Using rosbag file

[jprodriguezg]

Hello,

I am wondering if there is a way of using a rosbag file with a video as input. I saw something related to it in the data_provider_rosbag.cpp file. However, it's not clear to me how to use use the simulator with this configuration.

Could you please give me any hint?

[supitalp]

Hello,
As you saw, there is some (experimental) code for simulating events from images in a rosbag. You may try it with a config file as follows:

--data_source=3
--bag_filename=/path/to/rosbag.bag
--topic_cam0=/name/of/the/image/topic
--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=0
--use_log_image=1
--log_eps=0.001

--ros_publisher_frame_rate=100

However, note that the simulated events will not be accurate since nothing guarantees that the optical flow between two frames in a rosbag is small enough to yield accurate events. What ESIM will do in this case is simply apply linear interpolation between the frames and simulated events in between (relevant code is here: https://github.com/uzh-rpg/rpg_esim/blob/master/event_camera_simulator/esim/src/event_simulator.cpp#L21