📷 Calibration for Multiple Event Cameras

This repository provides tools for calibrating one or multiple Inivation event cameras and reconstructing grayscale images from event streams.

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Environment Requirements

• Ubuntu 20.04
• ROS Noetic

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Build

Make sure you are in the root of your Catkin workspace, then run:

catkin config -DCMAKE_BUILD_TYPE=Release
catkin build

How to Use

Image Reconstruction from Events

source devel/setup.bash
rosrun simple_image_recon bag_to_frames \
    -i $input_bag \
    -o $output_bag \
    -t $event_left_topic \
    -t $event_right_topic \
    -f 20.0 \
    -O 0

-i: Input ROS bag file

-o: Output folder for reconstructed images

-t: Event topics (can be repeated)

-f: Frame rate (Hz)

-O: Start offset (s)

Calibration with Kalibr

Download kalibr, a standard toolbox for calibrating multi-sensor systems.

Make sure to update the paths and parameters in the script before running. And run the provided calibration script:

bash bash/eventCameraClibr.bash