Repository Summary
Checkout URI | https://github.com/ros-event-camera/event_camera_codecs.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2023-11-24 |
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) |
Packages
Name | Version |
---|---|
event_camera_codecs | 1.0.0 |
README
event_camera_codecs
This repository holds code for decoding event_camera_msgs. It builds under both ROS1 and ROS2. You can use this decoder from python via the event_camera_py repository.
Supported platforms
Currently tested on Ubuntu 20.04 under ROS Noetic and ROS2 Galactic and under Ubuntu 22.04 / ROS2 Humble.
How to build
Create a workspace, clone this repo, and use vcs
to pull in the remaining dependencies:
pkg=event_camera_codecs
mkdir -p ~/$pkg/src
cd ~/ws
git clone https://github.com/ros-event-camera/${pkg}.git src/${pkg}
cd src
vcs import < ${pkg}/${pkg}.repos
cd ..
configure and build on ROS1:
catkin config -DCMAKE_BUILD_TYPE=RelWithDebInfo # (optionally add -DCMAKE_EXPORT_COMPILE_COMMANDS=1)
catkin build
configure and build on ROS2:
cd ~/ws
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo # (optionally add -DCMAKE_EXPORT_COMPILE_COMMANDS=1)
To also build the unit tests, add the cmake argument -DEVENT_CAMERA_CODECS_BUILD_TESTS=ON
.
API example
#include <event_camera_codecs/decoder.h>
#include <event_camera_codecs/decoder_factory.h>
using event_camera_codecs::EventPacket;
class MyProcessor : public event_camera_codecs::EventProcessor
{
public:
inline void eventCD(uint64_t, uint16_t ex, uint16_t ey, uint8_t polarity) override {
// do useful stuff here
}
void eventExtTrigger(uint64_t, uint8_t, uint8_t) override {}
void finished() override{}; // called after no more events decoded in this packet
void rawData(const char *, size_t) override{}; // passthrough of raw data
};
MyProcessor processor;
// the decoder factory method is templated on the event processor
// to permit inlining of methods like eventCD() above.
event_camera_codecs::DecoderFactory<EventPacket, MyProcessor> decoderFactory;
// to get callbacks into MyProcessor, feed the message buffer
// into the decoder like so
void eventMsg(const event_camera_codecs::EventPacketConstSharedPtr & msg) {
// will create a new decoder on first call, from then on returns existing one
auto decoder = decoderFactory.getInstance(*msg);
if (!decoder) { // msg->encoding was invalid
return;
}
// the decode() will trigger callbacks to processor
decoder->decode(*msg, &processor);
}
/* To synchronize with frame based sensors it is useful to play back
until a frame boundary is reached. The interface decodeUntil() is provided
for this purpose. In the sample code below.
frameTimes is an ordered queue of frame times.
*/
void eventMsg2(const event_camera_codecs::EventPacketConstSharedPtr & msg) {
auto decoder = decoderFactory.getInstance(*msg);
uint64_t nextTime{0};
// The loop will exit when all events in msg have been processed
// or there are no more frame times available
while (!frameTimes.empty() &&
decoder->decodeUntil(*msg, &processor, frameTimes.front(), &nextTime)) {
// use loop in case multiple frames fit inbetween two events
while (!frameTimes.empty() && frameTimes.front() <= nextTime) {
// processFrameHere()
frameTimes.pop();
}
}
}
Tools
Performance measurement of decoder
ROS1:
# decode a raw file and measure performance
rosrun event_camera_codecs codec_perf -i foo.raw
ROS2 examples:
# decode a raw file and measure performance
ros2 run event_camera_codecs codec_perf -i foo.raw
License
This software is issued under the Apache License Version 2.0.
CONTRIBUTING
Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
Contributors must sign-off each commit by adding a Signed-off-by: ...
line to commit messages to certify that they have the right to submit
the code they are contributing to the project according to the
Developer Certificate of Origin (DCO).
