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.

Changelog for package event_camera_renderer

3.0.0 (2025-12-06)

• updated license string in package.xml
• better error message when no events are received
• need include for queue
• removed remaining ROS1 stuff (except for ros_compat)
• handle arbitrarily fine time slices now
• eventExtTrigger() returns true now
• This pull request resolves a build failure caused by an invalid-constexpr error on modern compilers (like AppleClang).
• Contributors: Bernd Pfrommer, Dhruv Patel

2.0.2 (2025-09-01)

• updated workflow
• support new image transport node interface
• Contributors: Bernd Pfrommer

2.0.1 (2025-07-29)

• remove old ROS2 from CI
• remove ROS1 from CI
• support new transport api
• bumped cmake required
• Contributors: Bernd Pfrommer

2.0.0 (2025-05-22)

1.0.4 (2024-05-29)

• fix linter errors on noble
• updated build instructions
• Contributors: Bernd Pfrommer

1.0.3 (2024-02-04)

• permit variable sensor size
• change formatting of python files to make flake8 linter happy
• ignore pyc files
• Contributors: Bernd Pfrommer

1.0.2 (2023-09-21)

• added dependency on ament_cmake_clang_format
• Contributors: Bernd Pfrommer

1.0.1 (2023-09-19)

• Initial release
• Contributors: Bernd Pfrommer