This repository holds tools for rendering event_camera_msgs. It builds under both ROS1 and ROS2.
Currently tested on Ubuntu 20.04 (ROS Noetic and ROS2 Galactic) and Ubuntu 22.04 (ROS2 Humble).
Set the following shell variables:
repo=event_camera_renderer
url=https://github.com/ros-event-camera/${repo}.git
and follow the instructions here
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):
This software is issued under the Apache License Version 2.0.