event-camera-ws

A workspace containing the needed packages to work with any Prophesee or third-party branded event based camera in ROS2. Packages to work with the Inivation dvXplore cameras will also be added. Also includes tools to do intrensic calibration of event cameras.

Dependancies

• Metavision SDK 4.2 or greater
• ROS2 Humble
• Python 3.7 or greater

Usage

Cablibrate (Metavision SDK)

1. Collect a .raw recording file by running python3 ext-src/recorder.py in your desired directory.
2. Convert the .raw recording into a .dat recording using metavision_file_to_dat -i file.raw
3. Convert the .dat recording into the older .h5 recording using python3 /etx-src/e2calib/python/convert.py
4. Follow the e2calib's guide to create the appropriate conda environment
5. Run e2calib to generate your calibration dataset using python etx-src/e2calib/python/offline_reconstruction.py --h5file file --freq_hz 5 --upsample_rate 4 --height 480 --width 640
6. Run conda deactivate
7. Run the calibration script using python3 etx-src/calibration.py in the same directory as your calibration dataset