Merge pull request #3 from ros-event-camera/rename_to_renderer

rename from event_camera_viewer -> event_camera_renderer

CMakeLists.txt

@@ -14,7 +14,7 @@
 # limitations under the License.
 
 cmake_minimum_required(VERSION 3.5)
-project(event_camera_viewer)
+project(event_camera_renderer)
 
 if(DEFINED ENV{ROS_VERSION})
   if($ENV{ROS_VERSION} EQUAL "2")

README.md

@@ -1,10 +1,10 @@
-# event_camera_viewer
+# event_camera_renderer
 
-This repository holds tools for viewing
+This repository holds tools for rendering
 [event_camera_msgs](https://github.com/ros-event-camera/event_camera_msgs). It
 builds under both ROS1 and ROS2.
 
-![event_image](images/event_viewer.png)
+![event_image](images/event_renderer.png)
 
 ## Supported platforms
 
@@ -17,7 +17,7 @@ Create a ROS workspace, clone this repo, and use ``vcs``
 to pull in the remaining dependencies:
 
 ```
-pkg=event_camera_viewer
+pkg=event_camera_renderer
 mkdir -p ~/$pkg/src
 cd ~/$pkg
 git clone https://github.com/ros-event-camera/${pkg}.git src/${pkg}
@@ -49,14 +49,14 @@ under node name ``event_camera``):
 ROS1:
 ```
 # create rendered ROS image stream from events
-roslaunch event_camera_viewer viewer.launch camera:=event_camera
+roslaunch event_camera_renderer renderer.launch camera:=event_camera
 rqt_image_view
 ```
 
 ROS2:
 ```
 # create rendered ROS image stream from events
-ros2 launch event_camera_viewer viewer.launch.py camera:=event_camera
+ros2 launch event_camera_renderer renderer.launch.py camera:=event_camera
 ros2 run rqt_image_view rqt_image_view
 ```
 

cmake/ROS1.cmake

@@ -32,37 +32,37 @@ include_directories(
   ${catkin_INCLUDE_DIRS})
 
 #
-# --------- viewer library
+# --------- renderer library
 #
-add_library(viewer
-  src/viewer_ros1.cpp
+add_library(renderer
+  src/renderer_ros1.cpp
   src/display.cpp
   src/time_slice_display.cpp
   src/sharp_display.cpp)
 
-target_link_libraries(viewer ${catkin_LIBRARIES})
+target_link_libraries(renderer ${catkin_LIBRARIES})
 
 #
 # --------- nodelet
 #
-add_library(viewer_nodelet src/viewer_nodelet.cpp)
-target_link_libraries(viewer_nodelet ${catkin_LIBRARIES})
+add_library(renderer_nodelet src/renderer_nodelet.cpp)
+target_link_libraries(renderer_nodelet ${catkin_LIBRARIES})
 
 #
 # -------- node
 #
-add_executable(viewer_node src/viewer_node_ros1.cpp)
-target_link_libraries(viewer_node viewer ${catkin_LIBRARIES})
+add_executable(renderer_node src/renderer_node_ros1.cpp)
+target_link_libraries(renderer_node renderer ${catkin_LIBRARIES})
 
 
 #############
 ## Install ##
 #############
 
-install(TARGETS viewer_node
+install(TARGETS renderer_node
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
-install(TARGETS viewer viewer_nodelet
+install(TARGETS renderer renderer_nodelet
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})

cmake/ROS2.cmake

@@ -37,32 +37,32 @@ endforeach()
 ament_auto_find_build_dependencies(REQUIRED ${ROS2_DEPENDENCIES})
 
 #
-# --------- viewer library
+# --------- renderer library
 #
-ament_auto_add_library(viewer
-  src/viewer_ros2.cpp src/display.cpp
+ament_auto_add_library(renderer
+  src/renderer_ros2.cpp src/display.cpp
   src/time_slice_display.cpp src/sharp_display.cpp)
 
