Auto stash before merge of "master" and "origin/master"

.clang-format

@@ -0,0 +1,100 @@
+---
+Language:        Cpp
+# BasedOnStyle:  WebKit
+AccessModifierOffset: -4
+AlignAfterOpenBracket: Align 
+AlignConsecutiveAssignments: true
+AlignConsecutiveDeclarations: false 
+AlignEscapedNewlinesLeft: true
+AlignOperands:   true
+AlignTrailingComments: true
+AllowAllParametersOfDeclarationOnNextLine: true 
+AllowShortBlocksOnASingleLine: true
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: Empty
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+# AlwaysBreakAfterDefinitionReturnType: None 
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: false 
+AlwaysBreakTemplateDeclarations: true
+BinPackArguments: true
+BinPackParameters: true 
+BraceWrapping:  
+  AfterClass:      false
+  AfterControlStatement: false
+  AfterEnum:       false
+  AfterFunction:   true
+  AfterNamespace:  false
+  AfterObjCDeclaration: false
+  AfterStruct:     false
+  AfterUnion:      false
+  BeforeCatch:     false
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+  IndentBraces:    false
+BreakBeforeBinaryOperators: None
+BreakBeforeBraces: Attach
+BreakBeforeInheritanceComma: false
+BreakBeforeTernaryOperators: false
+BreakConstructorInitializers: AfterColon
+# BreakAfterJavaFieldAnnotations: false
+BreakStringLiterals: true 
+ColumnLimit:     120
+CommentPragmas:  '^ IWYU pragma:'
+CompactNamespaces: false 
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+ConstructorInitializerIndentWidth: 4 
+ContinuationIndentWidth: 4 
+Cpp11BracedListStyle: true
+DerivePointerAlignment: false
+DisableFormat:   false
+ExperimentalAutoDetectBinPacking: false
+FixNamespaceComments: true 
+ForEachMacros:   [ foreach, Q_FOREACH, BOOST_FOREACH ]
+IncludeCategories: 
+  - Regex:           '^"(llvm|llvm-c|clang|clang-c)/'
+    Priority:        2
+  - Regex:           '^(<|"(gtest|isl|json)/)'
+    Priority:        3
+  - Regex:           '.*'
+    Priority:        1
+IncludeIsMainRegex: '$'
+IndentCaseLabels: false
+IndentWidth:     4
+IndentWrappedFunctionNames: true
+# JavaScriptQuotes: Leave
+# JavaScriptWrapImports: true
+KeepEmptyLinesAtTheStartOfBlocks: false
+MacroBlockBegin: ''
+MacroBlockEnd:   ''
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+# ObjCBlockIndentWidth: 4
+# ObjCSpaceAfterProperty: true
+# ObjCSpaceBeforeProtocolList: true
+PenaltyBreakBeforeFirstCallParameter: 19
+PenaltyBreakComment: 300
+PenaltyBreakFirstLessLess: 120
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+Standard:        Cpp11
+TabWidth:        4
+UseTab:          Never
+...
+

prophesee_ros_driver/CMakeLists.txt

@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3)
 project(prophesee_ros_driver)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
-add_compile_options(-std=c++11)
+add_compile_options(-std=c++14)
 
 
 execute_process(COMMAND lsb_release -cs OUTPUT_VARIABLE RELEASE_CODENAME OUTPUT_STRIP_TRAILING_WHITESPACE)

prophesee_ros_driver/cfg/gen3_low_sensitive_settings.bias

@@ -0,0 +1,29 @@
+% subsystem_ID 2415920387
+% system_ID 21
+300        %   bias_latchout_or_pu       %   v    
+100        %   bias_reqx_or_pu           %   v    
+1200       %   bias_req_pux              %   v    
+1300       %   bias_req_puy              %   v    
+500        %   bias_del_reqx_or          %   v    
+800        %   bias_sendreq_pdx          %   v    
+500        %   bias_sendreq_pdy          %   v    
+400        %   bias_del_ack_array        %   v    
+200        %   bias_del_timeout          %   v    
+400        %   bias_inv                  %   v    
+1500       %   bias_refr                 %   v    
+500        %   bias_clk                  %   v    
+1800       %   bias_hpf                  %   v    
+430        %   bias_tail                 %   i    
+230        %   bias_out                  %   i    
+370        %   bias_hyst                 %   i    
+1397       %   bias_vrefl                %   v    
+1700       %   bias_vrefh                %   v    
+1000       %   bias_cas                  %   v    
+191        %   bias_diff_off             %   v    
+439        %   bias_diff_on              %   v    
+300        %   bias_diff                 %   v    
+1720       %   bias_fo                   %   v    
+1500       %   bias_pr                   %   v    
+1500       %   bias_bulk                 %   v    
+1600       %   bias_overflow             %   v    
+200        %   bias_buf                  %   v    

