x, y, p in zip(xs, ys, ps):
# # event_bgr[y, x, 0 if p == -1 else 2] = 255
# # image_path = image_paths[frame_keys[frame_index]]
# # rgb_image = cv2.imread(image_path)
# cv2.imshow("Frame", frame)
# cv2.waitKey(1)
idx += 1 |