ROS学习笔记之——DVXplorer测试（降低噪声以及不同的敏感度下的测试效果）

Posted 2021-12-28 gwpscut

davis346与dvxplorer的对比

davis346+dvxplorer

先编译dvxplorer_ros_driver

catkin build dvxplorer_ros_driver

然后运行看看

roslaunch dvs_renderer dvxplorer_mono.launch

没问题，然后修改该launch文件

<launch>
  <!-- camera driver -->
  <node name="dvxplorer_ros_driver" pkg="dvxplorer_ros_driver" type="dvxplorer_ros_driver" />

  <!-- visualization -->
  <node name="dvs_renderer" pkg="dvs_renderer" type="dvs_renderer">
    <!-- <param name="display_method" value="grayscale"/> -->
    <param name="display_method" value="red-blue"/>
    <remap from="events" to="/dvs/events" />
    <remap from="camera_info" to="/dvs/camera_info" />
  </node>

  <!-- display -->
  <node name="image_view" pkg="rqt_image_view" type="rqt_image_view">
  	<remap from="image" to="dvs_rendering"/>
  </node>

  <!-- configure -->
  <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" />

</launch>

为：

<launch>
  <!-- camera driver -->
  <node name="dvxplorer_ros_driver" pkg="dvxplorer_ros_driver" type="dvxplorer_ros_driver" >
          <param name="bias_sensitivity" value="0"/>
          <remap from="events" to="/dvs/events" />
          <remap from="image" to="/dvs/image_raw" />
          <remap from="/dvs/camera_info" to="camera_info_num" />
  </node>

  <!-- visualization -->
  <node name="dvs_renderer" pkg="dvs_renderer" type="dvs_renderer">
    <!-- <param name="display_method" value="grayscale"/> -->
    <param name="display_method" value="red-blue"/>
    <remap from="events" to="/dvs/events" />
    <remap from="camera_info" to="/dvs/camera_info" />
  </node>

  <!-- display -->
  <node name="image_view" pkg="rqt_image_view" type="rqt_image_view">
  	<remap from="image" to="dvs_rendering"/>
  </node>

  <!-- configure -->
  <!-- <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" /> -->

</launch>

运行

roslaunch evio dvxplorer_testing.launch

即可减少噪声。

而不同的噪声测试的效果如下：