The ROS package for CeleX™ CeleX5-MIPI Dynamic Vision Sensor.
This repository provides a complete ROS example of the CeleX5-MP series Event-based Camera). You can freely configure and output multiple channels of data (raw event data, IMU data, grayscale frames, optical flow information, etc.) according to your needs, and provide the rqt_reconfigure panel to support dynamic parameter configuration.
Currently only tested on CeleX5-MIPI products. Other series of CeleX5 are not tested because I have no such equipments.
CeleX-5 is a multifunctional smart image sensor with 1Mega-pixels(1280*800) and some additional features integrating on-chip (such as on-chip optical-flow). The sensor supports several different output formats: pure binary address-events, address-events with either pixel intensity information or timing information. In addition, the readout scheme of the sensor could either be asynchronous data stream or synchronous full frames. Different combinations of the output format and readout scheme lead to great flexibility of this sensor, which supports 6 separate operation modes in total (but one of them doesn't provide corresponding interface in SDK). To further meet the requirements of different applications, the sensor could also be configured into a loop-mode, in which it could automatically switch among three separate modes.
ROS is a very popular experimental platform, which provides rich development interfaces and resources. But in the official open source repository of CeleX ™, the examples under ROS are very incomplete:
- The official SDK version has been updated to v2.0, however the version supported by its ROS-Sample remains at v1.6.
- The official ROS-Sample is just a simple example. It only outputs an image in a working mode. It does not provide a comprehensive and convenient parameter configuration function and interface.
Therefore, I have developed a more comprehensive CeleX5-ROS package.
It is recommended that you read the concept section of the CeleX_SDK_Getting_Started_Guide and CeleX5_SDK_Reference documentation provided by CeleX carefully before using it, and have a general understanding of basic terminology.
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Based on the dynamic parameter reconfiguration mechanism provided by
ddynamic_reconfigure, this ROS sample provides the interface interface of CeleX5 parameters configuration, covering almost all parameters. You can also freely configure the data you want to output and its fps.
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Currently supports five working modes of CeleX5-MIPI:
Sensor Mode Data Types Output by SDK Full-Picture Mode Full Pic Buffer/Mat (traditional grayscale image frames) Event Off-Pixel Timestamp Mode Event Binary Pic Buffer/Mat
Event Denoised Pic Buffer/Mat
Event Count Pic Buffer/Mat
Event Vector<row, col, off-pixel timestamp>Event In-Pixel Timestamp Mode Event Optical-flow Pic Buffer/Mat
Event Binary Pic Buffer/Mat
Event Vector<row, col, in-pixel timestamp, off-pixel
timestamp>Event Intensity Mode Event Binary Pic Buffer/Mat
Event Gray Pic Buffer/Mat
Event Count Pic Buffer/Mat
Event Accumulated Pic Buffer/Mat
Event Superimposed Pic Buffer/Mat
Event Vector<row, col, brightness, polarity, off-pixel
timestamp>Optical-Flow Mode Event Optical-flow Pic Buffer/Mat
Event Optical-flow Direction Pic Buffer/Mat
Event Optical-flow Speed Pic Buffer/Mat
Event Binary Pic Buffer/Mat -
Support loop_mode mode, which can switch between three modes.
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The source code of the official SDK was added to the project (so there is no need to separately compile the official SDK in advance and put it in the specified path), and fixed the problem of the fixed path to load the camera cfg file (cfg_mp/cfg_mp_wire) in the official SDK, and kept the previous SDK version compatible.
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(The provided
nodeletversion can make the implementation achieve zero-copy consumption in the case of large amount of data. But there are still bugs, see the end of the article.)
