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Henri Rebecq
2018-10-29 17:53:15 +01:00
commit a8c2f0ca43
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event_camera_simulator/esim_ros/src/esim_node.cpp Normal file
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#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();
}