diff --git a/.gitattributes b/.gitattributes index 28df5f900b358436f0267334b3e3e9af33f917ba..96d5eb5ae0f21093014bbc6aaab1fe75416a6ef8 100644 --- a/.gitattributes +++ b/.gitattributes @@ -53,3 +53,10 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text *.jpg filter=lfs diff=lfs merge=lfs -text *.jpeg filter=lfs diff=lfs merge=lfs -text *.webp filter=lfs diff=lfs merge=lfs -text + +# Blend files +*.blend filter=lfs diff=lfs merge=lfs -text +# Image files +*.exr filter=lfs diff=lfs merge=lfs -text +# ROS bags +*.bag filter=lfs diff=lfs merge=lfs -text diff --git a/bpy_render_views.py b/bpy_render_views.py new file mode 100644 index 0000000000000000000000000000000000000000..e9f65be561e09408ee0efe87f79bac1695cd0697 --- /dev/null +++ b/bpy_render_views.py @@ -0,0 +1,272 @@ +""" +Adapted from `360_view.py` & `360_view_test.py` in the original NeRF synthetic +Blender dataset blend-files. +""" +import argparse +import os +import json +from math import radians +import bpy +import numpy as np + + +COLOR_SPACES = [ "display", "linear" ] +DEVICES = [ "cpu", "cuda", "optix" ] + +CIRCLE_FIXED_START = ( 0, 0, 0 ) +CIRCLE_FIXED_END = ( .7, 0, 0 ) + + +def listify_matrix(matrix): + matrix_list = [] + for row in matrix: + matrix_list.append(list(row)) + return matrix_list + + +def parent_obj_to_camera(b_camera): + origin = (0, 0, 0) + b_empty = bpy.data.objects.new("Empty", None) + b_empty.location = origin + b_camera.parent = b_empty # setup parenting + + scn = bpy.context.scene + scn.collection.objects.link(b_empty) + bpy.context.view_layer.objects.active = b_empty + + return b_empty + + +def main(args): + # open the scene blend-file + bpy.ops.wm.open_mainfile(filepath=args.blend_path) + + # initialize render settings + scene = bpy.data.scenes["Scene"] + scene.render.engine = "CYCLES" + scene.render.use_persistent_data = True + + if args.device == "cpu": + bpy.context.preferences.addons["cycles"].preferences \ + .compute_device_type = "NONE" + bpy.context.scene.cycles.device = "CPU" + elif args.device == "cuda": + bpy.context.preferences.addons["cycles"].preferences \ + .compute_device_type = "CUDA" + bpy.context.scene.cycles.device = "GPU" + elif args.device == "optix": + bpy.context.preferences.addons["cycles"].preferences \ + .compute_device_type = "OPTIX" + bpy.context.scene.cycles.device = "GPU" + bpy.context.preferences.addons["cycles"].preferences.get_devices() + + # initialize compositing nodes + scene.view_layers[0].use_pass_combined = True + scene.use_nodes = True + tree = scene.node_tree + + if args.depth: + scene.view_layers[0].use_pass_z = True + combine_color = tree.nodes.new("CompositorNodeCombineColor") + depth_output = tree.nodes.new("CompositorNodeOutputFile") + if args.normal: + scene.view_layers[0].use_pass_normal = True + normal_output = tree.nodes.new("CompositorNodeOutputFile") + if args.depth or args.normal: + render_layers = tree.nodes.new("CompositorNodeRLayers") + + # initialize RGB render image output settings + scene.render.filepath = args.renders_path + scene.render.use_file_extension = True + scene.render.use_overwrite = True + scene.render.image_settings.color_mode = "RGBA" + + if args.color_space == "display": + scene.render.image_settings.file_format = "PNG" + scene.render.image_settings.color_depth = "8" + scene.render.image_settings.color_management = "FOLLOW_SCENE" + elif args.color_space == "linear": + scene.render.image_settings.file_format = "OPEN_EXR" + scene.render.image_settings.color_depth = "32" + scene.render.image_settings.use_zbuffer = False + + if args.depth: + # initialize depth render image output settings + depth_output.base_path = os.path.join(args.renders_path, "depth") + depth_output.file_slots[0].use_node_format = True + scene.frame_set(0) + + depth_output.format.file_format = "OPEN_EXR" + depth_output.format.color_mode = "RGB" + depth_output.format.color_depth = "32" + depth_output.format.exr_codec = "NONE" + depth_output.format.use_zbuffer = False + + # link compositing nodes + links = tree.links + + # output depth img (RGB img is output via the existing composite node) + combine_color.mode = "RGB" + links.new(render_layers.outputs["Depth"], combine_color.inputs["Red"]) + combine_color.inputs["Green"].default_value = 0 + combine_color.inputs["Blue"].default_value = 0 + combine_color.inputs["Alpha"].default_value = 1 + + links.new(combine_color.outputs["Image"], depth_output.inputs["Image"]) + + if args.normal: + # initialize normal render image output settings + normal_output.base_path = os.path.join(args.renders_path, "normal") + normal_output.file_slots[0].use_node_format = True + scene.frame_set(0) + + normal_output.format.file_format = "OPEN_EXR" + normal_output.format.color_mode = "RGB" + normal_output.format.color_depth = "32" + normal_output.format.exr_codec = "NONE" + normal_output.format.use_zbuffer = False + + # link compositing nodes + links = tree.links + + # output normal img (RGB img is output via the existing composite node) + combine_color.mode = "RGB" + links.new(render_layers.outputs["Normal"], + normal_output.inputs["Image"]) + + # initialize camera settings + scene.render.dither_intensity = 0.0 + scene.render.film_transparent = True + scene.render.resolution_percentage = 100 + scene.render.resolution_x = args.resolution[0] + scene.render.resolution_y = args.resolution[1] + + cam = bpy.data.objects["Camera"] + cam.location = (0, 4.0, 0.5) + cam.rotation_mode = "XYZ" + cam_constraint = cam.constraints.new(type="TRACK_TO") + cam_constraint.track_axis = "TRACK_NEGATIVE_Z" + cam_constraint.up_axis = "UP_Y" + b_empty = parent_obj_to_camera(cam) + cam_constraint.target = b_empty + + # preprocess & derive paths + args.renders_path = os.path.normpath(args.renders_path) # remove trailing slashes + folder_name = os.path.basename(args.renders_path) + renders_parent_path = os.path.dirname(args.renders_path) + transforms_path = os.path.join( + renders_parent_path, f"transforms_{folder_name}.json" + ) + + # render novel views + stepsize = 360.0 / args.num_views + if not args.random_views: + vertical_diff = CIRCLE_FIXED_END[0] - CIRCLE_FIXED_START[0] + b_empty.rotation_euler = CIRCLE_FIXED_START + b_empty.rotation_euler[0] = CIRCLE_FIXED_START[0] + vertical_diff + + out_data = { + "camera_angle_x": cam.data.angle_x, + "frames": [] + } + for i in range(0, args.num_views): + if args.random_views: + if args.upper_views: + rot = np.random.uniform(0, 1, size=3) * (1,0,2*np.pi) + rot[0] = np.abs(np.arccos(1 - 2 * rot[0]) - np.pi/2) + b_empty.rotation_euler = rot + else: + b_empty.rotation_euler = np.random.uniform(0, 2*np.pi, size=3) + else: + print("Rotation {}, {}".format((stepsize * i), radians(stepsize * i))) + + scene.render.filepath = os.path.join(args.renders_path, f"r_{i}") + if args.depth: + depth_output.file_slots[0].path = f"r_{i}" + if args.normal: + normal_output.file_slots[0].path = f"r_{i}" + bpy.ops.render.render(write_still=True) + + # remove the "0000" suffix in the depth & normal map filenames + if args.depth: + os.rename(os.path.join(depth_output.base_path, f"r_{i}0000.exr"), + os.path.join(depth_output.base_path, f"r_{i}.exr")) + if args.normal: + os.rename(os.path.join(normal_output.base_path, f"r_{i}0000.exr"), + os.path.join(normal_output.base_path, f"r_{i}.exr")) + + frame_data = { + "file_path": os.path.join(".", os.path.relpath( + scene.render.filepath, start=renders_parent_path + )), + "rotation": radians(stepsize), + "transform_matrix": listify_matrix(cam.matrix_world) + } + out_data["frames"].append(frame_data) + + if args.random_views: + if args.upper_views: + rot = np.random.uniform(0, 1, size=3) * (1,0,2*np.pi) + rot[0] = np.abs(np.arccos(1 - 2 * rot[0]) - np.pi/2) + b_empty.rotation_euler = rot + else: + b_empty.rotation_euler = np.random.uniform(0, 2*np.pi, size=3) + else: + b_empty.rotation_euler[0] = ( + CIRCLE_FIXED_START[0] + + (np.cos(radians(stepsize*i))+1)/2 * vertical_diff + ) + b_empty.rotation_euler[2] += radians(2*stepsize) + + with open(transforms_path, "w") as out_file: + json.dump(out_data, out_file, indent=4) + + +if __name__ == "__main__": + parser = argparse.ArgumentParser( + description=("Script for rendering novel views of" + " synthetic Blender scenes.") + ) + parser.add_argument( + "blend_path", type=str, + help="Path to the blend-file of the synthetic Blender scene." + ) + parser.add_argument( + "renders_path", type=str, + help="Desired path to the novel view renders." + ) + parser.add_argument( + "num_views", type=int, + help="Number of novel view renders." + ) + parser.add_argument( + "resolution", type=int, nargs=2, + help="Image resolution of the novel view renders." + ) + parser.add_argument( + "--color_space", type=str, choices=COLOR_SPACES, default="display", + help="Color space of the output novel view images." + ) + parser.add_argument( + "--device", type=str, choices=DEVICES, default="cpu", + help="Compute device type for rendering." + ) + parser.add_argument( + "--random_views", action="store_true", + help="Randomly sample novel views." + ) + parser.add_argument( + "--upper_views", action="store_true", + help="Only sample novel views from the upper hemisphere." + ) + parser.add_argument( + "--depth", action="store_true", + help="Render depth maps too." + ) + parser.add_argument( + "--normal", action="store_true", + help="Render normal maps too." + ) + args = parser.parse_args() + + main(args) diff --git a/chair/easy/esim.bag b/chair/easy/esim.bag new file mode 100644 index 0000000000000000000000000000000000000000..6650edf8cd1b4f570c9bc4b20bc24608158a4042 --- /dev/null +++ b/chair/easy/esim.bag @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0a24742eeb3723e0b17013fc4df09a0787176c578616726dbe6ec453e3a00448 +size 17489346921 diff --git a/chair/easy/esim.conf b/chair/easy/esim.conf new file mode 100644 index 0000000000000000000000000000000000000000..9a4c854255017498f75222988c3b551324162fdc --- /dev/null +++ b/chair/easy/esim.conf @@ -0,0 +1,59 @@ +--vmodule=data_provider_online_render=0 +--random_seed=50 +--data_source=0 +--path_to_output_bag=/data/wflow/datasets/deblur-e-nerf/chair/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 +--leak_rate_hz=0 + +# DVS128 nominal biases +--I_p_to_intensity_ratio_fa=200000 +--dark_current_fa=4 +--amplifier_gain=140 +--back_gate_coeff=0.7 +--thermal_voltage_mv=25 +--photodiode_cap_ff=35 +--miller_cap_ff=0.6 +--output_time_const_us=1815 +--lower_cutoff_freq_hz=0.01 +--sf_cutoff_freq_hz=3122 +--diff_amp_cutoff_freq_hz=16000 + +--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/deblur-e-nerf/pinhole_mono_nodistort_f=1111.yaml + +--renderer_type=4 +--blend_file=/data/wflow/datasets/deblur-e-nerf/scenes/chair.blend +--blender_bridge_port=5555 +--blender_render_device_type=2 +--blender_render_device_id=5 +--blender_interm_color_space=0 +--blender_interm_rgba_file=/tmp/esim_blender_rgba_chair-easy +--blender_interm_depth_file=/tmp/esim_blender_depth_chair-easy + +--trajectory_type=1 +--trajectory_spline_order=5 +--trajectory_num_spline_segments=400 +--trajectory_lambda=0.0 +--trajectory_csv_file=/data/wflow/datasets/deblur-e-nerf/hemisphere_spiral-rev=4-rps=0.25.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 diff --git a/chair/hard/esim.bag b/chair/hard/esim.bag new file mode 100644 index 0000000000000000000000000000000000000000..c4ae02aff2c8c4665b49422ab432e82c11f02fc2 --- /dev/null +++ b/chair/hard/esim.bag @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b975bd94099be9131013afbb2957f9363cf184a4fa169fbc3972d406fc9335a +size 634799732 diff --git a/chair/hard/esim.conf b/chair/hard/esim.conf new file mode 100644 index 0000000000000000000000000000000000000000..c1e6fb9c19813ee5aeb5395542d2feee39915b60 --- /dev/null +++ b/chair/hard/esim.conf @@ -0,0 +1,59 @@ +--vmodule=data_provider_online_render=0 +--random_seed=50 +--data_source=0 +--path_to_output_bag=/data/wflow/datasets/deblur-e-nerf/chair/hard/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 +--leak_rate_hz=0 + +# DVS128 nominal biases +--I_p_to_intensity_ratio_fa=20 +--dark_current_fa=4 +--amplifier_gain=140 +--back_gate_coeff=0.7 +--thermal_voltage_mv=25 +--photodiode_cap_ff=35 +--miller_cap_ff=0.6 +--output_time_const_us=1815 +--lower_cutoff_freq_hz=0.01 +--sf_cutoff_freq_hz=3122 +--diff_amp_cutoff_freq_hz=16000 + +--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/deblur-e-nerf/pinhole_mono_nodistort_f=1111.yaml + +--renderer_type=4 +--blend_file=/data/wflow/datasets/deblur-e-nerf/scenes/chair.blend +--blender_bridge_port=5555 +--blender_render_device_type=2 +--blender_render_device_id=5 +--blender_interm_color_space=0 +--blender_interm_rgba_file=/tmp/esim_blender_rgba_chair-hard +--blender_interm_depth_file=/tmp/esim_blender_depth_chair-hard + +--trajectory_type=1 +--trajectory_spline_order=5 +--trajectory_num_spline_segments=400 +--trajectory_lambda=0.0 +--trajectory_csv_file=/data/wflow/datasets/deblur-e-nerf/hemisphere_spiral-rev=4-rps=8.