feat: add --show-events overlay with raw log intensity

Visualize raw temporal brightness change (threshold=0, log domain)
as green(+)/red(-) gradient overlay proportional to |change|.
Supports video output and live display modes.
Enables EventProcessor threshold=0 for raw mode without clipping.

Generated by Mistral Vibe.
Co-Authored-By: Mistral Vibe <vibe@mistral.ai>

src/event_utils.py

@@ -71,9 +71,14 @@ class EventProcessor:
             frame: np.ndarray, shape (H, W) or (H, W, C), uint8 or float.
 
         Returns:
-            events_binary:   np.ndarray (H, W), values in {-1, 0, +1}
+            When threshold > 0:
-            events_strength: np.ndarray (H, W), values in [-1, 1]
+                events_binary:   np.ndarray (H, W), values in {-1, 0, +1}
-            event_count:     int, number of non-zero events
+                events_strength: np.ndarray (H, W), values in [-1, 1]
+                event_count:     int, number of non-zero events
+            When threshold == 0 (raw output, no thresholding):
+                change_raw:  np.ndarray (H, W), raw log/linear brightness change (float32)
+                change_raw:  same as above
+                event_count: int, number of pixels with non-zero change
         """
         brightness = self._to_grayscale(frame)
 
@@ -81,10 +86,18 @@ class EventProcessor:
         if self.prev_brightness is None:
             self.prev_brightness = brightness
             h, w = brightness.shape
+            if self.threshold == 0:
+                return np.zeros((h, w), dtype=np.float32), np.zeros((h, w), dtype=np.float32), 0
             return np.zeros((h, w), dtype=np.int8), np.zeros((h, w), dtype=np.float32), 0
 
         change = self._compute_change(brightness)
 
+        # threshold == 0: raw mode, skip thresholding
+        if self.threshold == 0:
+            self.prev_brightness = brightness
+            change_f32 = change.astype(np.float32)
+            return change_f32, change_f32, int(np.count_nonzero(change))
+
         if self.auto_threshold:
             self._update_auto_threshold(change)
 

visualize/visualize_dataset.py

@@ -34,6 +34,7 @@ from src.velocity_prediction.utils import (
     R_ODOM_TO_BODY,
 )
 from src.velocity_prediction.config import DATASET_ROOT, VELOCITY_MEAN, VELOCITY_STD
+from src.event_utils import EventProcessor
 
 
 # ──────────────────────────── Data loading ────────────────────────────
@@ -140,6 +141,8 @@ def draw_pose_overlay(
     euler: np.ndarray,
     frame_idx: int,
     ts: float,
+    events: np.ndarray | None = None,
+    show_events: bool = False,
 ):
     """
     Draw body-frame pose and velocity information onto the image.
@@ -285,6 +288,21 @@ def draw_pose_overlay(
         cv2.LINE_AA,
     )
 
+    # ── Event overlay (gradient temporal intensity) ──
+    if show_events and events is not None:
+        limit = max(np.abs(events).max(), 1e-6)
+        norm = np.clip(events / limit, -1.0, 1.0)
+        pos = norm > 0
+        neg = norm < 0
+        intensity = np.abs(norm)  # [0, 1]  magnitude
+        overlay = np.zeros_like(display, dtype=np.uint8)
+        # bg = np.ones_like(display, dtype=np.uint8) * 255
+        # Color intensity proportional to |norm|: dark → bright
+        overlay[pos, 1] = (255 * intensity[pos]).astype(np.uint8)   # green channel
+        overlay[neg, 2] = (255 * intensity[neg]).astype(np.uint8)   # red channel
+        # display = cv2.addWeighted(bg, 0.5, overlay, 1.0, 0)
+        display = cv2.addWeighted(display, 0.5, overlay, 1.0, 0)
+
     return display
 
 
@@ -297,6 +315,7 @@ def create_video(
     fps: float = 30.0,
     max_frames: int | None = None,
     show: bool = False,
+    show_events: bool = False,
 ):
     """
     Read scene data, overlay pose info, and write to video file (or show).
@@ -316,6 +335,9 @@ def create_video(
     # Reset attitude offset for this scene
     reset_attitude_offset()
 
+    # Event processor (threshold=0 → raw temporal intensity)
+    event_processor = EventProcessor(threshold=0.3, use_log=True) if show_events else None
+
     # Get dimensions from first frame
     h, w = frames[0]["img"].shape
 
@@ -334,6 +356,12 @@ def create_video(
     for i, frame_data in enumerate(frames):
         q_raw = frame_data["pose"][3:7]  # [qx, qy, qz, qw]  world→odom
 
+        # Compute events if enabled
+        if event_processor is not None:
+            events_binary, _, _ = event_processor(frame_data["img"])
+        else:
+            events_binary = None
+
         # Body up vector (pitch & roll only, no yaw) — matches DiffPhysDrone
         body_up = body_up_vector_np(q_raw)  # (3,)  unit vector
 
@@ -354,6 +382,8 @@ def create_video(
             euler=euler_deg,
             frame_idx=i,
             ts=frame_data["ts"],
+            events=events_binary,
+            show_events=show_events,
         )
 
         if show:
@@ -404,6 +434,9 @@ def main():
     parser.add_argument(
         "--show", action="store_true", help="Display on screen instead of saving video"
     )
+    parser.add_argument(
+        "--show-events", action="store_true", help="Overlay event frames (green=+1, red=-1)"
+    )
     args = parser.parse_args()
 
     # Collect scenes to process
@@ -436,6 +469,7 @@ def main():
             fps=args.fps,
             max_frames=args.max_frames,
             show=args.show,
+            show_events=args.show_events,
         )