event_camera_renderer

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

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.