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 diff --git a/chair/medium/esim.bag b/chair/medium/esim.bag new file mode 100644 index 0000000000000000000000000000000000000000..19ffef76b6703af778af2610642058305f514192 --- /dev/null +++ b/chair/medium/esim.bag @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e60e8049732f27732b537fa630b9755e479a60b1aacdead388c4cbf9ffa82d19 +size 3836862957 diff --git a/chair/medium/esim.conf b/chair/medium/esim.conf new file mode 100644 index 0000000000000000000000000000000000000000..d7f9a9b4834064b858a8cce3399201ee8be451fa --- /dev/null +++ b/chair/medium/esim.conf @@ -0,0 +1,59 @@ +--vmodule=data_provider_online_render=0 +--random_seed=50 +--data_source=0 +--path_to_output_bag=/data/wflow/datasets/deblur-e-nerf/chair/medium/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 +--leak_rate_hz=0 + +# DVS128 nominal biases +--I_p_to_intensity_ratio_fa=2000 +--dark_current_fa=4 +--amplifier_gain=140 +--back_gate_coeff=0.7 +--thermal_voltage_mv=25 +--photodiode_cap_ff=35 +--miller_cap_ff=0.6 +--output_time_const_us=1815 +--lower_cutoff_freq_hz=0.01 +--sf_cutoff_freq_hz=3122 +--diff_amp_cutoff_freq_hz=16000 + +--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/deblur-e-nerf/pinhole_mono_nodistort_f=1111.yaml + +--renderer_type=4 +--blend_file=/data/wflow/datasets/deblur-e-nerf/scenes/chair.blend +--blender_bridge_port=5557 +--blender_render_device_type=2 +--blender_render_device_id=7 +--blender_interm_color_space=0 +--blender_interm_rgba_file=/tmp/esim_blender_rgba_chair-medium +--blender_interm_depth_file=/tmp/esim_blender_depth_chair-medium + +--trajectory_type=1 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sha256:60c040a65c24ca715e35936219a616d25fbc993f805256295ee399390d2ee55e +size 18909949674 diff --git a/drums/easy/esim.conf b/drums/easy/esim.conf new file mode 100644 index 0000000000000000000000000000000000000000..41284fab7baa9ec83ba7d89333541cfc408fc2d1 --- /dev/null +++ b/drums/easy/esim.conf @@ -0,0 +1,59 @@ +--vmodule=data_provider_online_render=0 +--random_seed=50 +--data_source=0 +--path_to_output_bag=/data/wflow/datasets/deblur-e-nerf/drums/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 +--leak_rate_hz=0 + +# DVS128 nominal biases +--I_p_to_intensity_ratio_fa=200000 +--dark_current_fa=4 +--amplifier_gain=140 +--back_gate_coeff=0.7 +--thermal_voltage_mv=25 +--photodiode_cap_ff=35 +--miller_cap_ff=0.6 +--output_time_const_us=1815 +--lower_cutoff_freq_hz=0.01 +--sf_cutoff_freq_hz=3122 +--diff_amp_cutoff_freq_hz=16000 + +--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/deblur-e-nerf/pinhole_mono_nodistort_f=1250.yaml + +--renderer_type=4 +--blend_file=/data/wflow/datasets/deblur-e-nerf/scenes/drums.blend +--blender_bridge_port=5558 +--blender_render_device_type=2 +--blender_render_device_id=8 +--blender_interm_color_space=0 +--blender_interm_rgba_file=/tmp/esim_blender_rgba_drums-easy +--blender_interm_depth_file=/tmp/esim_blender_depth_drums-easy + +--trajectory_type=1 +--trajectory_spline_order=5 +--trajectory_num_spline_segments=400 +--trajectory_lambda=0.0 +--trajectory_csv_file=/data/wflow/datasets/deblur-e-nerf/hemisphere_spiral-rev=4-rps=0.25.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 diff --git a/drums/hard/esim.bag b/drums/hard/esim.bag new file mode 100644 index 0000000000000000000000000000000000000000..64f75cde7b60c36e994a016e2f1a588260fc4480 --- /dev/null +++ b/drums/hard/esim.bag @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d5d7785728e7741e286da675171928b3868336e5fb73346949a98c433fec14b +size 738652743 diff --git a/drums/hard/esim.conf b/drums/hard/esim.conf new file mode 100644 index 0000000000000000000000000000000000000000..47554b520a568632f6278321634b3f042d6f6184 --- /dev/null +++ b/drums/hard/esim.conf @@ -0,0 +1,59 @@ +--vmodule=data_provider_online_render=0 +--random_seed=50 +--data_source=0 +--path_to_output_bag=/data/wflow/datasets/deblur-e-nerf/drums/hard/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 +--leak_rate_hz=0 + +# DVS128 nominal biases +--I_p_to_intensity_ratio_fa=20 +--dark_current_fa=4 +--amplifier_gain=140 +--back_gate_coeff=0.7 +--thermal_voltage_mv=25 +--photodiode_cap_ff=35 +--miller_cap_ff=0.6 +--output_time_const_us=1815 +--lower_cutoff_freq_hz=0.01 +--sf_cutoff_freq_hz=3122 +--diff_amp_cutoff_freq_hz=16000 + +--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/deblur-e-nerf/pinhole_mono_nodistort_f=1250.yaml + +--renderer_type=4 +--blend_file=/data/wflow/datasets/deblur-e-nerf/scenes/drums.blend +--blender_bridge_port=5556 +--blender_render_device_type=2 +--blender_render_device_id=6 +--blender_interm_color_space=0 +--blender_interm_rgba_file=/tmp/esim_blender_rgba_drums-hard +--blender_interm_depth_file=/tmp/esim_blender_depth_drums-hard + +--trajectory_type=1 +--trajectory_spline_order=5 +--trajectory_num_spline_segments=400 +--trajectory_lambda=0.0 +--trajectory_csv_file=/data/wflow/datasets/deblur-e-nerf/hemisphere_spiral-rev=4-rps=8.