How to use DAVIS 346 / DAVIS 346 이벤트 카메라 사용법

* Environment

Ubuntu 20.04

ROS noetic

 

* Product

DAVIS 346 color

https://shop.inivation.com/collections/davis346/products/davis346-color-academic-rate

DAVIS346 COLOR - ACADEMIC RATE

 

1. Install Dependency Package

sudo apt-get install ros-noetic-camera-info-manager
sudo apt-get install ros-noetic-image-view

# add repository
sudo add-apt-repository ppa:inivation-ppa/inivation
sudo apt-get update
sudo apt-get install libcaer-dev

sudo apt-get install python-catkin-tools

 

https://github.com/uzh-rpg/rpg_dvs_ros

GitHub - uzh-rpg/rpg_dvs_ros: ROS packages for DVS

https://inivation.gitlab.io/dv/dv-docs/docs/getting-started.html#ubuntu-linux

Get Started · DV

2. Create workspace and download source

mkdir -p event_ws/src
cd event_ws
catkin config --init --mkdirs --extend /opt/ros/noetic --merge-devel --cmake-args -DCMAKE_BUILD_TYPE=Release

 

cd event_ws/src
git clone https://github.com/catkin/catkin_simple.git

git clone https://github.com/uzh-rpg/rpg_dvs_ros.git

 

3. Build

catkin build davis_ros_driver

catkin build dvs_renderer

# source
source event_ws/devel/setup.bash

4. Add yaml file about camera info

 

mkdir home/[your_computer_name]/.ros/camera_info
gedit home/[your_computer_name]/.ros/camera_info/DAVIS-xxxxxxxx.yaml

Write below to your yaml file

image_width: 346
image_height: 260
camera_name: DAVIS-xxxxxxxx # your DAVIS camera name
camera_matrix:
 rows: 3
 cols: 3
 data: [274.6631, 0, 168.47, 0, 274.59, 141.8423, 0, 0, 1]
distortion_model: plumb_bob
distortion_coefficients:
 rows: 1
 cols: 5
 data: [-0.4043, 0.2296, 0.0003377, 0.000391, -0.080294]
rectification_matrix:
 rows: 3
 cols: 3
 data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
projection_matrix:
 rows: 3
 cols: 4
 data: [1, 0, 1, 0, 0, 1, 1, 0, 0, 0, 1, 0]

https://github.com/uzh-rpg/rpg_dvs_ros/issues/130

[ WARN] [1641968634.644978988]: Camera calibration file /home/zfl/.ros/camera_info/DAVIS-00000554.yaml not found. · Issue #130

 

 

5. Run

roslaunch dvs_renderer davis_color.launch

Result image

 

* Reference

 

- github page for event camera

https://github.com/uzh-rpg/event-based_vision_resources#devices

GitHub - uzh-rpg/event-based_vision_resources

 

* Event camera 관련 내용 정리된 사이트

https://taeyoung96.github.io/research/EventSurvey/

[Paper Review] Event camera survey 요약 (1)

https://hellomuzi.tistory.com/66

이벤트 카메라라는 새로운 타입의 카메라가 있대요 (feat. 한 주 회고)