ROS node for generating Blinking-Chessboard calibration pattern for Event-based Camera(Dynamic Vision Sensor).
An ROS node is provided to generate a blinking chessboard for calibrating the Event-based Camera(Dynamic Vision Sensor). It provides the support of rqt_reconfigure
to control the size and blinking frequency of the chessboard. And provide to save it in .avi
video format.
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Build
If you have not yet compiled the entire repository, clone the entire repository and compile it (skip this step if you have already).
mkdir -p ~/celex_ws/src cd ~/celex_ws/src git clone git@github.com:kehanXue/CeleX5-ROS.git # Or with http: `git clone https://github.com/kehanXue/CeleX5-ROS.git` cd .. rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO catkin_make # Or use `catkin build`
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Run
source ~/celex_ws/devel/setup.bash # Or source setup.zsh when you use zsh rosrun celex5_ros pattern_generator_node # In a new Terminal rosrun rqt_reconfigure rqt_reconfigure # Open rqt_reconfigure to config
Normal operation without error. You can see that a window will pop up showing the blinking chessboard. At this time, you can adjust the parameters of the blinking calibration board through the
rqt_reconfigure
panel:-
square_size
: the length of each side of the squares in a chessboard. In pixels. -
row_corners_num
和col_corners_num
: the number of interior points of the rows and columns of the generated chessboard. -
blinking_fps
: the blinking frequency / frame rate of the chessboard. It is a cycle before one flash and the next flash. -
static_board
: controls whether the checkerboard blinks. -
record_video
: click start to generate the video of blinking chessboard, and click (uncheck) again to stop recording the video. The frequency of the chessboard blinking in the video is consistent with the currentblinking_fps
parameter. Note that adjusting theblinking_fps
in the process of generating video is invalid for the generated video, and doesn't adjust the size of the checkerboard during the video generation processing!The video will be generated under the current application running path:
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