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 diff --git a/drums/medium/esim.bag b/drums/medium/esim.bag new file mode 100644 index 0000000000000000000000000000000000000000..b521749011f1ba7bb18a70e221790e91d4e1c8aa --- /dev/null +++ b/drums/medium/esim.bag @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d8864325cb26b7d067ffd9db73ec1b94eae69aa3356d531daab4e984356c3dfb +size 5166275807 diff --git a/drums/medium/esim.conf b/drums/medium/esim.conf new file mode 100644 index 0000000000000000000000000000000000000000..6744f2264ccc7030e7d513144d1891a5057f7b67 --- /dev/null +++ b/drums/medium/esim.conf @@ -0,0 +1,59 @@ +--vmodule=data_provider_online_render=0 +--random_seed=50 +--data_source=0 +--path_to_output_bag=/data/wflow/datasets/deblur-e-nerf/drums/medium/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 +--leak_rate_hz=0 + +# DVS128 nominal biases +--I_p_to_intensity_ratio_fa=2000 +--dark_current_fa=4 +--amplifier_gain=140 +--back_gate_coeff=0.7 +--thermal_voltage_mv=25 +--photodiode_cap_ff=35 +--miller_cap_ff=0.6 +--output_time_const_us=1815 +--lower_cutoff_freq_hz=0.01 +--sf_cutoff_freq_hz=3122 +--diff_amp_cutoff_freq_hz=16000 + +--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/deblur-e-nerf/pinhole_mono_nodistort_f=1250.yaml + 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mode 100644 index 0000000000000000000000000000000000000000..d55331961f0f318553237be90abf25e08a03d609 --- /dev/null +++ b/ficus/easy/esim.bag @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ef71dcc12c2a3c9937e4f4d83f301aa8118af4ec64bee038606d93c46df1ec31 +size 16668827090 diff --git a/ficus/easy/esim.conf b/ficus/easy/esim.conf new file mode 100644 index 0000000000000000000000000000000000000000..80b19b1a1949d41376a557425e4b84ab0805da62 --- /dev/null +++ b/ficus/easy/esim.conf @@ -0,0 +1,59 @@ +--vmodule=data_provider_online_render=0 +--random_seed=50 +--data_source=0 +--path_to_output_bag=/data/wflow/datasets/deblur-e-nerf/ficus/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 +--leak_rate_hz=0 + +# DVS128 nominal biases +--I_p_to_intensity_ratio_fa=200000 +--dark_current_fa=4 +--amplifier_gain=140 +--back_gate_coeff=0.7 +--thermal_voltage_mv=25 +--photodiode_cap_ff=35 +--miller_cap_ff=0.6 +--output_time_const_us=1815 +--lower_cutoff_freq_hz=0.01 +--sf_cutoff_freq_hz=3122 +--diff_amp_cutoff_freq_hz=16000 + +--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/deblur-e-nerf/pinhole_mono_nodistort_f=1111.yaml + +--renderer_type=4 +--blend_file=/data/wflow/datasets/deblur-e-nerf/scenes/ficus.blend +--blender_bridge_port=5558 +--blender_render_device_type=2 +--blender_render_device_id=8 +--blender_interm_color_space=0 +--blender_interm_rgba_file=/tmp/esim_blender_rgba_ficus-easy +--blender_interm_depth_file=/tmp/esim_blender_depth_ficus-easy + +--trajectory_type=1 +--trajectory_spline_order=5 +--trajectory_num_spline_segments=400 +--trajectory_lambda=0.0 +--trajectory_csv_file=/data/wflow/datasets/deblur-e-nerf/sphere_spiral-rev=4-rps=0.25.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 diff --git a/ficus/hard/esim.bag b/ficus/hard/esim.bag new file mode 100644 index 0000000000000000000000000000000000000000..33c87a6c0c90a430c28b306de2af3960a6984e25 --- /dev/null +++ b/ficus/hard/esim.bag @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:764a40e73118f0501b0468b9bb8cdeadeca31dffe7996acf705998346acf8e76 +size 614911419 diff --git a/ficus/hard/esim.conf b/ficus/hard/esim.conf new file mode 100644 index 0000000000000000000000000000000000000000..ff19219c87738e5fcfe65e5775ba25d92962dbeb --- /dev/null +++ b/ficus/hard/esim.conf @@ -0,0 +1,59 @@ +--vmodule=data_provider_online_render=0 +--random_seed=50 +--data_source=0 +--path_to_output_bag=/data/wflow/datasets/deblur-e-nerf/ficus/hard/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 +--leak_rate_hz=0 + +# DVS128 nominal biases +--I_p_to_intensity_ratio_fa=20 +--dark_current_fa=4 +--amplifier_gain=140 +--back_gate_coeff=0.7 +--thermal_voltage_mv=25 +--photodiode_cap_ff=35 +--miller_cap_ff=0.6 +--output_time_const_us=1815 +--lower_cutoff_freq_hz=0.01 +--sf_cutoff_freq_hz=3122 +--diff_amp_cutoff_freq_hz=16000 + +--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/deblur-e-nerf/pinhole_mono_nodistort_f=1111.yaml + +--renderer_type=4 +--blend_file=/data/wflow/datasets/deblur-e-nerf/scenes/ficus.blend +--blender_bridge_port=5556 +--blender_render_device_type=2 +--blender_render_device_id=6 +--blender_interm_color_space=0 +--blender_interm_rgba_file=/tmp/esim_blender_rgba_ficus-hard +--blender_interm_depth_file=/tmp/esim_blender_depth_ficus-hard + +--trajectory_type=1 +--trajectory_spline_order=5 +--trajectory_num_spline_segments=400 +--trajectory_lambda=0.0 +--trajectory_csv_file=/data/wflow/datasets/deblur-e-nerf/sphere_spiral-rev=4-rps=8.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 diff --git a/ficus/medium/esim.bag b/ficus/medium/esim.bag new file mode 100644 index 0000000000000000000000000000000000000000..cd305b6b97a570e6f01cc0247f7cdfbe00577e0e --- /dev/null +++ b/ficus/medium/esim.bag @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:690476fe0c9a587848c98738988b44e285ba57f17efe92164e32aebe3c6cdad3 +size 2587321573 diff --git a/ficus/medium/esim.conf b/ficus/medium/esim.conf new file mode 100644 index 0000000000000000000000000000000000000000..ed2800cc3aa0a22057e1e8dc5d256496cc82bb76 --- /dev/null +++ b/ficus/medium/esim.conf @@ -0,0 +1,59 @@ +--vmodule=data_provider_online_render=0 +--random_seed=50 +--data_source=0 +--path_to_output_bag=/data/wflow/datasets/deblur-e-nerf/ficus/medium/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 +--leak_rate_hz=0 + +# DVS128 nominal biases +--I_p_to_intensity_ratio_fa=2000 +--dark_current_fa=4 +--amplifier_gain=140 +--back_gate_coeff=0.7 +--thermal_voltage_mv=25 +--photodiode_cap_ff=35 +--miller_cap_ff=0.6 +--output_time_const_us=1815 +--lower_cutoff_freq_hz=0.01 +--sf_cutoff_freq_hz=3122 +--diff_amp_cutoff_freq_hz=16000 + +--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/deblur-e-nerf/pinhole_mono_nodistort_f=1111.yaml + +--renderer_type=4 +--blend_file=/data/wflow/datasets/deblur-e-nerf/scenes/ficus.blend +--blender_bridge_port=5557 +--blender_render_device_type=2 +--blender_render_device_id=7 +--blender_interm_color_space=0 +--blender_interm_rgba_file=/tmp/esim_blender_rgba_ficus-medium +--blender_interm_depth_file=/tmp/esim_blender_depth_ficus-medium + +--trajectory_type=1 +--trajectory_spline_order=5 +--trajectory_num_spline_segments=400 +--trajectory_lambda=0.0 +--trajectory_csv_file=/data/wflow/datasets/deblur-e-nerf/sphere_spiral-rev=4-rps=2.