prophesee_ros_driver/cfg/gen3_lower_bg_noise.bias

@@ -0,0 +1,29 @@
+% subsystem_ID 2415920387
+% system_ID 21
+300        %   bias_latchout_or_pu       %   v    
+100        %   bias_reqx_or_pu           %   v    
+1200       %   bias_req_pux              %   v    
+1300       %   bias_req_puy              %   v    
+500        %   bias_del_reqx_or          %   v    
+800        %   bias_sendreq_pdx          %   v    
+500        %   bias_sendreq_pdy          %   v    
+400        %   bias_del_ack_array        %   v    
+200        %   bias_del_timeout          %   v    
+400        %   bias_inv                  %   v    
+1500       %   bias_refr                 %   v    
+500        %   bias_clk                  %   v    
+1800       %   bias_hpf                  %   v    
+430        %   bias_tail                 %   i    
+230        %   bias_out                  %   i    
+370        %   bias_hyst                 %   i    
+1397       %   bias_vrefl                %   v    
+1700       %   bias_vrefh                %   v    
+1000       %   bias_cas                  %   v    
+213        %   bias_diff_off             %   v    
+411        %   bias_diff_on              %   v    
+300        %   bias_diff                 %   v    
+1720       %   bias_fo                   %   v    
+1500       %   bias_pr                   %   v    
+1500       %   bias_bulk                 %   v    
+1600       %   bias_overflow             %   v    
+200        %   bias_buf                  %   v    

prophesee_ros_driver/include/prophesee_ros_driver/cd_frame_generator.h

@@ -80,7 +80,7 @@ class CDFrameGenerator {
     ///
     /// \return Timestamp in microseconds
     inline Prophesee::timestamp ros_timestamp_in_us(const ros::Time &ts) const {
-        return static_cast<Prophesee::timestamp>(ts.toNSec()/1000.00);
+        return static_cast<Prophesee::timestamp>(ts.toNSec() / 1000.00);
     };
 
 private:

prophesee_ros_driver/include/prophesee_ros_driver/prophesee_ros_publisher.h

@@ -10,6 +10,7 @@
 #include <sensor_msgs/CameraInfo.h>
 
 #include <prophesee_driver.h>
+#include <prophesee_core/algos/core/activity_noise_filter_algorithm.h>
 
 #include "log_tone_mapper.h"
 
@@ -28,7 +29,6 @@ class PropheseeWrapperPublisher {
     void startPublishing();
 
 private:
-
     /// \brief Opens the camera
     bool openCamera();
 
@@ -61,6 +61,16 @@ class PropheseeWrapperPublisher {
     /// Used to access data from a camera
     Prophesee::Camera camera_;
 
+    /// \brief Instance of Events Array
+    ///
+    /// Accumulated Array of events
+    std::vector<Prophesee::EventCD> event_buffer_;
+
+    /// \brief Frame reconstruction in gray scale
+    ///
+    /// Gray level fram from tone mapper reconstruction
+    cv::Mat graylevel_frame_;
+
     /// \brief Instance of LogToneMapper class
     ///
     /// Used to reconstract gray-levels from CD and EM data and apply tone mapping
@@ -69,14 +79,17 @@ class PropheseeWrapperPublisher {
     /// \brief Message for publishing the camera info
     sensor_msgs::CameraInfo cam_info_msg_;
 
+    /// \brief Pointer for the Activity Filter Instance
+    std::shared_ptr< Prophesee::ActivityNoiseFilterAlgorithm<> > activity_filter_;
+
     /// \brief Path to the file with the camera settings (biases)
     std::string biases_file_;
 
     /// \brief Camera name in string format
     std::string camera_name_;
 
-    /// \brief Camera string time
-    ros::Time start_timestamp_;
+    /// \brief Wall time stamps
+    ros::Time start_timestamp_, last_timestamp_;
 
     /// \brief Maximum events rate, in kEv/s
     int max_event_rate_;
@@ -90,10 +103,30 @@ class PropheseeWrapperPublisher {
     /// \brief If showing gray-level frames
     bool publish_graylevels_;
 
-   /// \brief If showing IMU events
+    /// \brief If showing IMU events
     bool publish_imu_;
 
-    static constexpr double GRAVITY = 9.81; /** Mean gravity value at Earth surface [m/s^2] **/
+    /// \brief Events rate (configuration)
+    /// Desirable rate in Hz for the events
+    double event_streaming_rate_;
+
+    /// \brief Actvity Filter Temporal depth (configuration)
+    /// Desirable Temporal depth in micro seconds
+    int activity_filter_temporal_depth_;
+
+    /// \brief delta_time for packages cd_events
+    /// Time step for packaging events in an array
+    ros::Duration event_delta_t_;
+
+    /// \brief Event buffer time stamps
+    ros::Time event_buffer_start_time_, event_buffer_current_time_;
+
+    /// \brief  Mean gravity value at Earth surface [m/s^2]
+    static constexpr double GRAVITY = 9.81;
+
+    /// \brief delta time of cd events fixed by Prophesee driver
+    /// The delta time is set to a fixed number of 64 microseconds (1e-06)
+    static constexpr double EVENT_DEFAULT_DELTA_T = 6.4e-05;
 };
 
