event_camera_renderer package from event_camera_renderer repo

event_camera_renderer

Package Summary

Tags	No category tags.
Version	1.1.3
License	Apache2
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-event-camera/event_camera_renderer.git
VCS Type	git
VCS Version	humble
Last Updated	2024-02-04
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

package for rendering event_camera_msgs

Additional Links

No additional links.

Maintainers

Bernd Pfrommer

Authors

No additional authors.

README.md

event_camera_renderer

This repository holds tools for rendering event_camera_msgs. It builds under both ROS1 and ROS2.

event_image

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 are time_slice (all events between frames are aggregated) or sharp (number of events is auto-controlled to produce sharp features). Default is time_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.

CHANGELOG

Changelog for package event_camera_renderer

1.1.3 (2024-02-04)

permit variable sensor size
change formatting of python files to make flake8 linter happy
ignore pyc files
Contributors: Bernd Pfrommer

1.1.2 (2023-09-21)

added dependency on ament_cmake_clang_format
Contributors: Bernd Pfrommer

1.1.1 (2023-09-19)

Initial release
Contributors: Bernd Pfrommer

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_ros
	ament_cmake_auto
	catkin
	ament_lint_auto
	ament_lint_common
	ament_cmake_clang_format
	rclcpp
	rclcpp_components
	roscpp
	nodelet
	event_camera_msgs
	event_camera_codecs
	image_transport
	sensor_msgs
	ros_environment

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/renderer.launch
- - camera [default: /event_camera]
  - topic [default: events]
  - type [default: time_slice]

Messages

No message files found.

Services

No service files found

Plugins

nodelet

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