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 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sha256:5ad3f3391e823a17dbcc29d9339ada6367a3d454d672c0a4937caf76532917c1 +size 17445844600 diff --git a/hotdog/easy/esim.conf b/hotdog/easy/esim.conf new file mode 100644 index 0000000000000000000000000000000000000000..db470ef71a08e06f5bf8336695de5d73398c9098 --- /dev/null +++ b/hotdog/easy/esim.conf @@ -0,0 +1,59 @@ +--vmodule=data_provider_online_render=0 +--random_seed=50 +--data_source=0 +--path_to_output_bag=/data/wflow/datasets/deblur-e-nerf/hotdog/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 +--leak_rate_hz=0 + +# DVS128 nominal biases +--I_p_to_intensity_ratio_fa=200000 +--dark_current_fa=4 +--amplifier_gain=140 +--back_gate_coeff=0.7 +--thermal_voltage_mv=25 +--photodiode_cap_ff=35 +--miller_cap_ff=0.6 +--output_time_const_us=1815 +--lower_cutoff_freq_hz=0.01 +--sf_cutoff_freq_hz=3122 +--diff_amp_cutoff_freq_hz=16000 + +--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/deblur-e-nerf/pinhole_mono_nodistort_f=1111.yaml + +--renderer_type=4 +--blend_file=/data/wflow/datasets/deblur-e-nerf/scenes/hotdog.blend +--blender_bridge_port=5558 +--blender_render_device_type=2 +--blender_render_device_id=8 +--blender_interm_color_space=0 +--blender_interm_rgba_file=/tmp/esim_blender_rgba_hotdog-easy +--blender_interm_depth_file=/tmp/esim_blender_depth_hotdog-easy + +--trajectory_type=1 +--trajectory_spline_order=5 +--trajectory_num_spline_segments=400 +--trajectory_lambda=0.0 +--trajectory_csv_file=/data/wflow/datasets/deblur-e-nerf/hemisphere_spiral-rev=4-rps=0.25.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 diff --git a/hotdog/hard/esim.bag b/hotdog/hard/esim.bag new file mode 100644 index 0000000000000000000000000000000000000000..eb954cdae065885a55caf03607ffaff08bd8f8c0 --- /dev/null +++ b/hotdog/hard/esim.bag @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e9d5d1130482325876e6aad75b2196c6d11e56582d4004d1d639f1b534d3e80e +size 673494634 diff --git a/hotdog/hard/esim.conf b/hotdog/hard/esim.conf new file mode 100644 index 0000000000000000000000000000000000000000..1392e0a79c9ecd9f51632fab893ce6b3ce62c786 --- /dev/null +++ b/hotdog/hard/esim.conf @@ -0,0 +1,59 @@ +--vmodule=data_provider_online_render=0 +--random_seed=50 +--data_source=0 +--path_to_output_bag=/data/wflow/datasets/deblur-e-nerf/hotdog/hard/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 +--leak_rate_hz=0 + +# DVS128 nominal biases +--I_p_to_intensity_ratio_fa=20 +--dark_current_fa=4 +--amplifier_gain=140 +--back_gate_coeff=0.7 +--thermal_voltage_mv=25 +--photodiode_cap_ff=35 +--miller_cap_ff=0.6 +--output_time_const_us=1815 +--lower_cutoff_freq_hz=0.01 +--sf_cutoff_freq_hz=3122 +--diff_amp_cutoff_freq_hz=16000 + +--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/deblur-e-nerf/pinhole_mono_nodistort_f=1111.yaml + +--renderer_type=4 +--blend_file=/data/wflow/datasets/deblur-e-nerf/scenes/hotdog.blend +--blender_bridge_port=5556 +--blender_render_device_type=2 +--blender_render_device_id=6 +--blender_interm_color_space=0 +--blender_interm_rgba_file=/tmp/esim_blender_rgba_hotdog-hard +--blender_interm_depth_file=/tmp/esim_blender_depth_hotdog-hard + +--trajectory_type=1 +--trajectory_spline_order=5 +--trajectory_num_spline_segments=400 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0000000000000000000000000000000000000000..5952ac9d47713f09f2f666b87d1fb24594a3f04d --- /dev/null +++ b/hotdog/medium/esim.conf @@ -0,0 +1,59 @@ +--vmodule=data_provider_online_render=0 +--random_seed=50 +--data_source=0 +--path_to_output_bag=/data/wflow/datasets/deblur-e-nerf/hotdog/medium/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 +--leak_rate_hz=0 + +# DVS128 nominal biases +--I_p_to_intensity_ratio_fa=2000 +--dark_current_fa=4 +--amplifier_gain=140 +--back_gate_coeff=0.7 +--thermal_voltage_mv=25 +--photodiode_cap_ff=35 +--miller_cap_ff=0.6 +--output_time_const_us=1815 +--lower_cutoff_freq_hz=0.01 +--sf_cutoff_freq_hz=3122 +--diff_amp_cutoff_freq_hz=16000 + +--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/deblur-e-nerf/pinhole_mono_nodistort_f=1111.yaml + 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sha256:2b0985aeb634f8b441e7b93f731568248c0cf95e7696adf0bc4a2b30a67eb207 +size 269880 diff --git a/lego/easy/esim.bag b/lego/easy/esim.bag new file mode 100644 index 0000000000000000000000000000000000000000..b348748e067a6d9edc29adfe04cfcff1aade9a36 --- /dev/null +++ b/lego/easy/esim.bag @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f0566e2d9e7044c696cee0fbcab668c7f287d04c37d7c924542266fb03cc164 +size 19944816305 diff --git a/lego/easy/esim.conf b/lego/easy/esim.conf new file mode 100644 index 0000000000000000000000000000000000000000..abe51075927d0b0f2ad534540bd54055ac9fe2f6 --- /dev/null +++ b/lego/easy/esim.conf @@ -0,0 +1,59 @@ +--vmodule=data_provider_online_render=0 +--random_seed=50 +--data_source=0 +--path_to_output_bag=/data/wflow/datasets/deblur-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 +--leak_rate_hz=0 + +# DVS128 nominal biases +--I_p_to_intensity_ratio_fa=200000 +--dark_current_fa=4 +--amplifier_gain=140 +--back_gate_coeff=0.7 +--thermal_voltage_mv=25 +--photodiode_cap_ff=35 +--miller_cap_ff=0.6 +--output_time_const_us=1815 +--lower_cutoff_freq_hz=0.01 +--sf_cutoff_freq_hz=3122 +--diff_amp_cutoff_freq_hz=16000 + +--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/deblur-e-nerf/pinhole_mono_nodistort_f=1111.yaml + +--renderer_type=4 +--blend_file=/data/wflow/datasets/deblur-e-nerf/scenes/lego.blend +--blender_bridge_port=5558 +--blender_render_device_type=2 +--blender_render_device_id=8 +--blender_interm_color_space=0 +--blender_interm_rgba_file=/tmp/esim_blender_rgba_lego-easy +--blender_interm_depth_file=/tmp/esim_blender_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/deblur-e-nerf/hemisphere_spiral-rev=4-rps=0.25.