initial commit

event_camera_simulator/esim_ros/CMakeLists.txt

@@ -0,0 +1,23 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(esim_ros)
+
+find_package(catkin_simple REQUIRED)
+find_package(OpenCV REQUIRED)
+catkin_simple()
+
+set(HEADERS
+)
+
+set(SOURCES
+    src/esim_node.cpp
+)
+
+cs_add_library(${PROJECT_NAME} ${SOURCES} ${HEADERS})
+
+# make the executable
+cs_add_executable(esim_node  src/esim_node.cpp)
+
+# link the executable to the necessary libs
+target_link_libraries(esim_node ${PROJECT_NAME} ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
+
+cs_install()

event_camera_simulator/esim_ros/cfg/calib/example.conf

@@ -0,0 +1,27 @@
+label: "simulated_camera"
+id: 433585ebda8d1431223927a14788a127
+cameras:
+- camera:
+    label: dvs0
+    id: a0fba5412e961934d842d3a2a78e5cba
+    line-delay-nanoseconds: 0
+    image_height: 180
+    image_width: 240
+    type: pinhole
+    intrinsics:
+      cols: 1
+      rows: 4
+      data: [198.245521288, 198.277025706, 120.0, 90.0]
+    distortion:
+      type: none
+      parameters:
+        cols: 1
+        rows: 0
+        data: []
+  T_B_C:
+    cols: 4
+    rows: 4
+    data: [1, 0, 0,  0,
+           0, 0, 1, 0,
+           0, -1, 0, 0,
+           0, 0, 0, 1]

event_camera_simulator/esim_ros/cfg/calib/ijrr.yaml

@@ -0,0 +1,27 @@
+label: "DAVIS-IJRR17"
+id: a0652606b3d9fd6b62f5448a9e1304be
+cameras:
+- camera:
+    label: dvs
+    id: 07e806d3367b4a6fa18a52178e4bbaf9
+    line-delay-nanoseconds: 0
+    image_height: 180
+    image_width: 240
+    type: pinhole
+    intrinsics:
+      cols: 1
+      rows: 4
+      data: [199.37143467278824, 199.7078674353677, 133.75438071590816, 113.99216995027632]
+    distortion:
+      type: radial-tangential
+      parameters:
+        cols: 1
+        rows: 4
+        data: [-0.38289915571515265, 0.18933636521343228, -0.0010024743349031492, -0.0005637766302076818]
+  T_B_C:
+    cols: 4
+    rows: 4
+    data: [0.999905117246, -0.0122374970355, 0.00632456886338, 0.00674696422488,
+         0.0121780171243, 0.999882045134, 0.00935904469797, 0.0007279224709,
+         -0.00643835413146, -0.00928113597812, 0.99993620202, 0.0342573613538,
+          0.0, 0.0, 0.0, 1.0]

event_camera_simulator/esim_ros/cfg/calib/pinhole_mono.yaml

@@ -0,0 +1,27 @@
+label: "simulated_camera"
+id: 433585ebda8d1431223927a14788a127
+cameras:
+- camera:
+    label: dvs0
+    id: a0fba5412e961934d842d3a2a78e5cba
+    line-delay-nanoseconds: 0
+    image_height: 180
+    image_width: 240
+    type: pinhole
+    intrinsics:
+      cols: 1
+      rows: 4
+      data: [198.245521288, 198.277025706, 142.064861206, 100.903484508]
+    distortion:
+      type: equidistant
+      parameters:
+        cols: 1
+        rows: 4
+        data: [-0.0506755889541, 0.0456313630037, -0.0825742639337, 0.0557104403236]
+  T_B_C:
+    cols: 4
+    rows: 4
+    data: [1, 0, 0,  0,
+           0, -1, 0, 0,
+           0, 0, -1, 0,
+           0, 0, 0, 1]

