event_camera_renderer
package for rendering event_camera_msgs
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event_camera_renderer
This repository holds tools for rendering event_camera_msgs. It builds under both ROS1 and ROS2.
Supported platforms
Currently tested on Ubuntu 20.04 (ROS Noetic and ROS2 Galactic) and Ubuntu 22.04 (ROS2 Humble).
How to build
Create a ROS workspace, clone this repo, and use vcs
to pull in the remaining dependencies:
pkg=event_camera_renderer
mkdir -p ~/$pkg/src
cd ~/$pkg
git clone https://github.com/ros-event-camera/${pkg}.git src/${pkg}
cd src
vcs import < ${pkg}/${pkg}.repos
cd ..
configure and build on ROS1:
catkin config -DCMAKE_BUILD_TYPE=RelWithDebInfo # (optionally add -DCMAKE_EXPORT_COMPILE_COMMANDS=1)
catkin build
configure and build on ROS2:
cd ~/$pkg/src
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo # (optionally add -DCMAKE_EXPORT_COMPILE_COMMANDS=1)
How to use
Examine the launch file and adjust the topic remapping, frequency
etc, then start as follows (assuming the camera driver is running
under node name event_camera
):
ROS1:
# create rendered ROS image stream from events
roslaunch event_camera_renderer renderer.launch camera:=event_camera
rqt_image_view
ROS2:
# create rendered ROS image stream from events
ros2 launch event_camera_renderer renderer.launch.py camera:=event_camera
ros2 run rqt_image_view rqt_image_view
Parameters:
fps
Frequency (in hz) at which images are emitted. Default: 25.display_type
Supported types aretime_slice
(all events between frames are aggregated) orsharp
(number of events is auto-controlled to produce sharp features). Default istime_slice
. This image shows the difference (left is sharp, right is time_slice):
License
This software is issued under the Apache License Version 2.0.