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 diff --git a/lego/hard/esim.bag b/lego/hard/esim.bag new file mode 100644 index 0000000000000000000000000000000000000000..6b38acb89aaa01187c0fb8a7b8cc86940875093c --- /dev/null +++ b/lego/hard/esim.bag @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:864d348c289cd5bb5396652cacbbe90c08e43162cde2f8575c9d442254cb0203 +size 773253685 diff --git a/lego/hard/esim.conf b/lego/hard/esim.conf new file mode 100644 index 0000000000000000000000000000000000000000..2df687b4e9eb688ff99089228dfd4779f50b2cd6 --- /dev/null +++ b/lego/hard/esim.conf @@ -0,0 +1,59 @@ +--vmodule=data_provider_online_render=0 +--random_seed=50 +--data_source=0 +--path_to_output_bag=/data/wflow/datasets/deblur-e-nerf/lego/hard/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 +--leak_rate_hz=0 + +# DVS128 nominal biases +--I_p_to_intensity_ratio_fa=20 +--dark_current_fa=4 +--amplifier_gain=140 +--back_gate_coeff=0.7 +--thermal_voltage_mv=25 +--photodiode_cap_ff=35 +--miller_cap_ff=0.6 +--output_time_const_us=1815 +--lower_cutoff_freq_hz=0.01 +--sf_cutoff_freq_hz=3122 +--diff_amp_cutoff_freq_hz=16000 + +--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/deblur-e-nerf/pinhole_mono_nodistort_f=1111.yaml + +--renderer_type=4 +--blend_file=/data/wflow/datasets/deblur-e-nerf/scenes/lego.blend +--blender_bridge_port=5556 +--blender_render_device_type=2 +--blender_render_device_id=6 +--blender_interm_color_space=0 +--blender_interm_rgba_file=/tmp/esim_blender_rgba_lego-hard +--blender_interm_depth_file=/tmp/esim_blender_depth_lego-hard + +--trajectory_type=1 +--trajectory_spline_order=5 +--trajectory_num_spline_segments=400 +--trajectory_lambda=0.0 +--trajectory_csv_file=/data/wflow/datasets/deblur-e-nerf/hemisphere_spiral-rev=4-rps=8.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 diff --git a/lego/medium/esim.bag b/lego/medium/esim.bag new file mode 100644 index 0000000000000000000000000000000000000000..8804aa2c60c76f1855514815091e9b8333c1a847 --- /dev/null +++ b/lego/medium/esim.bag @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aa5539be61d495ffd7af7189826d14e877609f1d93af701cc6f8f3b285a4b6d8 +size 5655019528 diff --git a/lego/medium/esim.conf b/lego/medium/esim.conf new file mode 100644 index 0000000000000000000000000000000000000000..a359cbbcb17f90888b2d6ff9479990ef0a33bb0b --- /dev/null +++ b/lego/medium/esim.conf @@ -0,0 +1,59 @@ +--vmodule=data_provider_online_render=0 +--random_seed=50 +--data_source=0 +--path_to_output_bag=/data/wflow/datasets/deblur-e-nerf/lego/medium/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 +--leak_rate_hz=0 + +# DVS128 nominal biases +--I_p_to_intensity_ratio_fa=2000 +--dark_current_fa=4 +--amplifier_gain=140 +--back_gate_coeff=0.7 +--thermal_voltage_mv=25 +--photodiode_cap_ff=35 +--miller_cap_ff=0.6 +--output_time_const_us=1815 +--lower_cutoff_freq_hz=0.01 +--sf_cutoff_freq_hz=3122 +--diff_amp_cutoff_freq_hz=16000 + +--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/deblur-e-nerf/pinhole_mono_nodistort_f=1111.yaml + +--renderer_type=4 +--blend_file=/data/wflow/datasets/deblur-e-nerf/scenes/lego.blend +--blender_bridge_port=5557 +--blender_render_device_type=2 +--blender_render_device_id=7 +--blender_interm_color_space=0 +--blender_interm_rgba_file=/tmp/esim_blender_rgba_lego-medium +--blender_interm_depth_file=/tmp/esim_blender_depth_lego-medium + +--trajectory_type=1 +--trajectory_spline_order=5 +--trajectory_num_spline_segments=400 +--trajectory_lambda=0.0 +--trajectory_csv_file=/data/wflow/datasets/deblur-e-nerf/hemisphere_spiral-rev=4-rps=2.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 + 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+size 484810 diff --git a/materials/easy/esim.bag b/materials/easy/esim.bag new file mode 100644 index 0000000000000000000000000000000000000000..241755eb13d904c7fb067fd43750090b88b729fa --- /dev/null +++ b/materials/easy/esim.bag @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:65d7a44fef39de896b613def45b49ae837926096743f47559631e9328187427d +size 19982307494 diff --git a/materials/easy/esim.conf b/materials/easy/esim.conf new file mode 100644 index 0000000000000000000000000000000000000000..b88592fbf412a9eb1a5e6d7022cab43e6a07b3f3 --- /dev/null +++ b/materials/easy/esim.conf @@ -0,0 +1,59 @@ +--vmodule=data_provider_online_render=0 +--random_seed=50 +--data_source=0 +--path_to_output_bag=/data/wflow/datasets/deblur-e-nerf/materials/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 +--leak_rate_hz=0 + +# DVS128 nominal biases +--I_p_to_intensity_ratio_fa=200000 +--dark_current_fa=4 +--amplifier_gain=140 +--back_gate_coeff=0.7 +--thermal_voltage_mv=25 +--photodiode_cap_ff=35 +--miller_cap_ff=0.6 +--output_time_const_us=1815 +--lower_cutoff_freq_hz=0.01 +--sf_cutoff_freq_hz=3122 +--diff_amp_cutoff_freq_hz=16000 + +--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/deblur-e-nerf/pinhole_mono_nodistort_f=1250.yaml + +--renderer_type=4 +--blend_file=/data/wflow/datasets/deblur-e-nerf/scenes/materials.blend +--blender_bridge_port=5558 +--blender_render_device_type=2 +--blender_render_device_id=8 +--blender_interm_color_space=0 +--blender_interm_rgba_file=/tmp/esim_blender_rgba_materials-easy +--blender_interm_depth_file=/tmp/esim_blender_depth_materials-easy + +--trajectory_type=1 +--trajectory_spline_order=5 +--trajectory_num_spline_segments=400 +--trajectory_lambda=0.0 +--trajectory_csv_file=/data/wflow/datasets/deblur-e-nerf/sphere_spiral-rev=4-rps=0.25.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 diff --git a/materials/hard/esim.bag b/materials/hard/esim.bag new file mode 100644 index 0000000000000000000000000000000000000000..9ac8ba6e0b3f5280d9c3958861286529c4267bc5 --- /dev/null +++ b/materials/hard/esim.bag @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:343b3f033dcac8bdf477a840fedf3f805a814a81f241feb564c614c74d8ec13c +size 1098751169 diff --git a/materials/hard/esim.conf b/materials/hard/esim.conf new file mode 100644 index 0000000000000000000000000000000000000000..ef228cadf64dad75257d43ee7e867c6409bb7d84 --- /dev/null +++ b/materials/hard/esim.conf @@ -0,0 +1,59 @@ +--vmodule=data_provider_online_render=0 +--random_seed=50 +--data_source=0 +--path_to_output_bag=/data/wflow/datasets/deblur-e-nerf/materials/hard/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 +--leak_rate_hz=0 + +# DVS128 nominal biases +--I_p_to_intensity_ratio_fa=20 +--dark_current_fa=4 +--amplifier_gain=140 +--back_gate_coeff=0.7 +--thermal_voltage_mv=25 +--photodiode_cap_ff=35 +--miller_cap_ff=0.6 +--output_time_const_us=1815 +--lower_cutoff_freq_hz=0.01 +--sf_cutoff_freq_hz=3122 +--diff_amp_cutoff_freq_hz=16000 + +--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/deblur-e-nerf/pinhole_mono_nodistort_f=1250.yaml + +--renderer_type=4 +--blend_file=/data/wflow/datasets/deblur-e-nerf/scenes/materials.blend +--blender_bridge_port=5556 +--blender_render_device_type=2 +--blender_render_device_id=6 +--blender_interm_color_space=0 +--blender_interm_rgba_file=/tmp/esim_blender_rgba_materials-hard +--blender_interm_depth_file=/tmp/esim_blender_depth_materials-hard + +--trajectory_type=1 +--trajectory_spline_order=5 +--trajectory_num_spline_segments=400 +--trajectory_lambda=0.0 +--trajectory_csv_file=/data/wflow/datasets/deblur-e-nerf/sphere_spiral-rev=4-rps=8.