davis346与dvxplorer的对比
davis346+dvxplorer
先编译dvxplorer_ros_driver
catkin build dvxplorer_ros_driver
然后运行看看
roslaunch dvs_renderer dvxplorer_mono.launch
没问题,然后修改该launch文件
<launch>
<!-- camera driver -->
<node name="dvxplorer_ros_driver" pkg="dvxplorer_ros_driver" type="dvxplorer_ros_driver" />
<!-- visualization -->
<node name="dvs_renderer" pkg="dvs_renderer" type="dvs_renderer">
<!-- <param name="display_method" value="grayscale"/> -->
<param name="display_method" value="red-blue"/>
<remap from="events" to="/dvs/events" />
<remap from="camera_info" to="/dvs/camera_info" />
</node>
<!-- display -->
<node name="image_view" pkg="rqt_image_view" type="rqt_image_view">
<remap from="image" to="dvs_rendering"/>
</node>
<!-- configure -->
<node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" />
</launch>
为:
<launch>
<!-- camera driver -->
<node name="dvxplorer_ros_driver" pkg="dvxplorer_ros_driver" type="dvxplorer_ros_driver" >
<param name="bias_sensitivity" value="0"/>
<remap from="events" to="/dvs/events" />
<remap from="image" to="/dvs/image_raw" />
<remap from="/dvs/camera_info" to="camera_info_num" />
</node>
<!-- visualization -->
<node name="dvs_renderer" pkg="dvs_renderer" type="dvs_renderer">
<!-- <param name="display_method" value="grayscale"/> -->
<param name="display_method" value="red-blue"/>
<remap from="events" to="/dvs/events" />
<remap from="camera_info" to="/dvs/camera_info" />
</node>
<!-- display -->
<node name="image_view" pkg="rqt_image_view" type="rqt_image_view">
<remap from="image" to="dvs_rendering"/>
</node>
<!-- configure -->
<!-- <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" /> -->
</launch>
运行
roslaunch evio dvxplorer_testing.launch
即可减少噪声。
而不同的噪声测试的效果如下: