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event-driven-robotics / four-dof-affine-tracking

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How to Run the Code on an Event Camera #3

Open saratrajput opened 1 month ago

saratrajput commented 1 month ago

Hello. I'm not sure if this is the right place to ask this question. I am interested in using the tracking with an event camera, but I am not sure how to get started. Could you please provide some guidance or documentation on how to launch the code with a real camera?

lunagava commented 1 month ago

Hello @saratrajput!

The code is already set up to read from a port on which the Prophosee event camera could stream data.

I suggest you install the Docker container we used to start the camera connected to the laptop.

Where you installed yarp, open a terminal and run yarpserver

Open a new terminal to execute the docker container you created previously, type commands to connect the docker to the yarpserver you started: yarp conf IP_YARP_SERVER 10000 The IP_YARP_SERVER should be shown in the terminal you run yarpserver.

Next, start streaming packets of events on the yarp camera port /atis3/AE:o port atis-bridge-sdk

Then, run the main.cpp and it should automatically connect to it as soon as it is under the same yarpserver.

saratrajput commented 2 weeks ago

Hello @lunagava

Thank you for your reply, and apologies for the delayed update.

I attempted to use the Docker container you mentioned, but I encountered an error indicating that the camera is not connected. I believe this is because the Docker container lacks the plugin for the CenturyArks event camera that I am using.

I have another Docker container where I can access the camera, but yarp and related software are not installed in this container. Could you provide the base image for Ubuntu 20 with yarp installed? This would allow me to build a Docker image that supports my camera and includes yarp.

saratrajput commented 2 weeks ago

Additionally, is it possible to use a different event camera like the DAVIS346 for this project?

lunagava commented 3 days ago

Hello @saratrajput sorry for not answering but I was submitting my PhD thesis.

I suggest you to have a look at the Dockerfile in this repo; for example, the Dockerfile in yarp folder and copy and paste ubuntu download, yarp dependencies and yarp compile parts to merge with your software camera requirements and build the desired image!

As soon as you are able to stream in real-time your DAVIS346 output to yarp ports it is feasible but i have never done it!

Instead, I have tested converting DAVIS346 format to yarp .log (using bimvee library) and streamed offline through yarpdataplayer and it was working. This could be an intermediate step.

saratrajput commented 5 hours ago

@lunagava Thank you very much for the instructions. Let me try these and get back to you. And best of luck with your PhD thesis.