event_camera_simulator/esim_ros/cfg/calib/pinhole_mono_nodistort.yaml

@@ -0,0 +1,27 @@
+label: "simulated_camera"
+id: 433585ebda8d1431223927a14788a127
+cameras:
+- camera:
+    label: dvs0
+    id: a0fba5412e961934d842d3a2a78e5cba
+    line-delay-nanoseconds: 0
+    image_height: 180
+    image_width: 240
+    type: pinhole
+    intrinsics:
+      cols: 1
+      rows: 4
+      data: [200.0, 200.0, 120.0, 90.0]
+    distortion:
+      type: none
+      parameters:
+        cols: 1
+        rows: 0
+        data: []
+  T_B_C:
+    cols: 4
+    rows: 4
+    data: [1, 0, 0,  0,
+           0, -1, 0, 0,
+           0,  0, -1, 0,
+           0, 0, 0, 1]

event_camera_simulator/esim_ros/cfg/calib/pinhole_mono_nodistort_forward.yaml

@@ -0,0 +1,27 @@
+label: "simulated_camera"
+id: 433585ebda8d1431223927a14788a127
+cameras:
+- camera:
+    label: dvs0
+    id: a0fba5412e961934d842d3a2a78e5cba
+    line-delay-nanoseconds: 0
+    image_height: 180
+    image_width: 240
+    type: pinhole
+    intrinsics:
+      cols: 1
+      rows: 4
+      data: [200.0, 200.0, 120.0, 90.0]
+    distortion:
+      type: none
+      parameters:
+        cols: 1
+        rows: 0
+        data: []
+  T_B_C:
+    cols: 4
+    rows: 4
+    data: [-1, 0, 0,  0,
+           0, 0, -1, 0,
+           0, -1, 0, 0,
+           0, 0, 0, 1]

event_camera_simulator/esim_ros/cfg/calib/pinhole_wide_fov.yaml

@@ -0,0 +1,27 @@
+label: "simulated_camera"
+id: 433585ebda8d1431223927a14788a127
+cameras:
+- camera:
+    label: dvs0
+    id: a0fba5412e961934d842d3a2a78e5cba
+    line-delay-nanoseconds: 0
+    image_height: 260
+    image_width: 346
+    type: pinhole
+    intrinsics:
+      cols: 1
+      rows: 4
+      data: [235.90001575,  235.84153994,  170.45862273,  130.11022812]
+    distortion:
+      type: equidistant
+      parameters:
+        cols: 1
+        rows: 4
+        data: [-0.13853153, -0.04153486,  0.00805515,  0.00423045]
+  T_B_C:
+    cols: 4
+    rows: 4
+    data: [1, 0, 0,  0,
+           0, 0, 1, 0,
+           0, -1, 0, 0,
+           0, 0, 0, 1]

event_camera_simulator/esim_ros/cfg/calib/quadrotor.yaml

@@ -0,0 +1,27 @@
+label: "simulated_camera"
+id: 433585ebda8d1431223927a14788a127
+cameras:
+- camera:
+    label: dvs0
+    id: a0fba5412e961934d842d3a2a78e5cba
+    line-delay-nanoseconds: 0
+    image_height: 180
+    image_width: 240
+    type: pinhole
+    intrinsics:
+      cols: 1
+      rows: 4
+      data: [250.0, 250.0, 120.0, 90.0]
+    distortion:
+      type: radial-tangential
+      parameters:
+        cols: 1
+        rows: 4
+        data: [0.0,0.0,0.0,0.0]
+  T_B_C:
+    cols: 4
+    rows: 4
+    data: [1, 0, 0,  0,
+           0, -1, 0, 0,
+           0, 0, -1, 0,
+           0, 0, 0, 1]

