# EMVS

**Repository Path**: stancy_sun/emvs

## Basic Information

- **Project Name**: EMVS
- **Description**: 基于EVO（https://github.com/uzh-rpg/rpg_dvs_evo_open）实现的事件相机实时半稠密建图
- **Primary Language**: C++
- **License**: GPL-3.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2022-01-30
- **Last Updated**: 2022-01-30

## Categories & Tags

**Categories**: Uncategorized

**Tags**: Event-Camera

## README

# emvs

#### 介绍
基于EVO实现的事件相机实时半稠密建图，项目地址：https://github.com/uzh-rpg/rpg_dvs_evo_open

#### 软件架构
![](./src/emvs/pics/rosgraph.png)


#### 安装教程

依赖安装可以参考EVO开源代码，这里主要用到了：

- catkin_simple
- cmake_external_project_catkin
- eigen_catkin
- eigen_checks
- gflags_catkin
- glog_catkin
- minkindr
- minkindr_ros
- rpg_dvs_ros

catkin build dvs_mapping即可

#### 使用说明

以upenn室内飞行数据集https://daniilidis-group.github.io/mvsec/download/#ros-bags为例，

`roslaunch dvs_mapping upenn.launch`

`rosbag play indoor_flying1.bag` 

或

`rosbag play indoor_flying3.bag` 

![](./src/emvs/pics/rviz.png)