ROS1 and ROS2 messages for event based image sensors

Last update: Feb 22, 2022

Comments: 1

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

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.

Owner

Bernd Pfrommer

https://github.com/berndpfrommer/event_array_msgs

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Comments

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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