Real time capabilityy

[laiyuzhi]

Great work !!

I noticed you're using a DAVIS event camera for your experiments, which has relatively low resolution. If we switch to a high-resolution event camera like the Prophesee EVK4, can real-time performance still be guaranteed? Can you estimate the approximate FPS?

[ghoshsuman]

Hi @laiyuzhi , unfortunately it doesn't natively run real-time on CPU with Prophesee EVK4 cameras which has about 8x higher data rates for than the stereo DAVIS setup.
The bottleneck is the mapping module, specifically the DSI creation, which could be in principle be parallelized on a GPU for faster processing.
Another way to improve speed would be to downsample the input events before processing.

[laiyuzhi]

Hello @ghoshsuman, thanks for your reply.

1. In dvs_tracking/launch/live_tracker_demo.launch, I found

<arg name="bootstrap_image_topic" default="/davis_left/image_raw" />

I think your are using gray map for initialization. However, on Prophesee EVK4, there is no gray image output. May I ask how to avoid this step?

2. You mentioned "downsample the input events before processing", did you mean the "event rate per sec"?