-rclcpp_components_register_nodes(viewer "event_camera_viewer::Viewer")
+rclcpp_components_register_nodes(renderer "event_camera_renderer::Renderer")
 
 #
 # -------- node
 #
-ament_auto_add_executable(viewer_node src/viewer_node_ros2.cpp)
-target_link_libraries(viewer_node viewer)
+ament_auto_add_executable(renderer_node src/renderer_node_ros2.cpp)
+target_link_libraries(renderer_node renderer)
 
 # the node must go into the paroject specific lib directory or else
 # the launch file will not find it
 
 install(TARGETS
-  viewer_node
+  renderer_node
   DESTINATION lib/${PROJECT_NAME}/)
 
 # the shared library goes into the global lib dir so it can
 # be used as a composable node by other projects
 
 install(TARGETS
-  viewer
+  renderer
   DESTINATION lib
 )
 

include/event_camera_viewer/check_endian.h → include/event_camera_renderer/check_endian.h

@@ -13,12 +13,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef EVENT_CAMERA_VIEWER__CHECK_ENDIAN_H_
-#define EVENT_CAMERA_VIEWER__CHECK_ENDIAN_H_
+#ifndef EVENT_CAMERA_RENDERER__CHECK_ENDIAN_H_
+#define EVENT_CAMERA_RENDERER__CHECK_ENDIAN_H_
 
 #include <stdint.h>
 
-namespace event_camera_viewer
+namespace event_camera_renderer
 {
 namespace check_endian
 {
@@ -32,5 +32,5 @@ inline constexpr bool isBigEndian()
   return (combined_int.c[0] == 1);
 }
 }  // namespace check_endian
-}  // namespace event_camera_viewer
-#endif  // EVENT_CAMERA_VIEWER__CHECK_ENDIAN_H_
+}  // namespace event_camera_renderer
+#endif  // EVENT_CAMERA_RENDERER__CHECK_ENDIAN_H_

include/event_camera_viewer/display.h → include/event_camera_renderer/display.h

@@ -13,8 +13,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef EVENT_CAMERA_VIEWER__DISPLAY_H_
-#define EVENT_CAMERA_VIEWER__DISPLAY_H_
+#ifndef EVENT_CAMERA_RENDERER__DISPLAY_H_
+#define EVENT_CAMERA_RENDERER__DISPLAY_H_
 
 #include <memory>
 #ifdef USING_ROS_1
@@ -29,7 +29,7 @@ using EventPacket = event_camera_msgs::msg::EventPacket;
 using ImgPtr = sensor_msgs::msg::Image::UniquePtr;
 #endif
 
-namespace event_camera_viewer
+namespace event_camera_renderer
 {
 class Display
 {
@@ -47,5 +47,5 @@ class Display
 protected:
   Display() {}
 };
-}  // namespace event_camera_viewer
-#endif  // EVENT_CAMERA_VIEWER__DISPLAY_H_
+}  // namespace event_camera_renderer
+#endif  // EVENT_CAMERA_RENDERER__DISPLAY_H_

include/event_camera_viewer/viewer_ros1.h → include/event_camera_renderer/renderer_ros1.h

@@ -13,8 +13,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef EVENT_CAMERA_VIEWER__VIEWER_ROS1_H_
-#define EVENT_CAMERA_VIEWER__VIEWER_ROS1_H_
+#ifndef EVENT_CAMERA_RENDERER__RENDERER_ROS1_H_
+#define EVENT_CAMERA_RENDERER__RENDERER_ROS1_H_
 
 #include <event_camera_codecs/decoder.h>
 #include <event_camera_codecs/decoder_factory.h>
@@ -26,16 +26,16 @@
 #include <memory>
 #include <string>
 
-#include "event_camera_viewer/display.h"
+#include "event_camera_renderer/display.h"
 
-namespace event_camera_viewer
+namespace event_camera_renderer
 {
-class Viewer
+class Renderer
 {
 public:
   using EventPacket = event_camera_msgs::EventPacket;
-  explicit Viewer(ros::NodeHandle & nh);
-  ~Viewer();
+  explicit Renderer(ros::NodeHandle & nh);
+  ~Renderer();
 
