dv_ros

ROS package for iniVation Dynamic Vision System's dv-sdk.

Use dv-sdk to process event streams in ROS.

Feature

1. Use dv-sdk accumulator functions in ROS.

2. Use rqt_reconfigure to modify the accumulating parameters online.

3. Support dvs_msgs/EventArray and celex_msgs/EventVector event stream message.

4. Process multiple event streams in one ROS node, and config different parameters for each stream.

Demo

Build

1. Install the iniVation dv-runtime on your computer firstly.

   • Binary installation steps can be found here.

   • For source code installation, you can follow the steps here. High version of fmt (>=7.0.3) library and Boost (>=1.73) library are required.

2. Check the celex5_msgs and dvs_msgs dependence. If you don't have them, just clone and add the msgs package into your ROS workspace.

3. Clone the repository in your ROS Workspace, can then just build it.

Usage

Use the prepared config file: davis240.yaml:

roslaunch dv_ros davis240.launch

or

rosrun dv_ros dv_ros_node /path/to/the/davis240.yaml

Parameters

You can process multiple event streams in one ros_node, the parameter num_of_event_stream specific the number of event streams you want to process. The event stream can be capture from different device, such as DAVIS or CeleX. Then you can config different parameters for each stream by using eventN_ formulation.

The meaning of accumulate parameters can be found here.

Below is an example config file for stereo davis346 with different config:

%YAML:1.0

num_of_event_stream: 2

event0_device_type: 0                   # 0: davis, 1: celex
event0_topic: "/dvs/left/events"
event0_frame_width: 346
event0_frame_height: 260
event0_accumulated_frame_topic: "/dvs/left/event_frame"  # accumulated frame topic's name, for publishing
event0_accumulation_method: 2     # 0: by time, 1: by number, 2: time window is sync with events data hz, by number
event0_number_window_size: 12000
event0_time_window_size: 33       # ms
event0_decay_function: 3          # 0: None, 1: Linear, 2: Exponential, 3: Step
event0_decay_param: 0.000001       # us
event0_min_potential: 0
event0_max_potential: 1
event0_neutral_potential: 0.5
event0_event_contribution: 0.15
event0_rectify_polarity: 0    # enable: 1, disable: 0
event0_synchronous_decay: 0   # enable: 1, disable: 0
event0_no_motion_threshold: 1000      # rate: events/s

event1_device_type: 0                   # 0: davis, 1: celex
event1_topic: "/dvs/right/events"
event1_frame_width: 346
event1_frame_height: 260
event1_accumulated_frame_topic: "/dvs/right/event_frame"  # accumulated frame topic's name, for publishing
event1_accumulation_method: 0     # 0: by time, 1: by number, 2: time window is sync with events data hz, by number
event1_number_window_size: 12000
event1_time_window_size: 33       # ms
event1_decay_function: 2          # 0: None, 1: Linear, 2: Exponential, 3: Step
event1_decay_param: 1000000       # us
event1_min_potential: 0
event1_max_potential: 0.3
event1_neutral_potential: 0
event1_event_contribution: 0.04
event1_rectify_polarity: 0    # enable: 1, disable: 0
event1_synchronous_decay: 0   # enable: 1, disable: 0
event1_no_motion_threshold: 1000          # rate: events/s

Known Issues

The knoise module is still does not work.