ROS实验笔记之——event camera产生TS与EM

本博文是本人用event camera实现time surface 以及event map的记录

Feature Extraction

参考：事件相机整理角点检测与跟踪总结 | 码农家园

ESVO

之前博客《ROS学习笔记之——ESVO复现及DAVIS346测试》已经介绍过ESVO了

安装

1.driver的安装，之前已经安装过了，所以这里跳过

2.依赖安装（也装过了～）

而单纯是包esvo_time_surface应该就可以获得time surface 了，看看怎么使用

roslaunch esvo_time_surface stereo_time_surface.launch
roslaunch esvo_time_surface upenn_indoor_flying1.launch

第二句单纯是运行了rosbag的，所以不用看。先打开event camera看看topic

rosrun davis_ros_driver davis_ros_driver 
roslaunch dvs_renderer davis_mono.launch
roslaunch dvs_renderer davis_testing.launch
roslaunch esvo_time_surface testing_stereo_time_surface.launch 

<launch>
  <!-- <rosparam param="/use_sim_time">True</rosparam> -->
   <rosparam param="/use_sim_time">False</rosparam>
  <!-- Set True for all offline experiments, which use simulation time. -->

  <!-- Time Surface (TS) generation -->
  <node name="TimeSurface_left" pkg="esvo_time_surface" type="esvo_time_surface" output="screen">
    <!-- <remap from="events" to="/davis/left/events" /> -->
    <remap from="events" to="/dvs/events" />
    <!-- <remap from="image" to="/davis/left/image_raw" /> -->
     <remap from="image" to="/dvs/image_raw" />
    <!-- <remap from="camera_info" to="/davis/left/camera_info" /> -->
    <remap from="camera_info" to="/davis/camera_info" />
    <remap from="time_surface" to="TS_left" />

    <rosparam command="load" file="$(find esvo_time_surface)/cfg/parameters.yaml" />
  </node>

  <!-- <node name=