event_camera_simulator/esim_ros/cfg/example.conf

@@ -0,0 +1,54 @@
+--vmodule=data_provider_online_render=0
+--random_seed=50
+--data_source=0
+#--path_to_output_bag=/tmp/out.bag
+
+--contrast_threshold_pos=0.5
+--contrast_threshold_neg=0.5
+--contrast_threshold_sigma_pos=0
+--contrast_threshold_sigma_neg=0
+
+--exposure_time_ms=12.0
+--use_log_image=1
+--log_eps=0.001
+
+--calib_filename=/home/user/esim_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/calib/pinhole_mono_nodistort.yaml
+
+--renderer_type=0
+--renderer_texture=/home/user/esim_ws/src/rpg_esim/event_camera_simulator/imp/imp_planar_renderer/textures/office.jpg
+--renderer_hfov_cam_source_deg=85.0
+--renderer_preprocess_gaussian_blur=2.0
+--renderer_preprocess_median_blur=13
+--renderer_plane_x=0.0
+--renderer_plane_y=0.0
+--renderer_plane_z=-1.0
+--renderer_plane_qw=0.0
+--renderer_plane_qx=1.0
+--renderer_plane_qy=0.0
+--renderer_plane_qz=0.0
+--renderer_extend_border=1
+--renderer_zmin=1.0
+
+--trajectory_type=0
+--trajectory_length_s=100.0
+--trajectory_sampling_frequency_hz=5
+--trajectory_spline_order=5
+--trajectory_num_spline_segments=100
+--trajectory_lambda=0.1
+--trajectory_multiplier_x=0.5
+--trajectory_multiplier_y=0.5
+--trajectory_multiplier_z=0.25
+--trajectory_multiplier_wx=0.15
+--trajectory_multiplier_wy=0.15
+--trajectory_multiplier_wz=0.3
+
+--simulation_minimum_framerate=50.0
+--simulation_imu_rate=1000.0
+--simulation_adaptive_sampling_method=0
+--simulation_adaptive_sampling_lambda=0.5
+
+--ros_publisher_frame_rate=30
+--ros_publisher_depth_rate=10
+--ros_publisher_optic_flow_rate=10
+--ros_publisher_pointcloud_rate=10
+--ros_publisher_camera_info_rate=10

event_camera_simulator/esim_ros/cfg/multi_objects.conf

@@ -0,0 +1,29 @@
+--vmodule=data_provider_online_simple=0
+--data_source=1
+--path_to_output_bag=/tmp/out.bag
+--path_to_sequence_file=/home/user/esim_ws/src/event_camera_simulator/event_camera_simulator/imp/imp_multi_objects_2d/scenes/example.scene
+
+--contrast_threshold_pos=0.5
+--contrast_threshold_neg=0.5
+--contrast_threshold_sigma_pos=0
+--contrast_threshold_sigma_neg=0
+
+--exposure_time_ms=12.0
+--use_log_image=1
+--log_eps=0.001
+
+--renderer_type=0
+--renderer_preprocess_median_blur=11
+--renderer_preprocess_gaussian_blur=1.0
+
+--simulation_minimum_framerate=20.0
+--simulation_imu_rate=1000.0
+--simulation_adaptive_sampling_method=1
+--simulation_adaptive_sampling_lambda=0.5
+
+--ros_publisher_frame_rate=40
+--ros_publisher_depth_rate=10
+--ros_publisher_optic_flow_rate=40
+--ros_publisher_pointcloud_rate=10
+--ros_publisher_camera_info_rate=10
+

event_camera_simulator/esim_ros/cfg/obstacle.conf

@@ -0,0 +1,48 @@
+--v=0
+--random_seed=2
+--data_source=0
+--path_to_output_bag=/tmp/out.bag
+
+--contrast_threshold_pos=0.5
+--contrast_threshold_neg=0.5
+--contrast_threshold_sigma_pos=0
+--contrast_threshold_sigma_neg=0
+
+--exposure_time_ms=12.0
+--use_log_image=1
+--log_eps=0.001
+
+--calib_filename=/home/user/esim_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/calib/pinhole_mono_nodistort.yaml
+--renderer_scene=/home/user/esim_ws/src/rpg_esim/event_camera_simulator/imp/imp_opengl_renderer/resources/objects/flying_room/flying_room.obj
+
+--renderer_type=2
+--renderer_zmin=0.1
+--renderer_zmax=40.0
+
+--renderer_dynamic_objects_dir=/home/user/esim_ws/src/rpg_esim/event_camera_simulator/imp/imp_opengl_renderer/resources/objects/dynamic_objects
+--renderer_dynamic_objects=americanfootball.obj
+
+--trajectory_type=1
+--trajectory_spline_order=3
+--trajectory_num_spline_segments=10
+--trajectory_lambda=0.1
+--trajectory_csv_file=/home/user/esim_ws/src/rpg_esim/event_camera_simulator/imp/imp_opengl_renderer/resources/objects/flying_room/camera_trajectory.csv
+
+--trajectory_dynamic_objects_type=1
+--trajectory_dynamic_objects_spline_order=3
+--trajectory_dynamic_objects_num_spline_segments=1
+--trajectory_dynamic_objects_lambda=0.1
+--trajectory_dynamic_objects_csv_dir=/home/user/esim_ws/src/rpg_esim/event_camera_simulator/imp/imp_opengl_renderer/resources/objects/dynamic_objects
+--trajectory_dynamic_objects_csv_file=americanfootball.csv
+
+--simulation_minimum_framerate=20.0
+--simulation_imu_rate=1000.0
+--simulation_adaptive_sampling_method=1
+--simulation_adaptive_sampling_lambda=0.5
+--simulation_post_gaussian_blur_sigma=0.15
+
+--ros_publisher_frame_rate=30.0
+--ros_publisher_depth_rate=30.0
+--ros_publisher_optic_flow_rate=30.0
+--ros_publisher_pointcloud_rate=1000
+--ros_publisher_camera_info_rate=10