 private:
   void frameTimerExpired(const ros::TimerEvent &);
@@ -53,5 +53,5 @@ class Viewer
   image_transport::Publisher imagePub_;
   sensor_msgs::Image imageMsgTemplate_;
 };
-}  // namespace event_camera_viewer
-#endif  // EVENT_CAMERA_VIEWER__VIEWER_ROS1_H_
+}  // namespace event_camera_renderer
+#endif  // EVENT_CAMERA_RENDERER__RENDERER_ROS1_H_

include/event_camera_viewer/viewer_ros2.h → include/event_camera_renderer/renderer_ros2.h

@@ -13,8 +13,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef EVENT_CAMERA_VIEWER__VIEWER_ROS2_H_
-#define EVENT_CAMERA_VIEWER__VIEWER_ROS2_H_
+#ifndef EVENT_CAMERA_RENDERER__RENDERER_ROS2_H_
+#define EVENT_CAMERA_RENDERER__RENDERER_ROS2_H_
 
 #include <event_camera_msgs/msg/event_packet.hpp>
 #include <image_transport/image_transport.hpp>
@@ -23,16 +23,16 @@
 #include <sensor_msgs/msg/image.hpp>
 #include <string>
 
-#include "event_camera_viewer/display.h"
+#include "event_camera_renderer/display.h"
 
-namespace event_camera_viewer
+namespace event_camera_renderer
 {
-class Viewer : public rclcpp::Node
+class Renderer : public rclcpp::Node
 {
 public:
   using EventPacket = event_camera_msgs::msg::EventPacket;
-  explicit Viewer(const rclcpp::NodeOptions & options);
-  ~Viewer();
+  explicit Renderer(const rclcpp::NodeOptions & options);
+  ~Renderer();
 
 private:
   void frameTimerExpired();
@@ -48,5 +48,5 @@ class Viewer : public rclcpp::Node
   image_transport::Publisher imagePub_;
   sensor_msgs::msg::Image imageMsgTemplate_;
 };
-}  // namespace event_camera_viewer
-#endif  // EVENT_CAMERA_VIEWER__VIEWER_ROS2_H_
+}  // namespace event_camera_renderer
+#endif  // EVENT_CAMERA_RENDERER__RENDERER_ROS2_H_

include/event_camera_viewer/sharp_display.h → include/event_camera_renderer/sharp_display.h

@@ -13,15 +13,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef EVENT_CAMERA_VIEWER__SHARP_DISPLAY_H_
-#define EVENT_CAMERA_VIEWER__SHARP_DISPLAY_H_
+#ifndef EVENT_CAMERA_RENDERER__SHARP_DISPLAY_H_
+#define EVENT_CAMERA_RENDERER__SHARP_DISPLAY_H_
 
 #include <event_camera_codecs/decoder_factory.h>
 
-#include "event_camera_viewer/display.h"
-#include "event_camera_viewer/sharp_updater.h"
+#include "event_camera_renderer/display.h"
+#include "event_camera_renderer/sharp_updater.h"
 
-namespace event_camera_viewer
+namespace event_camera_renderer
 {
 class SharpDisplay : public Display
 {
@@ -41,5 +41,5 @@ class SharpDisplay : public Display
   event_camera_codecs::Decoder<EventPacket, SharpUpdater> * decoder_;
   event_camera_codecs::DecoderFactory<EventPacket, SharpUpdater> decoderFactory_;
 };
-}  // namespace event_camera_viewer
-#endif  // EVENT_CAMERA_VIEWER__SHARP_DISPLAY_H_
+}  // namespace event_camera_renderer
+#endif  // EVENT_CAMERA_RENDERER__SHARP_DISPLAY_H_

include/event_camera_viewer/sharp_updater.h → include/event_camera_renderer/sharp_updater.h

@@ -13,8 +13,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef EVENT_CAMERA_VIEWER__SHARP_UPDATER_H_
-#define EVENT_CAMERA_VIEWER__SHARP_UPDATER_H_
+#ifndef EVENT_CAMERA_RENDERER__SHARP_UPDATER_H_
+#define EVENT_CAMERA_RENDERER__SHARP_UPDATER_H_
 
 #include <memory.h>
 
@@ -30,7 +30,7 @@ using ImgPtr = sensor_msgs::msg::Image::UniquePtr;
 
