initial commit

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