event_camera_simulator/esim_ros/cfg/opengl.conf

@@ -0,0 +1,47 @@
+--v=0
+--random_seed=2
+--data_source=0
+--path_to_output_bag=/tmp/out.bag
+
+--contrast_threshold_pos=0.5
+--contrast_threshold_neg=0.5
+--contrast_threshold_sigma_pos=0
+--contrast_threshold_sigma_neg=0
+
+--exposure_time_ms=12.0
+--use_log_image=1
+--log_eps=0.001
+
+--calib_filename=/home/user/esim_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/calib/pinhole_mono_nodistort.yaml
+--renderer_scene=/home/user/esim_ws/src/rpg_esim/event_camera_simulator/imp/imp_opengl_renderer/resources/objects/flying_room/flying_room.obj
+--renderer_zmax=20
+
+--renderer_type=2
+--renderer_zmin=0.3
+--renderer_zmax=40.0
+
+--trajectory_type=0
+--trajectory_length_s=10.0
+--trajectory_sampling_frequency_hz=5
+--trajectory_spline_order=5
+--trajectory_num_spline_segments=10
+--trajectory_lambda=0.01
+--trajectory_multiplier_x=1.8
+--trajectory_multiplier_y=1.8
+--trajectory_multiplier_z=0.5
+--trajectory_multiplier_wx=0.80
+--trajectory_multiplier_wy=0.80
+--trajectory_multiplier_wz=0.80
+--trajectory_offset_z=0.0
+
+--simulation_minimum_framerate=20.0
+--simulation_imu_rate=1000.0
+--simulation_adaptive_sampling_method=1
+--simulation_adaptive_sampling_lambda=0.5
+--simulation_post_gaussian_blur_sigma=0.3
+
+--ros_publisher_frame_rate=30.0
+--ros_publisher_depth_rate=30.0
+--ros_publisher_optic_flow_rate=30.0
+--ros_publisher_pointcloud_rate=10
+--ros_publisher_camera_info_rate=10

