mirror of
https://github.com/karma-riuk/hdr_esim.git
synced 2025-07-01 16:38:14 +02:00
Added the hdr_publisher that publishes the files needed
This commit is contained in:
Arnaud Fauconnet
@ -1,88 +1,122 @@
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#include "esim/visualization/hdr_publisher.hpp"
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#include <esim/data_provider/data_provider_factory.hpp>
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#include <esim/esim/simulator.hpp>
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#include <esim/visualization/adaptive_sampling_benchmark_publisher.hpp>
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#include <esim/visualization/ros_publisher.hpp>
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#include <esim/visualization/rosbag_writer.hpp>
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#include <esim/visualization/adaptive_sampling_benchmark_publisher.hpp>
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#include <esim/visualization/synthetic_optic_flow_publisher.hpp>
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#include <esim/data_provider/data_provider_factory.hpp>
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#include <glog/logging.h>
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#include <gflags/gflags.h>
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#include <glog/logging.h>
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DEFINE_double(contrast_threshold_pos, 1.0,
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"Contrast threshold (positive)");
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DEFINE_double(contrast_threshold_pos, 1.0, "Contrast threshold (positive)");
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DEFINE_double(contrast_threshold_neg, 1.0,
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"Contrast threshold (negative))");
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DEFINE_double(contrast_threshold_neg, 1.0, "Contrast threshold (negative))");
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DEFINE_double(contrast_threshold_sigma_pos, 0.021,
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"Standard deviation of contrast threshold (positive)");
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DEFINE_double(
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contrast_threshold_sigma_pos,
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0.021,
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"Standard deviation of contrast threshold (positive)"
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);
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DEFINE_double(contrast_threshold_sigma_neg, 0.021,
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"Standard deviation of contrast threshold (negative))");
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DEFINE_double(
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contrast_threshold_sigma_neg,
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0.021,
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"Standard deviation of contrast threshold (negative))"
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);
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DEFINE_int64(refractory_period_ns, 0,
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"Refractory period (time during which a pixel cannot fire events just after it fired one), in nanoseconds");
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DEFINE_int64(
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refractory_period_ns,
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0,
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"Refractory period (time during which a pixel cannot fire events just "
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"after it fired one), in nanoseconds"
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);
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DEFINE_double(exposure_time_ms, 10.0,
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"Exposure time in milliseconds, used to simulate motion blur");
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DEFINE_double(
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exposure_time_ms,
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10.0,
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"Exposure time in milliseconds, used to simulate motion blur"
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);
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DEFINE_bool(use_log_image, true,
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"Whether to convert images to log images in the preprocessing step.");
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DEFINE_bool(
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use_log_image,
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true,
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"Whether to convert images to log images in the preprocessing step."
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);
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DEFINE_double(log_eps, 0.001,
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"Epsilon value used to convert images to log: L = log(eps + I / 255.0).");
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DEFINE_double(
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log_eps,
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0.001,
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"Epsilon value used to convert images to log: L = log(eps + I / 255.0)."
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);
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DEFINE_int32(random_seed, 0,
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"Random seed used to generate the trajectories. If set to 0 the current time(0) is taken as seed.");
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DEFINE_int32(
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random_seed,
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0,
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"Random seed used to generate the trajectories. If set to 0 the current "
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"time(0) is taken as seed."
