lego/easy/esim.conf

--vmodule=data_provider_online_render=0
--random_seed=50
--data_source=0
--path_to_output_bag=/data/wflow/datasets/robust-e-nerf/lego/easy/esim.bag

--contrast_threshold_pos=0.25
--contrast_threshold_neg=0.25
--contrast_threshold_sigma_pos=0
--contrast_threshold_sigma_neg=0
--refractory_period_ns=0

--exposure_time_ms=0.0
--use_log_image=1
--log_eps=0.00196078431
# 0.5/255
--simulate_color_events=true

--calib_filename=/data/wflow/datasets/robust-e-nerf/pinhole_mono_nodistort_f=1111.yaml

--renderer_type=4
--blend_file=/data/wflow/datasets/robust-e-nerf/scenes/lego.blend
--blender_bridge_port=5556
--blender_render_device_type=2
--blender_render_device_id=5
--blender_interm_color_space=0
--blender_interm_rgba_file=/tmp/robust_e_nerf_rgba_lego-easy
--blender_interm_depth_file=/tmp/robust_e_nerf_depth_lego-easy

--trajectory_type=1
--trajectory_spline_order=5
--trajectory_num_spline_segments=400
--trajectory_lambda=0.0
--trajectory_csv_file=/data/wflow/datasets/robust-e-nerf/hemisphere_spiral-rev=4.csv
--trajectory_csv_file_rotation_repr=1

--simulation_minimum_framerate=50.0
--simulation_imu_rate=1000.0
--simulation_adaptive_sampling_method=1
--simulation_adaptive_sampling_lambda=0.5

--ros_publisher_frame_rate=250
--ros_publisher_depth_rate=10
--ros_publisher_optic_flow_rate=10
--ros_publisher_pointcloud_rate=10
--ros_publisher_camera_info_rate=10