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 diff --git a/materials/medium/esim.bag b/materials/medium/esim.bag new file mode 100644 index 0000000000000000000000000000000000000000..e4ce9792fed52a292646d94a65eb9fee77debd04 --- /dev/null +++ b/materials/medium/esim.bag @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c488d93f0b30b257e452c18296ff8b4ce1207bc7f2a5a52df9dbdb03a68d8bc0 +size 6504654770 diff --git a/materials/medium/esim.conf b/materials/medium/esim.conf new file mode 100644 index 0000000000000000000000000000000000000000..097bfa276bfd34af30a762acd6a7f7e133c7b072 --- /dev/null +++ b/materials/medium/esim.conf @@ -0,0 +1,59 @@ +--vmodule=data_provider_online_render=0 +--random_seed=50 +--data_source=0 +--path_to_output_bag=/data/wflow/datasets/deblur-e-nerf/materials/medium/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 +--leak_rate_hz=0 + +# DVS128 nominal biases +--I_p_to_intensity_ratio_fa=2000 +--dark_current_fa=4 +--amplifier_gain=140 +--back_gate_coeff=0.7 +--thermal_voltage_mv=25 +--photodiode_cap_ff=35 +--miller_cap_ff=0.6 +--output_time_const_us=1815 +--lower_cutoff_freq_hz=0.01 +--sf_cutoff_freq_hz=3122 +--diff_amp_cutoff_freq_hz=16000 + +--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/deblur-e-nerf/pinhole_mono_nodistort_f=1250.yaml + +--renderer_type=4 +--blend_file=/data/wflow/datasets/deblur-e-nerf/scenes/materials.blend +--blender_bridge_port=5557 +--blender_render_device_type=2 +--blender_render_device_id=7 +--blender_interm_color_space=0 +--blender_interm_rgba_file=/tmp/esim_blender_rgba_materials-medium +--blender_interm_depth_file=/tmp/esim_blender_depth_materials-medium + +--trajectory_type=1 +--trajectory_spline_order=5 +--trajectory_num_spline_segments=400 +--trajectory_lambda=0.0 +--trajectory_csv_file=/data/wflow/datasets/deblur-e-nerf/sphere_spiral-rev=4-rps=2.csv +--trajectory_csv_file_rotation_repr=1 + 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+size 18298475580 diff --git a/mic/easy/esim.conf b/mic/easy/esim.conf new file mode 100644 index 0000000000000000000000000000000000000000..fc26eb3aab9326c3a28e0263a414b605001c2bbc --- /dev/null +++ b/mic/easy/esim.conf @@ -0,0 +1,59 @@ +--vmodule=data_provider_online_render=0 +--random_seed=50 +--data_source=0 +--path_to_output_bag=/data/wflow/datasets/deblur-e-nerf/mic/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 +--leak_rate_hz=0 + +# DVS128 nominal biases +--I_p_to_intensity_ratio_fa=200000 +--dark_current_fa=4 +--amplifier_gain=140 +--back_gate_coeff=0.7 +--thermal_voltage_mv=25 +--photodiode_cap_ff=35 +--miller_cap_ff=0.6 +--output_time_const_us=1815 +--lower_cutoff_freq_hz=0.01 +--sf_cutoff_freq_hz=3122 +--diff_amp_cutoff_freq_hz=16000 + +--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/deblur-e-nerf/pinhole_mono_nodistort_f=1111.yaml + +--renderer_type=4 +--blend_file=/data/wflow/datasets/deblur-e-nerf/scenes/mic.blend +--blender_bridge_port=5558 +--blender_render_device_type=2 +--blender_render_device_id=8 +--blender_interm_color_space=0 +--blender_interm_rgba_file=/tmp/esim_blender_rgba_mic-easy +--blender_interm_depth_file=/tmp/esim_blender_depth_mic-easy + +--trajectory_type=1 +--trajectory_spline_order=5 +--trajectory_num_spline_segments=400 +--trajectory_lambda=0.0 +--trajectory_csv_file=/data/wflow/datasets/deblur-e-nerf/hemisphere_spiral-rev=4-rps=0.25.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 diff --git a/mic/hard/esim.bag b/mic/hard/esim.bag new file mode 100644 index 0000000000000000000000000000000000000000..30f4f791e829fa5eeb3ae078c89bd6bbed6259a2 --- /dev/null +++ b/mic/hard/esim.bag @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6c2aefac27b60c2ca4a557d12f81a6b0fe104df97ae19ed61b71d97c951ac187 +size 678787899 diff --git a/mic/hard/esim.conf b/mic/hard/esim.conf new file mode 100644 index 0000000000000000000000000000000000000000..e4cdd823b20377de044c3b691d4d62a97f9f51bd --- /dev/null +++ b/mic/hard/esim.conf @@ -0,0 +1,59 @@ +--vmodule=data_provider_online_render=0 +--random_seed=50 +--data_source=0 +--path_to_output_bag=/data/wflow/datasets/deblur-e-nerf/mic/hard/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 +--leak_rate_hz=0 + +# DVS128 nominal biases +--I_p_to_intensity_ratio_fa=20 +--dark_current_fa=4 +--amplifier_gain=140 +--back_gate_coeff=0.7 +--thermal_voltage_mv=25 +--photodiode_cap_ff=35 +--miller_cap_ff=0.6 +--output_time_const_us=1815 +--lower_cutoff_freq_hz=0.01 +--sf_cutoff_freq_hz=3122 +--diff_amp_cutoff_freq_hz=16000 + +--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/deblur-e-nerf/pinhole_mono_nodistort_f=1111.yaml + +--renderer_type=4 +--blend_file=/data/wflow/datasets/deblur-e-nerf/scenes/mic.blend +--blender_bridge_port=5556 +--blender_render_device_type=2 +--blender_render_device_id=6 +--blender_interm_color_space=0 +--blender_interm_rgba_file=/tmp/esim_blender_rgba_mic-hard +--blender_interm_depth_file=/tmp/esim_blender_depth_mic-hard + +--trajectory_type=1 +--trajectory_spline_order=5 +--trajectory_num_spline_segments=400 +--trajectory_lambda=0.0 +--trajectory_csv_file=/data/wflow/datasets/deblur-e-nerf/hemisphere_spiral-rev=4-rps=8.