Repository Summary
Checkout URI | https://github.com/ros-event-camera/event_camera_codecs.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2023-11-24 |
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) |
Packages
Name | Version |
---|---|
event_camera_codecs | 1.0.0 |
README
event_camera_codecs
This repository holds code for decoding event_camera_msgs. It builds under both ROS1 and ROS2. You can use this decoder from python via the event_camera_py repository.
Supported platforms
Currently tested on Ubuntu 20.04 under ROS Noetic and ROS2 Galactic and under Ubuntu 22.04 / ROS2 Humble.
How to build
Create a workspace, clone this repo, and use vcs
to pull in the remaining dependencies:
pkg=event_camera_codecs
mkdir -p ~/$pkg/src
cd ~/ws
git clone https://github.com/ros-event-camera/${pkg}.git src/${pkg}
cd src
vcs import < ${pkg}/${pkg}.repos
cd ..
configure and build on ROS1:
catkin config -DCMAKE_BUILD_TYPE=RelWithDebInfo # (optionally add -DCMAKE_EXPORT_COMPILE_COMMANDS=1)
catkin build
configure and build on ROS2:
cd ~/ws
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo # (optionally add -DCMAKE_EXPORT_COMPILE_COMMANDS=1)
To also build the unit tests, add the cmake argument -DEVENT_CAMERA_CODECS_BUILD_TESTS=ON
.
API example
#include <event_camera_codecs/decoder.h>
#include <event_camera_codecs/decoder_factory.h>
using event_camera_codecs::EventPacket;
class MyProcessor : public event_camera_codecs::EventProcessor
{
public:
inline void eventCD(uint64_t, uint16_t ex, uint16_t ey, uint8_t polarity) override {
// do useful stuff here
}
void eventExtTrigger(uint64_t, uint8_t, uint8_t) override {}
void finished() override{}; // called after no more events decoded in this packet
void rawData(const char *, size_t) override{}; // passthrough of raw data
};
MyProcessor processor;
// the decoder factory method is templated on the event processor
// to permit inlining of methods like eventCD() above.
event_camera_codecs::DecoderFactory<EventPacket, MyProcessor> decoderFactory;
// to get callbacks into MyProcessor, feed the message buffer
// into the decoder like so
void eventMsg(const event_camera_codecs::EventPacketConstSharedPtr & msg) {
// will create a new decoder on first call, from then on returns existing one
auto decoder = decoderFactory.getInstance(*msg);
if (!decoder) { // msg->encoding was invalid
return;
}
// the decode() will trigger callbacks to processor
decoder->decode(*msg, &processor);
}
/* To synchronize with frame based sensors it is useful to play back
until a frame boundary is reached. The interface decodeUntil() is provided
for this purpose. In the sample code below.
frameTimes is an ordered queue of frame times.
*/
void eventMsg2(const event_camera_codecs::EventPacketConstSharedPtr & msg) {
auto decoder = decoderFactory.getInstance(*msg);
uint64_t nextTime{0};
// The loop will exit when all events in msg have been processed
// or there are no more frame times available
while (!frameTimes.empty() &&
decoder->decodeUntil(*msg, &processor, frameTimes.front(), &nextTime)) {
// use loop in case multiple frames fit inbetween two events
while (!frameTimes.empty() && frameTimes.front() <= nextTime) {
// processFrameHere()
frameTimes.pop();
}
}
}
Tools
Performance measurement of decoder
ROS1:
# decode a raw file and measure performance
rosrun event_camera_codecs codec_perf -i foo.raw
ROS2 examples:
# decode a raw file and measure performance
ros2 run event_camera_codecs codec_perf -i foo.raw
License
This software is issued under the Apache License Version 2.0.
CONTRIBUTING
Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
Contributors must sign-off each commit by adding a Signed-off-by: ...
line to commit messages to certify that they have the right to submit
the code they are contributing to the project according to the
Developer Certificate of Origin (DCO).
