python
复制代码
import cv2
import json
import numpy as np
from pathlib import Path
import matplotlib.pyplot as plt
from metavision_core.event_io import EventsIterator
def visualization_event_streams(p_list, t_list, x_list, y_list, save_path=None):
# 事件流的3D表示
fig = plt.figure(figsize=(12, 10))
ax = fig.add_subplot(111, projection='3d')
ax.xaxis.set_pane_color((1.0, 1.0, 1.0)) # X轴背景颜色为透明
ax.yaxis.set_pane_color((1.0, 1.0, 1.0)) # Y轴背景颜色为透明
ax.zaxis.set_pane_color((1.0, 1.0, 1.0)) # Z轴背景颜色为透明
ax.grid(False)
new_t1 = [(t-17061000)/100000 for t in t_list] # 调整时间戳
p1 = np.array(p_list)
x1 = np.array(x_list)
y1 = np.array(y_list)
t1 = np.array(new_t1)
colors = np.where(p1 == 1, 'red', 'blue')
ax.scatter(x1, y1, t1, c=colors, marker='o',s=0.5)
ax.set_xlabel('x')
ax.set_ylabel('y')
ax.set_zlabel('t(s)')
ax.set_xlim(0, 1280)
ax.set_ylim(0, 720)
# print(t1)
if save_path is not None:
plt.savefig(str(save_path), bbox_inches='tight')
plt.close()
# 将点生成2Dmap, TARGET_SHAPE = (346, 260)，(720, 1280, 3)
def generate_2D_map(height, width, dict_file, save_map_path, save_stream_path):
map = np.ones((height, width, 3))
map = map * 255
p_list = dict_file['p']
t_list = dict_file['t']
x_list = dict_file['x']
y_list = dict_file['y']
# 生成斜45度事件流图
visualization_event_streams(p_list, t_list, x_list, y_list, save_stream_path)
# 生成2dmap
for polarity, xx, yy in zip(p_list, x_list, y_list):
yy, xx = int(yy), int(xx)
# 正事件为红色，负事件为蓝色，numpy：BGR
if polarity == 1:
map[yy][xx][0] = 0
map[yy][xx][1] = 0
map[yy][xx][2] = 255
elif polarity == 0:
map[yy][xx][0] = 255
map[yy][xx][1] = 0
map[yy][xx][2] = 0
else:
raise BaseException(f"极性错误！({xx},{yy}) {polarity} {save_map_path}")
cv2.imwrite(str(save_map_path), map)
if __name__ == "__main__":
""" Main """
event_file_path = 'UAVforPPT.raw' # 输入的 .raw 文件路径
save_json_dir = Path("UAVforPPT/json")
save_json_dir.mkdir(exist_ok=True, parents=True)
save_event_frame = Path("UAVforPPT/event_frame")
save_event_frame.mkdir(exist_ok=True, parents=True)
save_event_stream = Path("UAVforPPT/event_stream")
save_event_stream.mkdir(exist_ok=True, parents=True)
# Events iterator on Camera or event file
duration_time_us = 3000 # us
mv_iterator = EventsIterator(input_path=event_file_path, delta_t=duration_time_us)
height, width = mv_iterator.get_size() # Camera Geometry
idx = 0
global_counter = 0 # This will track how many events we processed
global_max_t = 0 # This will track the highest timestamp we processed
dict_file = dict(p=[], t=[], x=[], y=[])
# Process events
for evs in mv_iterator:
print("----- New event buffer! -----")
if evs.size == 0:
print("The current event buffer is empty.\n")
else:
min_t = evs['t'][0] # Get the timestamp of the first event of this callback
max_t = evs['t'][-1] # Get the timestamp of the last event of this callback
global_max_t = max_t # Events are ordered by timestamp, so the current last event has the highest timestamp
counter = evs.size # Local counter
global_counter += counter # Increase global counter
print(f"There were {counter} events in this event buffer.")
print(f"There were {global_counter} total events up to now.")
print(f"The current event buffer included events from {min_t} to {max_t} microseconds.")
print("----- End of the event buffer! -----\n")
if min_t < 17061000:
continue
if max_t > 17363997:
break
dict_file['t'] = [int(i) for i in evs['t']]
dict_file['p'] = [int(i) for i in evs['p']]
dict_file['x'] = [int(i) for i in evs['x']]
dict_file['y'] = [int(i) for i in evs['y']]
# 保存json文件
file_name = f"{idx}_{min_t}-{max_t}_{duration_time_us}us"
save_json = save_json_dir / f'{file_name}.json'
# if save_json.exists(): continue
with open(save_json, 'w') as handle:
json.dump(dict_file, handle)
# 生成可视化图
generate_2D_map(height, width, dict_file, save_event_frame / f'{file_name}.png', save_event_stream / f'{file_name}.png')
dict_file['p'].clear()
dict_file['t'].clear()
dict_file['x'].clear()
dict_file['y'].clear()
idx += 1
# break
# Print the global statistics
duration_seconds = global_max_t / 1.0e6
print(f"There were {global_counter} events in total.")
print(f"The total duration was {duration_seconds:.2f} seconds.")
if duration_seconds >= 1: # No need to print this statistics if the total duration was too short
print(f"There were {global_counter / duration_seconds :.2f} events per second on average.")