# esim_config_generator

**Repository Path**: Bryan_Jiang/esim_config_generator

## Basic Information

- **Project Name**: esim_config_generator
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2023-10-31
- **Last Updated**: 2023-10-31

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

## About
This code allows generating flying chairs style sequences for the Multi-Object-2D simulator from [ESIM](https://github.com/uzh-rpg/rpg_esim). This code was used to generate sequences for [How to Train Your Event Camera Neural Network](https://timostoff.github.io/20ecnn), please cite this work if you use this in an academic context.
```
@Article{Stoffregen20eccv,
  author        = {T. Stoffregen, C. Scheerlinck, D. Scaramuzza, T. Drummond, N. Barnes, L. Kleeman, R. Mahoney},
  title         = {Reducing the Sim-to-Real Gap for Event Cameras},
  journal       = eccv,
  year          = 2020,
  month         = aug
}
```

## Prerequisites
You must have esim for this to work, please follow the instructions [here](https://github.com/uzh-rpg/rpg_esim/wiki/Installation). You must have esim sourced (command `ssim`, if you followed the install instructions).

Next, take a look at the config files in `generator_config` and adapt the paths to suit your needs. The image paths in `foreground_images` are the objects that will be flying around wildly in the simulator. These images _must_ all be 4 channel png images, or you will get cryptic errors from ESIM. _Unfortunately_ imagemagick is a real pain about actually putting in the alpha channel when it feels it doesn't need to. I ended up using a Python script to convert jpgs to pngs, I know, it seems crazy but it's true. You can find it in `tools/jpg_to_png`. 

The image paths in `background_images` _must_ be jpg images, again for mysterious ESIM reasons. Obviously, you must have at least one path with at least `max_num` images in the foreground rubric and at least one path with at least one image for the background rubric.

## Usage
The main work is done in `scripts/generate_esim2d_scenes.py`. This file takes a configuration file (examples can be found in `generator_config`) and some command line arguments that augment/modify the config settings if desired and generates a scene file (this contains the trajectories, the corresponding images, the image size and the sequence duration), an esim config file (this contains contrast thresholds, biases etc) and a ROS launch file.
The default location where these files will be created is `/tmp/000000000_autoscene.txt`, `/tmp/000000000_config2d.txt` and `/tmp/esim.launch` respectively. As an example, you could execute:
```
python scripts/generate_esim2d_scenes.py generator_config/slow_motions.json --scene_id=0 --contrast_threshold_mean=0.3 --contrast_threshold_sigma=0.1
```
Note that the CLI arguments for the contrast thresholds are optional and in this case overrule the values in the config file.

Once this is done, you can use `/scripts/2d_launch_esim.py` to launch ROS itself. The required arguments are the location of the launch file, eg: 
```python scripts/2d_launch_esim.py --launch_file_path="/tmp/esim.launch"```

All of this is also in a bash script, so you could also just run `2d_simulator_generator.sh`.


## Generating datasets from existing configs
You can also generate datasets from existing scene and config files.
For example, to generate the dataset from "Reducing the Sim-to-Real Gap for Event Cameras", you can first download COCO dataset as well as a few custom foreground images you can get from [here](https://drive.google.com/drive/folders/1F6fNgZFmMvGkw6sAwDFE7j8Q7EH3TMve?usp=sharing)
Then, you need to download the config and scene files for the dataset from [here](https://drive.google.com/drive/folders/1ILoFnR5BHR17F0VGEzR0JIBfisw1nkc4?usp=sharing)
By default, these go into /tmp (see inside the autoscene files to see the paths), but you can easily change this using [sed](https://stackoverflow.com/questions/11392478/how-to-replace-a-string-in-multiple-files-in-linux-command-line).
Then, just run `scripts/generate_preset.py` eg:
```python scripts/generate_preset.py /path/to/config/files```
Note that you will need ROS installed and sourced.