Repository Summary
Checkout URI | https://github.com/ros-event-camera/event_camera_codecs.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2023-11-24 |
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) |
Packages
Name | Version |
---|---|
event_camera_codecs | 1.0.0 |
README
event_camera_codecs
This repository holds code for decoding event_camera_msgs. It builds under both ROS1 and ROS2. You can use this decoder from python via the event_camera_py repository.
Supported platforms
Currently tested on Ubuntu 20.04 under ROS Noetic and ROS2 Galactic and under Ubuntu 22.04 / ROS2 Humble.
How to build
Create a workspace, clone this repo, and use vcs
to pull in the remaining dependencies:
pkg=event_camera_codecs
mkdir -p ~/$pkg/src
cd ~/ws
git clone https://github.com/ros-event-camera/${pkg}.git src/${pkg}
cd src
vcs import < ${pkg}/${pkg}.repos
cd ..
configure and build on ROS1:
catkin config -DCMAKE_BUILD_TYPE=RelWithDebInfo # (optionally add -DCMAKE_EXPORT_COMPILE_COMMANDS=1)
catkin build
configure and build on ROS2:
cd ~/ws
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo # (optionally add -DCMAKE_EXPORT_COMPILE_COMMANDS=1)
To also build the unit tests, add the cmake argument -DEVENT_CAMERA_CODECS_BUILD_TESTS=ON
.
API example
#include <event_camera_codecs/decoder.h>
#include <event_camera_codecs/decoder_factory.h>
using event_camera_codecs::EventPacket;
class MyProcessor : public event_camera_codecs::EventProcessor
{
public:
inline void eventCD(uint64_t, uint16_t ex, uint16_t ey, uint8_t polarity) override {
// do useful stuff here
}
void eventExtTrigger(uint64_t, uint8_t, uint8_t) override {}
void finished() override{}; // called after no more events decoded in this packet
void rawData(const char *, size_t) override{}; // passthrough of raw data
};
MyProcessor processor;
// the decoder factory method is templated on the event processor
// to permit inlining of methods like eventCD() above.
event_camera_codecs::DecoderFactory<EventPacket, MyProcessor> decoderFactory;
// to get callbacks into MyProcessor, feed the message buffer
// into the decoder like so
void eventMsg(const event_camera_codecs::EventPacketConstSharedPtr & msg) {
// will create a new decoder on first call, from then on returns existing one
auto decoder = decoderFactory.getInstance(*msg);
if (!decoder) { // msg->encoding was invalid
return;
}
// the decode() will trigger callbacks to processor
decoder->decode(*msg, &processor);
}
/* To synchronize with frame based sensors it is useful to play back
until a frame boundary is reached. The interface decodeUntil() is provided
for this purpose. In the sample code below.
frameTimes is an ordered queue of frame times.
*/
void eventMsg2(const event_camera_codecs::EventPacketConstSharedPtr & msg) {
auto decoder = decoderFactory.getInstance(*msg);
uint64_t nextTime{0};
// The loop will exit when all events in msg have been processed
// or there are no more frame times available
while (!frameTimes.empty() &&
decoder->decodeUntil(*msg, &processor, frameTimes.front(), &nextTime)) {
// use loop in case multiple frames fit inbetween two events
while (!frameTimes.empty() && frameTimes.front() <= nextTime) {
// processFrameHere()
frameTimes.pop();
}
}
}
Tools
Performance measurement of decoder
ROS1:
# decode a raw file and measure performance
rosrun event_camera_codecs codec_perf -i foo.raw
ROS2 examples:
# decode a raw file and measure performance
ros2 run event_camera_codecs codec_perf -i foo.raw
License
This software is issued under the Apache License Version 2.0.
CONTRIBUTING
Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
Contributors must sign-off each commit by adding a Signed-off-by: ...
line to commit messages to certify that they have the right to submit
the code they are contributing to the project according to the
Developer Certificate of Origin (DCO).