event_camera_simulator/esim_ros/cfg/panorama.conf

@@ -0,0 +1,48 @@
+--v=0
+--data_source=0
+--random_seed=0
+--path_to_output_bag=/tmp/test_panorama.bag
+
+--contrast_threshold_pos=0.4
+--contrast_threshold_neg=0.4
+--contrast_threshold_sigma_pos=0
+--contrast_threshold_sigma_neg=0
+
+--exposure_time_ms=10.0
+--use_log_image=1
+--log_eps=0.001
+
+--calib_filename=/home/user/esim_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/calib/pinhole_wide_fov.yaml
+
+--renderer_type=1
+--renderer_texture=/home/user/esim_ws/src/rpg_esim/event_camera_simulator/imp/imp_panorama_renderer/textures/bicycle_parking.jpg
+--renderer_preprocess_gaussian_blur=0.1
+--renderer_preprocess_median_blur=5
+--renderer_panorama_qw=0.707106781187
+--renderer_panorama_qx=-0.707106781187
+--renderer_panorama_qy=0.0
+--renderer_panorama_qz=0.0
+
+--trajectory_type=0
+--trajectory_length_s=100.0
+--trajectory_sampling_frequency_hz=5
+--trajectory_spline_order=5
+--trajectory_num_spline_segments=100
+--trajectory_lambda=0.01
+--trajectory_multiplier_x=0.0
+--trajectory_multiplier_y=0
+--trajectory_multiplier_z=0
+--trajectory_multiplier_wx=1.0
+--trajectory_multiplier_wy=0.0
+--trajectory_multiplier_wz=4.0
+
+--simulation_minimum_framerate=30
+--simulation_imu_rate=1000.0
+--simulation_adaptive_sampling_method=1
+--simulation_adaptive_sampling_lambda=0.5
+
+--ros_publisher_frame_rate=30
+--ros_publisher_depth_rate=1
+--ros_publisher_optic_flow_rate=1
+--ros_publisher_pointcloud_rate=1
+--ros_publisher_camera_info_rate=10

event_camera_simulator/esim_ros/cfg/sponza.conf

@@ -0,0 +1,37 @@
+--vmodule=model=0
+--data_source=0
+--path_to_output_bag=/tmp/out.bag
+
+--contrast_threshold_pos=0.1
+--contrast_threshold_neg=0.1
+--contrast_threshold_sigma_pos=0
+--contrast_threshold_sigma_neg=0
+
+--exposure_time_ms=12.0
+--use_log_image=1
+--log_eps=0.001
+
+--calib_filename=/home/user/esim_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/calib/pinhole_mono_nodistort.yaml
+--renderer_scene=/home/user/esim_ws/src/rpg_esim/event_camera_simulator/imp/imp_opengl_renderer/resources/objects/sponza/sponza.obj
+--renderer_zmax=20
+
+--renderer_type=2
+--renderer_zmin=1.0
+--renderer_zmax=40.0
+
+--trajectory_type=1
+--trajectory_spline_order=5
+--trajectory_num_spline_segments=50
+--trajectory_lambda=0
+--trajectory_csv_file=/home/user/esim_ws/src/rpg_esim/event_camera_simulator/imp/imp_opengl_renderer/resources/objects/sponza/camera_trajectory.csv
+
+--simulation_minimum_framerate=20.0
+--simulation_imu_rate=1000.0
+--simulation_adaptive_sampling_method=1
+--simulation_adaptive_sampling_lambda=0.5
+
+--ros_publisher_frame_rate=30.0
+--ros_publisher_depth_rate=30.0
+--ros_publisher_optic_flow_rate=30.0
+--ros_publisher_pointcloud_rate=10
+--ros_publisher_camera_info_rate=10

event_camera_simulator/esim_ros/cfg/unrealcv.conf

@@ -0,0 +1,44 @@
+--data_source=0
+--vmodule=unrealcv_renderer=0
+--path_to_output_bag=/tmp/out.bag
+
+--contrast_threshold_pos=0.6
+--contrast_threshold_neg=0.6
+--contrast_threshold_sigma_pos=0
+--contrast_threshold_sigma_neg=0
+
+--exposure_time_ms=5.0
+--use_log_image=1
+--log_eps=0.001
+
+--calib_filename=/home/user/esim_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/calib/pinhole_mono_nodistort_forward.yaml
+
+--renderer_type=3
+
+--trajectory_type=0
+--trajectory_length_s=100.0
+--trajectory_sampling_frequency_hz=5
+--trajectory_spline_order=5
+--trajectory_num_spline_segments=100
+--trajectory_lambda=0.1
+--trajectory_multiplier_x=3.0
+--trajectory_multiplier_y=3.0
+--trajectory_multiplier_z=0.5
+--trajectory_multiplier_wx=0.15
+--trajectory_multiplier_wy=0.15
+--trajectory_multiplier_wz=1.
+
+--x_offset=0.0
+--y_offset=0.0
+--z_offset=1.0
+
+--simulation_minimum_framerate=5.0
+--simulation_imu_rate=1000.0
+--simulation_adaptive_sampling_method=1
+--simulation_adaptive_sampling_lambda=1.0
+
+--ros_publisher_frame_rate=300
+--ros_publisher_depth_rate=300
+--ros_publisher_optic_flow_rate=200
+--ros_publisher_pointcloud_rate=50
+--ros_publisher_camera_info_rate=10

