How to use event_generator method in localstack

Best Python code snippet using localstack_python

test_event_sim.py

Source:test_event_sim.py

1import numpy as np2import airsim3import time4import cv25import matplotlib.pyplot as plt6import argparse7import sys, signal8import pandas as pd9import pickle10from event_simulator import *11parser = argparse.ArgumentParser(description="Simulate event data from AirSim")12parser.add_argument("--debug", action="store_true")13parser.add_argument("--save", action="store_true")14parser.add_argument("--height", type=int, default=144)15parser.add_argument("--width", type=int, default=256)16class AirSimEventGen:17    def __init__(self, W, H, save=False, debug=False):18        self.ev_sim = EventSimulator(W, H)19        self.W = W20        self.H = H21        self.image_request = airsim.ImageRequest(22            "0", airsim.ImageType.Scene, False, False23        )24        self.client = airsim.VehicleClient()25        self.client.confirmConnection()26        self.init = True27        self.start_ts = None28        self.rgb_image_shape = [H, W, 3]29        self.debug = debug30        self.save = save31        self.event_file = open("events.pkl", "ab")32        self.event_fmt = "%1.7f", "%d", "%d", "%d"33        if debug:34            self.fig, self.ax = plt.subplots(1, 1)35    def visualize_events(self, event_img):36        event_img = self.convert_event_img_rgb(event_img)37        self.ax.cla()38        self.ax.imshow(event_img, cmap="viridis")39        plt.draw()40        plt.pause(0.01)41    def convert_event_img_rgb(self, image):42        image = image.reshape(self.H, self.W)43        out = np.zeros((self.H, self.W, 3), dtype=np.uint8)44        out[:, :, 0] = np.clip(image, 0, 1) * 25545        out[:, :, 2] = np.clip(image, -1, 0) * -25546        return out47    def _stop_event_gen(self, signal, frame):48        print("\nCtrl+C received. Stopping event sim...")49        self.event_file.close()50        sys.exit(0)51if __name__ == "__main__":52    args = parser.parse_args()53    event_generator = AirSimEventGen(args.width, args.height, save=args.save, debug=args.debug)54    i = 055    start_time = 056    t_start = time.time()57    signal.signal(signal.SIGINT, event_generator._stop_event_gen)58    while True:59        image_request = airsim.ImageRequest("0", airsim.ImageType.Scene, False, False)60        response = event_generator.client.simGetImages([event_generator.image_request])61        while response[0].height == 0 or response[0].width == 0:62            response = event_generator.client.simGetImages(63                [event_generator.image_request]64            )65        ts = time.time_ns()66        if event_generator.init:67            event_generator.start_ts = ts68            event_generator.init = False69        img = np.reshape(70            np.fromstring(response[0].image_data_uint8, dtype=np.uint8),71            event_generator.rgb_image_shape,72        )73        img = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY).astype(np.float32)74        # Add small number to avoid issues with log(I)75        img = cv2.add(img, 0.001)76        ts = time.time_ns()77        ts_delta = (ts - event_generator.start_ts) * 1e-378        # Event sim keeps track of previous image automatically79        event_img, events = event_generator.ev_sim.image_callback(img, ts_delta)80        if events is not None and events.shape[0] > 0:81            if event_generator.save:82                # Using pickle dump in a per-frame fashion to save time, instead of savetxt83                # Optimizations possible84                pickle.dump(events, event_generator.event_file)85            if event_generator.debug:...

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