Adding support for Inivation's DVXplorer Micro camera#223
Adding support for Inivation's DVXplorer Micro camera#223jorou125 wants to merge 5 commits intorobotology:mainfrom
Conversation
mikihiroikura
left a comment
mikihiroikura
left a comment
There was a problem hiding this comment.
Hi, @jorou125
I'm so sorry to be late for the review because I was very busy.
I added some comments and requested some changes. Please have a look.
| # dv-processing | ||
| # Add toolchain PPA and install gcc-13/g++-13 | ||
| RUN apt update && \ | ||
| apt install -y software-properties-common && \ | ||
| add-apt-repository ppa:ubuntu-toolchain-r/test && \ | ||
| apt update && \ | ||
| apt install -y gcc-13 g++-13 | ||
|
|
||
| # Add inivation PPA and install dv-processing dependencies | ||
| RUN add-apt-repository ppa:inivation-ppa/inivation && \ | ||
| apt-get update && \ | ||
| apt-get install -y \ | ||
| boost-inivation \ | ||
| libcaer-dev \ | ||
| libfmt-dev \ | ||
| liblz4-dev \ | ||
| libzstd-dev \ | ||
| libssl-dev && \ | ||
| apt-get -y install dv-processing | ||
|
|
There was a problem hiding this comment.
Thank you for adding dv-processing in Dockerfile.
However, it's important to reduce the docker image size as much as possible by simplifying Dockerfile.
Currently, this Dockerfile contains metavision-sdk and dv-processing, meaning it's redundant.
Therefore, I recommend you to create some Dockerfiles for metavision-sdk and dv-processing separately.
Could you please make them in the following folder structure?
event-driven/
├── docker/
│ ├── Prophesee/
│ ├── Dockerfile_Ubuntu2004
│ └── Dockerfile_Ubuntu2204
│ ├── Inivation
│ ├── Dockerfile_Ubuntu2004
│ └── Dockerfile_Ubuntu2204
| message(STATUS "Found prophesee_core: (found version ${prophesee_core_VERSION})") | ||
| endif() | ||
|
|
||
| find_package(libcaer) |
There was a problem hiding this comment.
I checked the installation guide for dv-processing.
Is it correct that we need libcaer to use dv-processing?
| using namespace yarp::os; | ||
|
|
||
|
|
||
| class dvbridge : public RFModule, public Thread { |
There was a problem hiding this comment.
We used camelCase for class names, so change dvbridge to dvBridge.
| int bufferSize{0}; | ||
| int bufferUsed{0}; | ||
| int bSel{0}; |
There was a problem hiding this comment.
We use snake_case for parameters, so please change bufferSize to buffer_size.
| bool bgaFilter{false}; | ||
| int bgaDuration{2000}; |
There was a problem hiding this comment.
Please change them to snake_case format
| const dv::Duration backgroundActivityDuration = dv::Duration(bgaDuration); | ||
| dv::noise::BackgroundActivityNoiseFilter<> BGAFilter(resolution.value(),backgroundActivityDuration); | ||
| while(cam.isRunning()) { | ||
| // wait for data and then switch buffers so the callback can keep | ||
| // filling the second buffer while we are sending | ||
|
|
||
| if (auto events = cam.getNextEventBatch(); events.has_value()) { | ||
| if (bgaFilter){ | ||
| BGAFilter.accept(*events); | ||
| dv::EventStore BGAFiltered = BGAFilter.generateEvents(); | ||
| if (BGAFiltered.isEmpty()) { | ||
| continue; // skip empty batches | ||
| } | ||
| fill_buffer(BGAFiltered); | ||
| } | ||
| else { | ||
| fill_buffer(*events); | ||
| } |
There was a problem hiding this comment.
Some parts are indented with two spaces. Please use indents with four spaces.
2 participants
Hi, just as discussed with @arrenglover, I have made a
dv-bridge-sdk. I based it on theatis3-bridge-sdk. Using it allows me to use the DVXplorer Micro camera from Inivation with YARP. The bridge could easily be adapted for the other Inivation sensors, but I only have the DVXplorer Micro, so I focused on that sensor for debugging purposes. Have a good day!