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event_camera_msgs package from event_camera_msgs repoevent_camera_msgs |
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Package Summary
Tags | No category tags. |
Version | 1.1.2 |
License | Apache-2 |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-event-camera/event_camera_msgs.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2023-08-23 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Bernd Pfrommer
Authors
ROS package with messages for event based cameras
This package has definitions for ROS / ROS2 messages created by event based vision sensors. The events are kept in a compact binary format to avoid slow serialization and deserialization during recording.
Event camera messages can be visualized with the event_camera_renderer and converted to other message formats using event_camera_tools.
For encoding and decoding of messages in C++ look at event_camera_codecs. The event_camera_py package provides a module for fast and convenient loading of events in python.
Messages
EventPacket
The EventPacket message contains a packet (array) of events in binary format. Several different encoding formats are supported, but use of the older, deprecated ones is strongly discouraged.
Description of the encodings:
-
evt3
: raw Metavision evt3 data as it comes from the SDK. For the details of the encoding scheme refer to the Prophesee Metavision documents.The
time_base
field is not used and its content is undefined. Recovery of sensor time requires decoding the data packets. For more about time stamps see documentation in event_camera_codecs. -
mono
(deprecated): messages from monochrome cameras such as the DVS and Prophesee Metavision cameras. Encodes on 64 bit boundaries as follows:bits interpretation 63 polarity: ON event = 1, OFF event = 0 48-62 y (15 bits) 32-48 x (16 bits) 0-32 dt (32 bits) To recover the original sensor time, add the delta
dt
to the messagetime_base
field. To recover the best estimate ROS sensor time stamp adddt
to the header stamp. -
trigger
(deprecated): external trigger messages from e.g. the Prophesee Metavision cameras.bits interpretation 63 polarity: ON event = 1, OFF event = 0 33-62 unused (31 bits) 0-32 dt (32 bits) To recover the original sensor time add the delta
dt
to the messagetime_base
field. To recover the best estimate ROS sensor time stamp adddt
to the header stamp.
License
This package is released under the Apache-2 license.
Wiki Tutorials
Source Tutorials
Package Dependencies
Deps | Name | |
---|---|---|
1 | message_generation | |
2 | rosidl_default_generators | |
1 | catkin | |
1 | ament_cmake | |
1 | ros_environment | |
2 | rosidl_default_runtime | |
1 | ament_lint_auto | |
1 | ament_lint_common | |
1 | message_runtime | |
2 | std_msgs |
System Dependencies
Launch files
Services
Plugins
Recent questions tagged event_camera_msgs at answers.ros.org
![]() |
event_camera_msgs package from event_camera_msgs repoevent_camera_msgs |
|
Package Summary
Tags | No category tags. |
Version | 1.1.2 |
License | Apache-2 |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-event-camera/event_camera_msgs.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2023-08-23 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Bernd Pfrommer
Authors
ROS package with messages for event based cameras
This package has definitions for ROS / ROS2 messages created by event based vision sensors. The events are kept in a compact binary format to avoid slow serialization and deserialization during recording.
Event camera messages can be visualized with the event_camera_renderer and converted to other message formats using event_camera_tools.
For encoding and decoding of messages in C++ look at event_camera_codecs. The event_camera_py package provides a module for fast and convenient loading of events in python.
Messages
EventPacket
The EventPacket message contains a packet (array) of events in binary format. Several different encoding formats are supported, but use of the older, deprecated ones is strongly discouraged.
Description of the encodings:
-
evt3
: raw Metavision evt3 data as it comes from the SDK. For the details of the encoding scheme refer to the Prophesee Metavision documents.The
time_base
field is not used and its content is undefined. Recovery of sensor time requires decoding the data packets. For more about time stamps see documentation in event_camera_codecs. -
mono
(deprecated): messages from monochrome cameras such as the DVS and Prophesee Metavision cameras. Encodes on 64 bit boundaries as follows:bits interpretation 63 polarity: ON event = 1, OFF event = 0 48-62 y (15 bits) 32-48 x (16 bits) 0-32 dt (32 bits) To recover the original sensor time, add the delta
dt
to the messagetime_base
field. To recover the best estimate ROS sensor time stamp adddt
to the header stamp. -
trigger
(deprecated): external trigger messages from e.g. the Prophesee Metavision cameras.bits interpretation 63 polarity: ON event = 1, OFF event = 0 33-62 unused (31 bits) 0-32 dt (32 bits) To recover the original sensor time add the delta
dt
to the messagetime_base
field. To recover the best estimate ROS sensor time stamp adddt
to the header stamp.
License
This package is released under the Apache-2 license.
Wiki Tutorials
Source Tutorials
Package Dependencies
Deps | Name | |
---|---|---|
1 | message_generation | |
2 | rosidl_default_generators | |
1 | catkin | |
1 | ament_cmake | |
1 | ros_environment | |
2 | rosidl_default_runtime | |
1 | ament_lint_auto | |
1 | ament_lint_common | |
1 | message_runtime | |
2 | std_msgs |