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Build
mkdir -p ~/celex_ws/src cd ~/celex_ws/src git clone git@github.com:kehanXue/CeleX5-ROS.git git submodule update --init --recursive # Or with http: `git clone https://github.com/kehanXue/CeleX5-ROS.git` cd .. rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO catkin_make # Or use `catkin build`
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Create the udev rules to solve the permission denied problem when read/write from a usb device:
cd ~/celex_ws/src/CeleX5-ROS/celex5_ros/scripts chmod +x ./create_udev_rules.sh ./create_udev_rules.sh
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Run
First plug the sensor into your computer.
source ~/celex_ws/devel/setup.bash # Or source setup.zsh when you use zsh roslaunch celex5_ros celex5_ros_node.launch # In a new Terminal rosrun rqt_reconfigure rqt_reconfigure # Open rqt_reconfigure to config
If the program runs without error, you have run successfully. Use
rostopic listto see published topics, and userivzorimage_viewto subscribe to corresponding image topics to see published images. Whether to publish data to an image topic is determined by both the whether display parameter configuration and the sensor current working mode.$ rostopic list /celex5_mipi/display/accumulated_img/camera_info /celex5_mipi/display/accumulated_img/raw_image /celex5_mipi/display/binary_img/camera_info /celex5_mipi/display/binary_img/raw_image /celex5_mipi/display/count_img/camera_info /celex5_mipi/display/count_img/raw_image /celex5_mipi/display/denoised_binary_img/camera_info /celex5_mipi/display/denoised_binary_img/raw_image /celex5_mipi/display/full_frame_img/camera_info /celex5_mipi/display/full_frame_img/raw_image /celex5_mipi/display/gray_img/camera_info /celex5_mipi/display/gray_img/raw_image /celex5_mipi/display/in_pixel_img/camera_info /celex5_mipi/display/in_pixel_img/raw_image /celex5_mipi/display/optical_flow_direction_img/camera_info /celex5_mipi/display/optical_flow_direction_img/raw_image /celex5_mipi/display/optical_flow_img/camera_info /celex5_mipi/display/optical_flow_img/raw_image /celex5_mipi/display/optical_flow_speed_img/camera_info /celex5_mipi/display/optical_flow_speed_img/raw_image /celex5_mipi/display/parameter_descriptions /celex5_mipi/display/parameter_updates /celex5_mipi/display/superimposed_img/camera_info /celex5_mipi/display/superimposed_img/raw_image /celex5_mipi/events /celex5_mipi/imu_data /celex5_mipi/polarity_img/camera_info /celex5_mipi/polarity_img/raw_image /celex5_mipi/sensor/parameter_descriptions /celex5_mipi/sensor/parameter_updates /rosout /rosout_agg
Topic of raw events data:
/celex5_mipi/eventsTopic of imu data:
/celex5_mipi/imu_data. Note that the ROS message type of imu topic is different from the standard IMU message type (sensor_msgs/Imu) in ROS due to the way of obtaining the raw imu data of CeleX5View an image via
image_view:rosrun image_view image_view image:=/celex5_mipi/display/binary_img/raw_image
After successfully running through the above steps, it was used by configuring parameters in rqt_reconfigure.
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Obtain the Polarized Event Frame and Superimposed Frame (superimposes event binary picture onto event accumulated picture) in the Event Intensity Mode:
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The Full-frame Optical-flow Frame, the Speed Frame and Direction Frame (each pixel calculated on the optical flow raw frame) when in Optical-flow Mode.
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Work in loop mode, loop in three working modes (Full-Picture Mode, Event Off-Pixel Timestamp Mode, Optical-flow Mode). Pictures from left to right, top to bottom: original Binary Event Frame, Optical-flow Frame and Traditional Image Gray Frame):
- The implementation of the Nodelet interface still has problems (the ros node version has no problem). During the process of loading the camera's parameter file through the nodelet, parsed xml files will be garbled. I haven't found the problem for a long time. If you provide suggestions, I will be very grateful.
- Regarding the
Multi_Read_Optical_Flow_Modemode in the document, no relevant interface was found in the SDK. - The function of generating FPN has not been added yet, please still use the official GUI Demo provided by CeleX™ to generate FPN (Demo running under Linux may report
Segmentation fault (core dumped)errors directly. It is more stable under Windows). - The function of recording bin files use CeleX™ SDK is not provided for now, but under ROS we can use ROS bag for recording.