# event_camera_renderer

**Repository Path**: Bryan_Jiang/event_camera_renderer

## Basic Information

- **Project Name**: event_camera_renderer
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Apache-2.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2024-12-30
- **Last Updated**: 2024-12-30

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# event_camera_renderer

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_renderer.png)

## Supported platforms

Currently tested on Ubuntu 20.04 (ROS Noetic and ROS2 Galactic) and
Ubuntu 22.04 (ROS2 Humble).

## How to build

Set the following shell variables:
```bash
repo=event_camera_renderer
url=https://github.com/ros-event-camera/${repo}.git
```
and follow the [instructions here](https://github.com/ros-misc-utilities/.github/blob/master/docs/build_ros_repository.md)

## 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): 
  <img src="images/time_slice_vs_sharp.png" width="800"/>

## License

This software is issued under the Apache License Version 2.0.