 #endif /* PROPHESEE_ROS_PUBLISHER_H_ */

prophesee_ros_driver/include/prophesee_ros_driver/prophesee_ros_viewer.h

@@ -45,12 +45,12 @@ class PropheseeWrapperViewer {
     /// It gets width and height of the sensor and calls init() function
     ///
     /// @param msg : ROS message with the camera info
-    void cameraInfoCallback(const sensor_msgs::CameraInfo::ConstPtr& msg);
+    void cameraInfoCallback(const sensor_msgs::CameraInfo::ConstPtr &msg);
 
     /// \brief Callback triggered when data are received from gray-level frame topic
     ///
     /// @param msg ROS message with teh gray-level frame
-    void glFrameCallback(const sensor_msgs::ImageConstPtr& msg);
+    void glFrameCallback(const sensor_msgs::ImageConstPtr &msg);
 
     /// \brief Initializes the frame generators and the displayers
     ///
@@ -59,7 +59,7 @@ class PropheseeWrapperViewer {
     ///
     /// It initializes CD frame generator with the sensor's width and height.
     /// It also creates the displayers.
-    bool init(const unsigned int& sensor_width, const unsigned int& sensor_height);
+    bool init(const unsigned int &sensor_width, const unsigned int &sensor_height);
 
     /// \brief Creates a displayer
     ///
@@ -68,8 +68,8 @@ class PropheseeWrapperViewer {
     /// @param sensor_height : Height of the window
     /// @param shift_x : Position (x shift) of the window
     /// @param shift_y : Position (y shift) of the window
-    void create_window(const std::string &window_name, const unsigned int& sensor_width,
-                       const unsigned int& sensor_height, const int &shift_x=0, const int &shift_y=0);
+    void create_window(const std::string &window_name, const unsigned int &sensor_width,
+                       const unsigned int &sensor_height, const int &shift_x = 0, const int &shift_y = 0);
 
     /// \brief Node handler - the access point to communication with ROS
     ros::NodeHandle nh_;

prophesee_ros_driver/launch/prophesee_publisher.launch

@@ -7,13 +7,20 @@
     <param name="publish_imu" value="true" />
 
     <!-- Path to the file with the camera settings -->
-    <param name="bias_file" value="" />
+    <param name="bias_file" value=""/>
 
-    <!-- Maximum event rate in kEv/s -->
+    <!-- Maximum event rate in kEv/s. With 0 does not set any limit-->
     <param name="max_event_rate" value="6000" />
 
+    <!-- Streaming rate in Hz for the events array. By default is 64 microseconds or max 100 events in array -->
+    <param name="event_streaming_rate" value="0" />
+
     <!-- Graylevel frame rate in fps -->
     <param name="graylevel_frame_rate" value="30" />
+
+    <!-- Activity filter temporal depth in microseconds -->
+    <param name="activity_filter_temporal_depth" value="0" />
+
   </node>
 
 </launch>

prophesee_ros_driver/src/cd_frame_generator.cpp

@@ -6,20 +6,19 @@
 
 #include "cd_frame_generator.h"
 
-CDFrameGenerator::CDFrameGenerator() {
-}
+CDFrameGenerator::CDFrameGenerator() {}
 
 CDFrameGenerator::~CDFrameGenerator() {
     stop();
 }
 
 void CDFrameGenerator::init(long width, long height) {
-    width_ = width;
-    height_ = height;
-    pix_count_  = height_ * width_;
+    width_     = width;
+    height_    = height;
+    pix_count_ = height_ * width_;
     ts_history_.resize(pix_count_);
 
-    frame_ = cv::Mat(height_, width_, CV_8UC1, cv::Scalar(128));
+    frame_         = cv::Mat(height_, width_, CV_8UC1, cv::Scalar(128));
     frame_to_show_ = cv::Mat(height_, width_, CV_8UC1, cv::Scalar(128));
 
     initialized_ = true;
@@ -40,9 +39,7 @@ void CDFrameGenerator::add_events(const prophesee_event_msgs::EventArray::ConstP
     }
 
     if (should_process) {
-        {
-            thread_should_process_ = true;
-        }
+        { thread_should_process_ = true; }
         thread_cond_.notify_one();
     }
 
@@ -56,8 +53,8 @@ void CDFrameGenerator::reset() {
     {
         std::unique_lock<std::mutex> lock_process(processing_mutex_);
         thread_should_process_ = false;
-        last_ts_ = 0;
-        last_process_ts_ = 0;
+        last_ts_               = 0;
+        last_process_ts_       = 0;
 
         // Clean the queues with events
         events_queue_front_.clear();
@@ -165,9 +162,7 @@ bool CDFrameGenerator::stop() {
         return false;
     }
 
-    {
-        thread_should_stop_ = true;
-    }
+    { thread_should_stop_ = true; }
 
     thread_cond_.notify_one();
     thread_.join();