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 diff --git a/mic/medium/esim.bag b/mic/medium/esim.bag new file mode 100644 index 0000000000000000000000000000000000000000..2ee96e2366853d31591e295984e26ad3d5be1503 --- /dev/null +++ b/mic/medium/esim.bag @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:71932f2a7934d57f9708c0dba4a46b1bf4cb7335245ff93df71415ba0e71d0bb +size 4697372332 diff --git a/mic/medium/esim.conf b/mic/medium/esim.conf new file mode 100644 index 0000000000000000000000000000000000000000..bf91b3dac26a579124b511d1aa6624b59ca43cda --- /dev/null +++ b/mic/medium/esim.conf @@ -0,0 +1,59 @@ +--vmodule=data_provider_online_render=0 +--random_seed=50 +--data_source=0 +--path_to_output_bag=/data/wflow/datasets/deblur-e-nerf/mic/medium/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 +--leak_rate_hz=0 + +# DVS128 nominal biases +--I_p_to_intensity_ratio_fa=2000 +--dark_current_fa=4 +--amplifier_gain=140 +--back_gate_coeff=0.7 +--thermal_voltage_mv=25 +--photodiode_cap_ff=35 +--miller_cap_ff=0.6 +--output_time_const_us=1815 +--lower_cutoff_freq_hz=0.01 +--sf_cutoff_freq_hz=3122 +--diff_amp_cutoff_freq_hz=16000 + +--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/deblur-e-nerf/pinhole_mono_nodistort_f=1111.yaml + +--renderer_type=4 +--blend_file=/data/wflow/datasets/deblur-e-nerf/scenes/mic.blend +--blender_bridge_port=5557 +--blender_render_device_type=2 +--blender_render_device_id=7 +--blender_interm_color_space=0 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@@ +label: "simulated_camera" +id: 433585ebda8d1431223927a14788a127 +cameras: +- camera: + label: dvs0 + id: a0fba5412e961934d842d3a2a78e5cba + line-delay-nanoseconds: 0 + image_height: 800 + image_width: 800 + type: pinhole + intrinsics: + cols: 1 + rows: 4 + data: [1111.11103119, 1111.11103119, 399.5, 399.5] + distortion: + type: none + parameters: + cols: 1 + rows: 0 + data: [] + T_B_C: + cols: 4 + rows: 4 + data: [1, 0, 0, 0, + 0, 1, 0, 0, + 0, 0, 1, 0, + 0, 0, 0, 1] diff --git a/pinhole_mono_nodistort_f=1250.yaml b/pinhole_mono_nodistort_f=1250.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6dac117efd297b6a5c03dada852a98b4a5a324b4 --- /dev/null +++ b/pinhole_mono_nodistort_f=1250.yaml @@ -0,0 +1,27 @@ +label: "simulated_camera" +id: 433585ebda8d1431223927a14788a127 +cameras: +- camera: + label: dvs0 + id: a0fba5412e961934d842d3a2a78e5cba + line-delay-nanoseconds: 0 + image_height: 800 + image_width: 800 + type: pinhole + intrinsics: + cols: 1 + rows: 4 + data: [1250.00005042, 1250.00005042, 399.5, 399.5] + distortion: + type: none + parameters: + cols: 1 + rows: 0 + data: [] + T_B_C: + cols: 4 + rows: 4 + data: [1, 0, 0, 0, + 0, 1, 0, 0, + 0, 0, 1, 0, + 0, 0, 0, 1] diff --git a/scenes/README.md b/scenes/README.md new file mode 100644 index 0000000000000000000000000000000000000000..44ca0d686fe1dd91306d3c1c67ef671df2ed30a2 --- /dev/null +++ b/scenes/README.md @@ -0,0 +1,10 @@ +# Attribution + +These blender models were provided [here](https://drive.google.com/file/d/1RjwxZCUoPlUgEWIUiuCmMmG0AhuV8A2Q/view?usp=sharing) by the original authors of NeRF. They were modified from the following sources: +- `chair` by 1DInc (CC-0): https://www.blendswap.com/blend/8261 +- `drums` by bryanajones (CC-BY): https://www.blendswap.com/blend/13383 +- `ficus` by Herberhold (CC-0): https://www.blendswap.com/blend/23125 +- `hotdog` by erickfree (CC-0): https://www.blendswap.com/blend/23962 +- `lego` by Heinzelnisse (CC-BY-NC): https://www.blendswap.com/blend/11490 +- `materials` by elbrujodelatribu (CC-0): https://www.blendswap.com/blend/10120 +- `mic` by up3d.de (CC-0): https://www.blendswap.com/blend/23295 diff --git a/scenes/chair.blend b/scenes/chair.blend new file mode 100644 index 0000000000000000000000000000000000000000..a4955774f3a63e655bfe1c5bc702ed39b6d850f0 --- /dev/null +++ b/scenes/chair.blend @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e636b3c2ba2e1cd4bf72d53c0c8339186b0561c0f1fb48fb4babe50972897e5a +size 10501552 diff --git a/scenes/drums.blend b/scenes/drums.blend new file mode 100644 index 0000000000000000000000000000000000000000..fa033ef33002e6282a317509b43eb880717a44f7 --- /dev/null +++ b/scenes/drums.blend @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c541c6346be83b21210008b14f0dc4bf82673784f036087daa8de751e8dd9162 +size 15950116 diff --git a/scenes/ficus.blend b/scenes/ficus.blend new file mode 100644 index 0000000000000000000000000000000000000000..36f989964a9570b80113168a0a97d8ad37e42d2f --- /dev/null +++ b/scenes/ficus.blend @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:063a1c7088b006f497d6517c5bc330ea58d6b49ce1442aaa7a0cba617560c0d8 +size 22812228 diff --git a/scenes/hotdog.blend b/scenes/hotdog.blend new file mode 100644 index 0000000000000000000000000000000000000000..6bec1b72f991ff09e65077d8aebca9dd19382cc2 --- /dev/null +++ b/scenes/hotdog.blend @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:031dfa1b12845b2da2a22b18b518521fa5978f77b762c27ba3265bf901cc56e6 +size 6490012 diff --git a/scenes/lego.blend b/scenes/lego.blend new file mode 100644 index 0000000000000000000000000000000000000000..c9bb93b1f51d02c5b6c4c277671bc0f8c9f7b754 --- /dev/null +++ b/scenes/lego.blend @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:91c2824364ac9cd957fb86f33329bd4d98e8c493be05c5f08727395a02deae90 +size 105216740 diff --git a/scenes/materials.blend b/scenes/materials.blend new file mode 100644 index 0000000000000000000000000000000000000000..b8940c6dc8c778fa616ca6e3e289110662cbaff4 --- /dev/null +++ b/scenes/materials.blend @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cefb7887d1d54eaa62ff8ab3e11fe959e6ec4ef29fe9d2e708199502379da878 +size 2656524 diff --git a/scenes/mic.blend b/scenes/mic.blend new file mode 100644 index 0000000000000000000000000000000000000000..a86640ff81ddd960e5775e14219370744b8e5722 --- /dev/null +++ b/scenes/mic.blend @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8803a2627aeee81f8d2bbc03944038c4eff80275994af336c733e13a16cece3f +size 24454284 diff --git a/sphere_spiral-rev=4-rps=0.25.csv b/sphere_spiral-rev=4-rps=0.25.csv new file mode 100644 index 0000000000000000000000000000000000000000..9e7816a33cf0cf12655c705f86888ea67cdd557e --- /dev/null +++ b/sphere_spiral-rev=4-rps=0.25.csv @@ -0,0 +1,4002 @@ +# timestamp, x, y, z, rx, ry, rz +0,0.00000000000000,-0.00000000000000,-4.03112887415000,-0.00000000000000,-0.00000000000000,1.57079632679490 +4000000,0.00316597839374,-0.00001989269070,-4.03112763084859,-0.00061825533101,-0.00061438287115,1.56451305387919 +8000000,0.00633157986998,-0.00007956916762,-4.03112390094511,-0.00123930748215,-0.00122383092345,1.55822960740479 +12000000,0.00949642753666,-0.00017902464524,-4.03111768444188,-0.00186313655714,-0.00182834414104,1.55194598985155 +16000000,0.01266014455260,-0.00031825114806,-4.03110898134272,-0.00248972271440,-0.00242792250891,1.54566220368917 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