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);
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using namespace event_camera_simulator;
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int main(int argc, char** argv)
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{
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google::InitGoogleLogging(argv[0]);
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google::ParseCommandLineFlags(&argc, &argv, true);
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google::InstallFailureSignalHandler();
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FLAGS_alsologtostderr = true;
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FLAGS_colorlogtostderr = true;
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int main(int argc, char** argv) {
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google::InitGoogleLogging(argv[0]);
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google::ParseCommandLineFlags(&argc, &argv, true);
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google::InstallFailureSignalHandler();
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FLAGS_alsologtostderr = true;
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FLAGS_colorlogtostderr = true;
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if (FLAGS_random_seed == 0) FLAGS_random_seed = (unsigned int) time(0);
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srand(FLAGS_random_seed);
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if (FLAGS_random_seed == 0)
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FLAGS_random_seed = (unsigned int) time(0);
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srand(FLAGS_random_seed);
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DataProviderBase::Ptr data_provider_ =
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loadDataProviderFromGflags();
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CHECK(data_provider_);
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DataProviderBase::Ptr data_provider_ = loadDataProviderFromGflags();
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CHECK(data_provider_);
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EventSimulator::Config event_sim_config;
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event_sim_config.Cp = FLAGS_contrast_threshold_pos;
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event_sim_config.Cm = FLAGS_contrast_threshold_neg;
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event_sim_config.sigma_Cp = FLAGS_contrast_threshold_sigma_pos;
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event_sim_config.sigma_Cm = FLAGS_contrast_threshold_sigma_neg;
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event_sim_config.refractory_period_ns = FLAGS_refractory_period_ns;
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event_sim_config.use_log_image = FLAGS_use_log_image;
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event_sim_config.log_eps = FLAGS_log_eps;
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std::shared_ptr<Simulator> sim;
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sim.reset(new Simulator(data_provider_->numCameras(),
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event_sim_config,
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FLAGS_exposure_time_ms));
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CHECK(sim);
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EventSimulator::Config event_sim_config;
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event_sim_config.Cp = FLAGS_contrast_threshold_pos;
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event_sim_config.Cm = FLAGS_contrast_threshold_neg;
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event_sim_config.sigma_Cp = FLAGS_contrast_threshold_sigma_pos;
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event_sim_config.sigma_Cm = FLAGS_contrast_threshold_sigma_neg;
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event_sim_config.refractory_period_ns = FLAGS_refractory_period_ns;
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event_sim_config.use_log_image = FLAGS_use_log_image;
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event_sim_config.log_eps = FLAGS_log_eps;
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std::shared_ptr<Simulator> sim;
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sim.reset(new Simulator(
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data_provider_->numCameras(),
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event_sim_config,
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FLAGS_exposure_time_ms
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));
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CHECK(sim);
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Publisher::Ptr ros_publisher = std::make_shared<RosPublisher>(data_provider_->numCameras());
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Publisher::Ptr rosbag_writer = RosbagWriter::createBagWriterFromGflags(data_provider_->numCameras());
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Publisher::Ptr adaptive_sampling_benchmark_publisher
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= AdaptiveSamplingBenchmarkPublisher::createFromGflags();
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Publisher::Ptr ros_publisher =
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std::make_shared<RosPublisher>(data_provider_->numCameras());
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Publisher::Ptr rosbag_writer =
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RosbagWriter::createBagWriterFromGflags(data_provider_->numCameras());
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Publisher::Ptr adaptive_sampling_benchmark_publisher =
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AdaptiveSamplingBenchmarkPublisher::createFromGflags();
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Publisher::Ptr synthetic_optic_flow_publisher
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= SyntheticOpticFlowPublisher::createFromGflags();
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Publisher::Ptr synthetic_optic_flow_publisher =
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SyntheticOpticFlowPublisher::createFromGflags();
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if(ros_publisher) sim->addPublisher(ros_publisher);
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if(rosbag_writer) sim->addPublisher(rosbag_writer);
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if(adaptive_sampling_benchmark_publisher) sim->addPublisher(adaptive_sampling_benchmark_publisher);
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if(synthetic_optic_flow_publisher) sim->addPublisher(synthetic_optic_flow_publisher);
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Publisher::Ptr hdr_publisher = HdrPublisher::createFromGflags();
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data_provider_->registerCallback(
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std::bind(&Simulator::dataProviderCallback, sim.get(),
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std::placeholders::_1));
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if (ros_publisher)
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sim->addPublisher(ros_publisher);
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if (rosbag_writer)
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sim->addPublisher(rosbag_writer);
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if (adaptive_sampling_benchmark_publisher)
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sim->addPublisher(adaptive_sampling_benchmark_publisher);
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if (synthetic_optic_flow_publisher)
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sim->addPublisher(synthetic_optic_flow_publisher);
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if (hdr_publisher)
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sim->addPublisher(hdr_publisher);
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data_provider_->spin();
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data_provider_->registerCallback(std::bind(
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&Simulator::dataProviderCallback,
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sim.get(),
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std::placeholders::_1
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));
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data_provider_->spin();
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}
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