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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

Set the following shell variables:

repo=event_camera_renderer
url=https://github.com/ros-event-camera/${repo}.git

and follow the instructions here

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): <img src="images/time_slice_vs_sharp.png" width="800"/>

License

This software is issued under the Apache License Version 2.0.