--data_source=0
--vmodule=unrealcv_renderer=0
--path_to_output_bag=/tmp/out.bag
--random_seed=1

--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/sim_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=1.0
--trajectory_multiplier_y=1.0
--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=2.0

--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