Jee-King
commented
3 years ago Hi, I change the values of the data to have the same field of view. For example, with data:[200,200,120,90], I can get the image with 180 height and 240 weight. When I want to obtain the image with 90 height and 120 weight, I change values of data to [100,100,60,45]. Finally, I can get 2643 images with the size 180240, and 2512 images with the size 90120. When I change the values, it will make some errors as follows:
` root@f3e6dfcfbcde:~/sim_ws/src/rpg_esim/event_camera_simulator/esim_ros# roslaunch esim_ros esim.launch config:=cfg/example.conf ... logging to /root/.ros/log/37f14da4-b90c-11eb-b6e0-0242ac120007/roslaunch-f3e6dfcfbcde-6321.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://f3e6dfcfbcde:45135/
PARAMETERS
- /optic_flow_viz/arrows_scale: 0.07
- /optic_flow_viz/arrows_step: 7
- /optic_flow_viz/arrows_upsample_factor: 1
- /optic_flow_viz/publish_rate: 100
- /rosdistro: kinetic
- /rosversion: 1.12.14
NODES / dvs_renderer (dvs_renderer/dvs_renderer) esim_node (esim_ros/esim_node) optic_flow_viz (esim_visualization/optic_flow_converter.py)
auto-starting new master process[master]: started with pid [6331] ROS_MASTER_URI=http://localhost:11311
setting /run_id to 37f14da4-b90c-11eb-b6e0-0242ac120007 process[rosout-1]: started with pid [6344] started core service [/rosout] process[esim_node-2]: started with pid [6356] I0520 01:39:32.991345 6356 imu_factory.cpp:20] Initialize bias ... I0520 01:39:33.014379 6356 imu_factory.cpp:27] done. I0520 01:39:33.014412 6356 imu_factory.cpp:35] Initialize IMU ... I0520 01:39:33.014420 6356 imu_factory.cpp:44] done. I0520 01:39:33.015410 6356 data_provider_online_render.cpp:63] Horizontal FOV: 61.5044 deg I0520 01:39:33.015463 6356 data_provider_online_render.cpp:64] Vertical FOV: 47.9772 deg I0520 01:39:33.015475 6356 data_provider_online_render.cpp:65] Diagonal FOV: 73.223 deg I0520 01:39:33.015489 6356 renderer_factory.cpp:75] Loading texture file from file: /root/sim_ws/src/rpg_esim/event_camera_simulator/imp/imp_planar_renderer/textures/office.jpg. I0520 01:39:33.102098 6356 renderer_factory.cpp:85] Pre-filtering the texture with median filter of size: 13. process[dvs_renderer-3]: started with pid [6362] I0520 01:39:33.813468 6356 renderer_factory.cpp:92] Pre-filtering the texture with gaussian filter of size: 2. process[optic_flow_viz-4]: started with pid [6363] I0520 01:39:33.968417 6356 planar_renderer.cpp:34] K_src = 2269.92 0000000 0002080 0000000 2269.92 0001560 0000000 0000000 0000001 I0520 01:39:33.968570 6356 planar_renderer.cpp:36] T_W_P = 01 00 00 00 00 -1 00 00 00 00 -1 -1 00 00 00 01 I0520 01:39:33.973052 6356 ros_publisher.cpp:37] Initializing ROS I0520 01:39:34.212764 6356 rosbag_writer.cpp:39] Will write to bag: /tmp/out.bag W0520 01:39:34.212792 6356 adaptive_sampling_benchmark_publisher.cpp:57] Empty benchmark folder string: will not write benchmark files W0520 01:39:34.213052 6356 synthetic_optic_flow_publisher.cpp:41] Empty output folder string: will not write synthetic optic flow files I0520 01:39:34.213435 6356 rosbag_writer.cpp:275] t = 0.001 s I0520 01:39:34.215504 6356 event_simulator.cpp:27] Converting the image to log image with eps = 0.001. I0520 01:39:34.215670 6356 event_simulator.cpp:11] Initialized event camera simulator with sensor size: [120 x 90] I0520 01:39:34.215685 6356 event_simulator.cpp:12] and contrast thresholds: C+ = 0.5 , C- = 0.5 W0520 01:39:34.215768 6356 camera_simulator.cpp:43] The images do not cover a time span long enough to simulate the exposure time accurately. I0520 01:39:34.373281 6356 rosbag_writer.cpp:275] t = 0.501 s publish image from callback publish image from callback publish image from callback publish image from callback publish image from callback publish image from callback publish image from callback publish image from callback publish image from callback publish image from callback publish image from callback publish image from callback [ERROR] [1621474774.470953]: bad callback: <bound method FlowConverterNode._OpticFlowCallback of <main.FlowConverterNode instance at 0x7f80da02d7e8>> Traceback (most recent call last): File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/topics.py", line 750, in _invoke_callback cb(msg) File "/root/sim_ws/src/rpg_esim/event_camera_simulator/esim_visualization/src/py/optic_flow_converter.py", line 45, in _OpticFlowCallback if not self.first_msg_received: AttributeError: FlowConverterNode instance has no attribute 'first_msg_received'
I0520 01:39:34.472385 6356 rosbag_writer.cpp:275] t = 1.001 s [INFO] [1621474774.474708]: Started flow converter node [ERROR] [1621474774.475263]: bad callback: <bound method FlowConverterNode._OpticFlowCallback of <main.FlowConverterNode instance at 0x7f80da02d7e8>> Traceback (most recent call last): File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/topics.py", line 750, in _invoke_callback cb(msg) File "/root/sim_ws/src/rpg_esim/event_camera_simulator/esim_visualization/src/py/optic_flow_converter.py", line 45, in _OpticFlowCallback if not self.first_msg_received: AttributeError: FlowConverterNode instance has no attribute 'first_msg_received'
[INFO] [1621474774.475691]: Step size between arrows: 7 [INFO] [1621474774.476321]: Scale factor: 0.07 [ERROR] [1621474774.477322]: bad callback: <bound method FlowConverterNode._OpticFlowCallback of <main.FlowConverterNode instance at 0x7f80da02d7e8>> Traceback (most recent call last): File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/topics.py", line 750, in _invoke_callback cb(msg) File "/root/sim_ws/src/rpg_esim/event_camera_simulator/esim_visualization/src/py/optic_flow_converter.py", line 45, in _OpticFlowCallback if not self.first_msg_received: AttributeError: FlowConverterNode instance has no attribute 'first_msg_received''
grandoba
Hi, thanks for your great work!
How can I get different resolution events but have the same field of view by setting image_height, image_width and data in .yaml?