event_camera_simulator/esim_ros/launch/esim.launch

@@ -0,0 +1,15 @@
+<launch>
+
+  <arg name="config" />
+
+  <!-- Event camera simulator -->
+  <node name="esim_node" pkg="esim_ros" type="esim_node" args="
+    --v=1
+    --vmodule=data_provider_from_folder=10
+    --flagfile=$(find esim_ros)/$(arg config)
+    " output="screen"/>
+
+  <include file="$(find esim_ros)/launch/visualization.launch" />
+
+
+</launch>

event_camera_simulator/esim_ros/launch/visualization.launch

@@ -0,0 +1,27 @@
+<launch>
+
+  <!-- Visualization -->
+  <node name="dvs_renderer" pkg="dvs_renderer" type="dvs_renderer" output="screen" required="false">
+    <remap from="events" to="/cam0/events" />
+    <remap from="image" to="/cam0/image_corrupted" />
+    <remap from="dvs_rendering" to="dvs_rendering" />
+  </node>
+
+  <node name="optic_flow_viz" pkg="esim_visualization" type="optic_flow_converter.py" output="screen" required="false">
+    <param name="arrows_step" value="7" />
+
+    <param name="arrows_scale" value="0.07" />
+    <param name="arrows_upsample_factor" value="1" />
+    <param name="publish_rate" value="100" />
+
+    <remap from="flow" to="/cam0/optic_flow" />
+  </node>
+
+  <node pkg="hector_trajectory_server" type="hector_trajectory_server" name="hector_trajectory_server" output="screen" required="false">
+    <param name="target_frame_name" value="map"/>
+    <param name="source_frame_name" value="cam0"/>
+    <param name="trajectory_publish_rate" value="15"/>
+    <param name="trajectory_update_rate" value="15"/>
+  </node>
+
+</launch>

event_camera_simulator/esim_ros/package.xml

@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>esim_ros</name>
+  <version>0.0.0</version>
+  <description>The event_camera_simulator package</description>
+
+  <maintainer email="rebecq@ifi.uzh.ch">Henri Rebecq</maintainer>
+
+  <license>GPLv3</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>catkin_simple</buildtool_depend>
+
+  <depend>esim_common</depend>
+  <depend>esim</depend>
+  <depend>esim_data_provider</depend>
+  <depend>esim_visualization</depend>
+  <depend>gflags_catkin</depend>
+  <depend>glog_catkin</depend>
+  <depend>dvs_renderer_advanced</depend>
+
+</package>

event_camera_simulator/esim_ros/scripts/test_depth_formula.py

@@ -0,0 +1,124 @@
+# -*- coding: utf-8 -*-
+"""
+Check the formula used to compute the depth map from a rotation, translation
+and plane (parameterized by normal + distance).
+"""
+
+import cv2
+from matplotlib import pyplot as plt
+from math import tan, pi
+import numpy as np
+
+np.set_printoptions(suppress=True)
+
+
+def skew(v):
+    """Returns the skew-symmetric matrix of a vector"""
+    return np.array([[0, -v[2], v[1]],
+                    [v[2], 0, -v[0]],
+                    [-v[1], v[0], 0]], dtype=np.float64)
+
+
+def calibrationMatrixFromHFOV(hfov_deg, W, H):
+    f = 0.5 * W / tan(0.5 * hfov_deg * pi / 180.0)
+    K = np.array([[f, 0,  0.5 * W],
+                  [0, f, 0.5 * H],
+                  [0, 0, 1]]).astype(np.float64)
+    K_inv = np.linalg.inv(K)
+    return K, K_inv
+
+    
+def computeDepthmapAnalytic(R_01, t_01, n, d, K1, width, height):
+    K1_inv = np.linalg.inv(K1)
+    depth = np.zeros((height,width), dtype=np.float64)
+    for x in range(width):
+        for y in range(height):
+            X1 = np.array([x,y,1]).reshape((3,1))
+            X1 = K1_inv.dot(X1)
+            
+            z = -(d+n.T.dot(t_01))/(n.T.dot(R_01).dot(X1))
+            depth[y,x] = z[0,0]
+            
+    return depth
+
+
+if __name__ == "__main__":
+
+    # Index 1 refers to cam (destination image)
+    # Index 0 refers to world (source image)
+    
+    plt.close('all')
+    
+    img = cv2.imread('../textures/carpet.jpg', 0).astype(np.float32)
+    img = img.astype(np.float32) / 255.0
+    
+    hfov_plane_deg = 130.0
+    hfov_camera_deg = 90
+    
+    H0, W0 = img.shape
+    K0, K0_inv = calibrationMatrixFromHFOV(hfov_plane_deg, W0, H0)
+    H1, W1 = 260, 346
+    K1, K1_inv = calibrationMatrixFromHFOV(hfov_camera_deg, W1, H1)
+    
+    K2, K2_inv = K1, K1_inv
+    W2, H2 = W1, H1
+    
+    n = np.array([-0.12,-0.05,1.0]).reshape((3,1))
+    n = n / np.linalg.norm(n)
+    d = -1.0
+    
+    w_01 = (np.array([15.0, 5.0, -10.0]) * pi / 180.0).reshape((3,1)).astype(np.float64)
+    t_01 = np.array([-1.0,0.4,-0.1]).reshape((3,1))
+    R_01, _ = cv2.Rodrigues(w_01)
+    
+    R_10 = R_01.T
+    t_10 = -R_01.T.dot(t_01)
+    
+    R = R_10
+    t = t_10
+    C = -R.T.dot(t)
+    Hn_10 = R-1/d*t.dot(n.T)
+    
+    Hn_01 = np.linalg.inv(Hn_10)
+    Hn_01_analytic = (np.eye(3) - 1.0/(d+n.T.dot(C))*C.dot(n.T)).dot(R.T) # analytic inverse
+    
+    print('Test analytic inverse of H_01: {}'.format(np.allclose(Hn_01, Hn_01_analytic)))
+    
+    H_10 = K1.dot(Hn_10).dot(K0_inv)
+    H_01 = np.linalg.inv(H_10)
+    
+    warped = cv2.warpPerspective(img, H_01, dsize=(W1,H1), flags=cv2.INTER_LINEAR + cv2.WARP_INVERSE_MAP)
+    depth = computeDepthmapAnalytic(R_01, t_01, n, d, K1, W1, H1)
+    
+    plt.figure()
+    plt.imshow(depth)
+    plt.colorbar()
+    plt.title('Analytical depth map')
+
+    x1,y1 = np.random.randint(0,W1), np.random.randint(0,H1)
+    X1 = np.array([x1,y1,1]).reshape((3,1))
+    X = K1_inv.dot(X1)
+    
+    X0 = H_01.dot(X1)
+    X0[...] /= X0[2]
+    
+    plt.figure()
+    plt.subplot(121)
+    plt.imshow(warped, cmap='gray')
+    plt.scatter(X1[0], X1[1])
+    plt.title('Warped image')
+    
+    plt.subplot(122)
+    plt.imshow(img, cmap='gray')
+    plt.scatter(X0[0], X0[1], color='b')
+    plt.title('Source image')    
+    
+    # Check that the predicted depth indeed works to project X1 on image 0
+    z1 = depth[y1,x1]
+    P1 = z1 * K1_inv.dot(X1)
+    P0 = R_01.dot(P1) + t_01
+    X0_depth = K0.dot(P0)
+    X0_depth[...] /= X0_depth[2]
+    
+    print('Test reprojection with analytical depth: {}'.format(np.allclose(X0, X0_depth)))
+    

event_camera_simulator/esim_ros/src/esim_node.cpp

@@ -0,0 +1,88 @@
+#include <esim/esim/simulator.hpp>
+#include <esim/visualization/ros_publisher.hpp>
+#include <esim/visualization/rosbag_writer.hpp>
+#include <esim/visualization/adaptive_sampling_benchmark_publisher.hpp>
+#include <esim/visualization/synthetic_optic_flow_publisher.hpp>
+#include <esim/data_provider/data_provider_factory.hpp>
+
+#include <glog/logging.h>
+#include <gflags/gflags.h>
+
+DEFINE_double(contrast_threshold_pos, 1.0,
+              "Contrast threshold (positive)");
+
+DEFINE_double(contrast_threshold_neg, 1.0,
+              "Contrast threshold  (negative))");
+
+DEFINE_double(contrast_threshold_sigma_pos, 0.021,
+              "Standard deviation of contrast threshold (positive)");
+
+DEFINE_double(contrast_threshold_sigma_neg, 0.021,
+              "Standard deviation of contrast threshold  (negative))");
+
+DEFINE_int64(refractory_period_ns, 100000,
+             "Refractory period (time during which a pixel cannot fire events just after it fired one), in nanoseconds");
+
+DEFINE_double(exposure_time_ms, 10.0,
+              "Exposure time in milliseconds, used to simulate motion blur");
+
+DEFINE_bool(use_log_image, true,
+            "Whether to convert images to log images in the preprocessing step.");
+
+DEFINE_double(log_eps, 0.001,
+              "Epsilon value used to convert images to log: L = log(eps + I / 255.0).");
+
+DEFINE_int32(random_seed, 0,
+              "Random seed used to generate the trajectories. If set to 0 the current time(0) is taken as seed.");
+
+using namespace event_camera_simulator;
+
+int main(int argc, char** argv)
+{
+  google::InitGoogleLogging(argv[0]);
+  google::ParseCommandLineFlags(&argc, &argv, true);
+  google::InstallFailureSignalHandler();
+  FLAGS_alsologtostderr = true;
+  FLAGS_colorlogtostderr = true;
+
+  if (FLAGS_random_seed == 0) FLAGS_random_seed = (unsigned int) time(0);
+  srand(FLAGS_random_seed);
+
+  DataProviderBase::Ptr data_provider_ =
+      loadDataProviderFromGflags();
+  CHECK(data_provider_);
+
+  EventSimulator::Config event_sim_config;
+  event_sim_config.Cp = FLAGS_contrast_threshold_pos;
+  event_sim_config.Cm = FLAGS_contrast_threshold_neg;
+  event_sim_config.sigma_Cp = FLAGS_contrast_threshold_sigma_pos;
+  event_sim_config.sigma_Cm = FLAGS_contrast_threshold_sigma_neg;
+  event_sim_config.refractory_period_ns = FLAGS_refractory_period_ns;
+  event_sim_config.use_log_image = FLAGS_use_log_image;
+  event_sim_config.log_eps = FLAGS_log_eps;
+  std::shared_ptr<Simulator> sim;
+  sim.reset(new Simulator(data_provider_->numCameras(),
+                          event_sim_config,
+                          FLAGS_exposure_time_ms));
+  CHECK(sim);
+
+  Publisher::Ptr ros_publisher = std::make_shared<RosPublisher>(data_provider_->numCameras());
+  Publisher::Ptr rosbag_writer = RosbagWriter::createBagWriterFromGflags(data_provider_->numCameras());
+  Publisher::Ptr adaptive_sampling_benchmark_publisher
+      = AdaptiveSamplingBenchmarkPublisher::createFromGflags();
+
+  Publisher::Ptr synthetic_optic_flow_publisher
+      = SyntheticOpticFlowPublisher::createFromGflags();
+
+  if(ros_publisher) sim->addPublisher(ros_publisher);
+  if(rosbag_writer) sim->addPublisher(rosbag_writer);
+  if(adaptive_sampling_benchmark_publisher) sim->addPublisher(adaptive_sampling_benchmark_publisher);
+  if(synthetic_optic_flow_publisher) sim->addPublisher(synthetic_optic_flow_publisher);
+
+  data_provider_->registerCallback(
+        std::bind(&Simulator::dataProviderCallback, sim.get(),
+                  std::placeholders::_1));
+
+  data_provider_->spin();
+
+}