event_camera_codecs repository

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).