event_camera_renderer

This repository holds tools for rendering event_camera_msgs.

Supported platforms

Continuous integration testing is done for ROS2 Humble and later distros. NOTE: ROS1 is no longer supported in any form.

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):

# 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

Note that when playing back from bag using simulated time, you must set the clock rate much higher than fps.

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.