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Prophesee ROS Stereo Driver

Event-based vision by Prophesee

Note that this repository is experimental (deprecated since Metavision SDK >v2.1.0).

This metapackage contains ROS stereo driver based on a wrapper around Metavision SDK Driver Module.

It offers the follosing ROS nodes:

  • prophesee_ros_stereo_publisher - publishing data from Prophesee sensors to ROS topics
  • prophesee_ros_stereo_viewer - listening data from ROS topics and visualizing them on a screen

Supported Prophesee EVK:

  • stereo event-based only

Installation

First of all, install Metavision SDK following these instructions.

Then, compile the wrapper code:

  • Clone the source to your catkin workspace ( create a workspace, if needed)

        cd catkin_ws/src
    git clone https://github.com/prophesee-ai/prophesee_ros_wrapper.git
    git clone https://github.com/prophesee-ai/prophesee_ros_stereo_driver.git
    cd ..

  • Compile

        catkin_make

  • Source the workspace

        source ~/catkin_ws/devel/setup.bash

Getting Started

Data publisher

To publish data from Prophesee stereo camera to ROS topics:

  • Update serial numbers of your stereo cameras in prophesee_stereo_publisher.launch file (if not done yet)

    • Find the serial numbers of your cameras
      • either on the camera itself (only the last digits are given, therefore, complete them with zeros up to 8 digits)
      • or via metavision_platform_info tool
    • Update the serial numbers in prophesee_stereo_publisher.launch file using any editor

  • launch the Stereo Publisher

      roslaunch prophesee_ros_stereo_driver prophesee_stereo_publisher.launch

The following topics will be published:

  • /prophesee/camera_left/camera_info - info about the left camera
  • /prophesee/camera_left/cd_events_buffer - buffer of CD (Change Detection) events from the left camera
  • /prophesee/camera_right/camera_info - info about the right camera
  • /prophesee/camera_right/cd_events_buffer - buffer of CD (Change Detection) events from the right camera

Data viewer

To visualize data from ROS topics:

      roslaunch prophesee_ros_stereo_driver prophesee_stereo_viewer.launch

Contact

The code is open to contributions, thus do not hesitate to propose pull requests or create/fix bug reports. In case of any issue, please add it here on GitHub. For any other information contact us here