Cedric Scheerlinck

This package was developed using ROS version Kinetic (Ubuntu 16.04). It can be run in real-time using a live DVS with the RPG Event Camera Driver, or from pre-recorded rosbag data.

The source code is released under the MIT License.

If you use this work in an academic context, please cite the following work:

• Cedric Scheerlinck, Nick Barnes, Robert Mahony, "Continuous-time Intensity Estimation Using Event Cameras", Asian Conference on Computer Vision (ACCV), Perth, 2018. (PDF, BibTex)

Please replace <YOUR VERSION> with your ROS version (e.g. kinetic).

Install libusb, catkin tools, vcstool and autoreconf:

sudo apt install libusb-1.0-0-dev python-catkin-tools python-vcstool dh-autoreconf

Install ROS dependencies:

sudo apt install ros-<YOUR VERSION>-camera-info-manager ros-<YOUR VERSION>-image-view

Create a new catkin workspace if needed:

mkdir -p ~/catkin_ws/src && cd ~/catkin_ws/
catkin config --init --mkdirs --extend /opt/ros/<YOUR VERSION> --merge-devel --cmake-args -DCMAKE_BUILD_TYPE=Release

Clone this repository:

cd src/
git clone https://github.com/cedric-scheerlinck/dvs_image_reconstruction.git

Clone dependencies:

vcs-import < dvs_image_reconstruction/dependencies.yaml

Add udev rule to run live DVS (see RPG Event Camera Driver):

cd rpg_dvs_ros/libcaer_catkin/
sudo ./install.sh

Build the packages:

catkin build davis_ros_driver complementary_filter pure_event_reconstruction
source ~/catkin_ws/devel/setup.bash

Datasets can be found here.

https://youtu.be/bZ0ZKido0Ag