 #include <event_camera_codecs/event_processor.h>
 
-namespace event_camera_viewer
+namespace event_camera_renderer
 {
 class SharpUpdater : public event_camera_codecs::EventProcessor
 {
@@ -154,5 +154,5 @@ class SharpUpdater : public event_camera_codecs::EventProcessor
   uint32_t numOccupiedPixels_{0};  // currently occupied number of pixels
   uint32_t numOccupiedBlocks_{0};  // currently occupied number of blocks
 };
-}  // namespace event_camera_viewer
-#endif  // EVENT_CAMERA_VIEWER__SHARP_UPDATER_H_
+}  // namespace event_camera_renderer
+#endif  // EVENT_CAMERA_RENDERER__SHARP_UPDATER_H_

include/event_camera_viewer/simple_updater.h → include/event_camera_renderer/simple_updater.h

@@ -13,8 +13,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef EVENT_CAMERA_VIEWER__SIMPLE_UPDATER_H_
-#define EVENT_CAMERA_VIEWER__SIMPLE_UPDATER_H_
+#ifndef EVENT_CAMERA_RENDERER__SIMPLE_UPDATER_H_
+#define EVENT_CAMERA_RENDERER__SIMPLE_UPDATER_H_
 
 #include <memory>
 #include <mutex>
@@ -28,7 +28,7 @@ using ImgPtr = sensor_msgs::msg::Image::UniquePtr;
 
 #include <event_camera_codecs/event_processor.h>
 
-namespace event_camera_viewer
+namespace event_camera_renderer
 {
 class SimpleUpdater : public event_camera_codecs::EventProcessor
 {
@@ -59,5 +59,5 @@ class SimpleUpdater : public event_camera_codecs::EventProcessor
 private:
   ImgPtr img_;
 };
-}  // namespace event_camera_viewer
-#endif  // EVENT_CAMERA_VIEWER__SIMPLE_UPDATER_H_
+}  // namespace event_camera_renderer
+#endif  // EVENT_CAMERA_RENDERER__SIMPLE_UPDATER_H_

include/event_camera_viewer/time_slice_display.h → include/event_camera_renderer/time_slice_display.h

@@ -13,15 +13,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef EVENT_CAMERA_VIEWER__TIME_SLICE_DISPLAY_H_
-#define EVENT_CAMERA_VIEWER__TIME_SLICE_DISPLAY_H_
+#ifndef EVENT_CAMERA_RENDERER__TIME_SLICE_DISPLAY_H_
+#define EVENT_CAMERA_RENDERER__TIME_SLICE_DISPLAY_H_
 
 #include <event_camera_codecs/decoder_factory.h>
 
-#include "event_camera_viewer/display.h"
-#include "event_camera_viewer/simple_updater.h"
+#include "event_camera_renderer/display.h"
+#include "event_camera_renderer/simple_updater.h"
 
-namespace event_camera_viewer
+namespace event_camera_renderer
 {
 class TimeSliceDisplay : public Display
 {
@@ -41,5 +41,5 @@ class TimeSliceDisplay : public Display
   event_camera_codecs::Decoder<EventPacket, SimpleUpdater> * decoder_;
   event_camera_codecs::DecoderFactory<EventPacket, SimpleUpdater> decoderFactory_;
 };
-}  // namespace event_camera_viewer
-#endif  // EVENT_CAMERA_VIEWER__TIME_SLICE_DISPLAY_H_
+}  // namespace event_camera_renderer
+#endif  // EVENT_CAMERA_RENDERER__TIME_SLICE_DISPLAY_H_

launch/viewer.launch → launch/renderer.launch

@@ -2,7 +2,7 @@
   <arg name="camera" default="/event_camera"/>
   <arg name="topic" default="events"/>
   <arg name="type" default="time_slice"/>
-  <node pkg="event_camera_viewer" type="viewer_node" name="viewer" clear_params="true"
+  <node pkg="event_camera_renderer" type="renderer_node" name="renderer" clear_params="true"
 	output="screen">
     <param name="fps" value="25"/>
     <param name="display_type" value="$(arg type)"/>