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Modify for event_integration #2

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Modify for event_integration #2

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6 changes: 3 additions & 3 deletions davis_ros_driver/include/davis_ros_driver/driver.h
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Original file line number Diff line number Diff line change
@@ -1,4 +1,6 @@
// This file is part of DVS-ROS - the RPG DVS ROS Package
// modified to publish events integrated into event frames
// first two channels representing positive and negative, third channel is zero

#pragma once

Expand All @@ -11,8 +13,6 @@
#include <boost/date_time/posix_time/posix_time.hpp>

// messages
#include <dvs_msgs/Event.h>
#include <dvs_msgs/EventArray.h>
#include <std_msgs/Empty.h>
#include <std_msgs/Time.h>
#include <sensor_msgs/Imu.h>
Expand Down Expand Up @@ -50,7 +50,7 @@ class DavisRosDriver {
const uint32_t current_exposure) const;

ros::NodeHandle nh_;
ros::Publisher event_array_pub_;
ros::Publisher event_frame_pub_;
ros::Publisher camera_info_pub_;
ros::Publisher imu_pub_;
ros::Publisher image_pub_;
Expand Down
54 changes: 24 additions & 30 deletions davis_ros_driver/src/driver.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,6 @@
// This file is part of DVS-ROS - the RPG DVS ROS Package
// modified to publish events integrated into event frames
// first two channels representing positive and negative, third channel is zero

#include "davis_ros_driver/driver.h"
#include "davis_ros_driver/driver_utils.h"
Expand Down Expand Up @@ -51,7 +53,7 @@ DavisRosDriver::DavisRosDriver(ros::NodeHandle & nh, ros::NodeHandle nh_private)
if (ns == "/")
ns = "/dvs";

event_array_pub_ = nh_.advertise<dvs_msgs::EventArray>(ns + "/events", 10);
event_frame_pub_ = nh_.advertise<sensor_msgs::Image>(ns + "/event_frame", 1);
camera_info_pub_ = nh_.advertise<sensor_msgs::CameraInfo>(ns + "/camera_info", 1);
imu_pub_ = nh_.advertise<sensor_msgs::Imu>(ns + "/imu", 10);
image_pub_ = nh_.advertise<sensor_msgs::Image>(ns + "/image_raw", 1);
Expand Down Expand Up @@ -635,7 +637,13 @@ void DavisRosDriver::readout()

boost::posix_time::ptime next_send_time = boost::posix_time::microsec_clock::local_time();

dvs_msgs::EventArrayPtr event_array_msg;
sensor_msgs::Image event_frame_msg;
event_frame_msg.encoding = "rgb8";
event_frame_msg.width = davis_info_.dvsSizeX;
event_frame_msg.height = davis_info_.dvsSizeY;
event_frame_msg.step = event_frame_msg.width * 3;
event_frame_msg.data.resize(event_frame_msg.height * event_frame_msg.step);
std::fill(event_frame_msg.data.begin(), event_frame_msg.data.end(), 0);

while (running_)
{
Expand All @@ -662,12 +670,6 @@ void DavisRosDriver::readout()
// Packet 0 is always the special events packet for DVS128, while packet is the polarity events packet.
if (type == POLARITY_EVENT)
{
if (!event_array_msg)
{
event_array_msg = dvs_msgs::EventArrayPtr(new dvs_msgs::EventArray());
event_array_msg->height = davis_info_.dvsSizeY;
event_array_msg->width = davis_info_.dvsSizeX;
}

caerPolarityEventPacket polarity = (caerPolarityEventPacket) packetHeader;

Expand All @@ -677,39 +679,31 @@ void DavisRosDriver::readout()
// Get full timestamp and addresses of first event.
caerPolarityEvent event = caerPolarityEventPacketGetEvent(polarity, j);

dvs_msgs::Event e;
e.x = caerPolarityEventGetX(event);
e.y = caerPolarityEventGetY(event);
e.ts = reset_time_
+ ros::Duration().fromNSec(caerPolarityEventGetTimestamp64(event, polarity) * 1000);
e.polarity = caerPolarityEventGetPolarity(event);
int e_x = caerPolarityEventGetX(event);
int e_y = caerPolarityEventGetY(event);
bool e_polarity = caerPolarityEventGetPolarity(event);
int pos = e_y * event_frame_msg.step + e_x * 3 + e_polarity;
Comment on lines +682 to +685
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Maybe move the variable declarations outside of the loop to the beginning of the method? Not sure if it will make a big difference as the compiler should be smart enough to optimize.


if(j == 0)
{
event_array_msg->header.stamp = e.ts;
}
if (event_frame_msg.data[pos] < 255) // prevent overflow
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Should there be an else statement with some warning in case of Overflow happening.

event_frame_msg.data[pos]++; // feed this into model
// event_frame_msg.data[pos] = 255 // use this for display purpose (visualize)
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@aamini use this line if you want to visualize the event input at the same time. This doesn't influence the event+RGB model, but it may mess up the old event model that takes in normalized event_frames rather than one-hot event_frames.


event_array_msg->events.push_back(e);
if (j == 0)
event_frame_msg.header.stamp = reset_time_
+ ros::Duration().fromNSec(caerPolarityEventGetTimestamp64(event, polarity) * 1000);
}

// throttle event messages
// throttle event messages NOTE: WE DON'T CARE ABOUT max_event
if (boost::posix_time::microsec_clock::local_time() > next_send_time ||
current_config_.streaming_rate == 0 ||
(current_config_.max_events != 0 && event_array_msg->events.size() > current_config_.max_events)
)
current_config_.streaming_rate == 0)
{
event_array_pub_.publish(event_array_msg);
event_frame_pub_.publish(event_frame_msg);
std::fill(event_frame_msg.data.begin(), event_frame_msg.data.end(), 0);

if (current_config_.streaming_rate > 0)
{
next_send_time += delta_;
}
if (current_config_.max_events != 0 && event_array_msg->events.size() > current_config_.max_events)
{
next_send_time = boost::posix_time::microsec_clock::local_time() + delta_;
}

event_array_msg.reset();
}

if (camera_info_manager_->isCalibrated())
Expand Down