ROS1 and ROS2 messages for event based image sensors

ROS package with array messages for event based cameras

This package has definitions for messages created by event based sensors. The events are kept in a compact binary format to avoid slow serialization and deserialization.

Encoding schemes

  • mono: messages from monochrome cameras such as the DVS and Prophesee Metavision cameras with ON and OFF events on Encodes on 64 bit boundaries as follows:

    bits interpretation
    63 polarity: ON event = 1, OFF event = 0
    48-62 y (15 bits)
    32-48 x (16 bits)
    0-32 dt (32 bits) to be added to time base to get full time

License

This package is released under the Apache-2 license.

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Comments
  • Why are the events of type uint8[] and not of type uint64[]?

    Why are the events of type uint8[] and not of type uint64[]?

    First of all thanks a lot for your work on the metavision_ros_driver.

    Since I read here that you wrote:

    I ended up squeezing all event data into a uint64 field and then essentially packing/unpacking manually into that 64bit space

    I'm wondering why the events are stored in uint8[] and not in a uint64[]?

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