Set the contrast threshold for DVXplorer in dv_ros

[Jinghang Li]

Hi all,

I am currently using dv_ros_capture  to save the captured event data as a rosbag. 

The camera is a DVXplorer, connected to the computer via USB cable.

I want to adjust the contrast threshold of the event camera. I noticed in the previous answer that the "bias sensitivity" option can be adjusted in the GV-GUI, and I found the "bias_sensitivity" parameter under dv-ros/dv_ros_capture/config/DVXplorer.cfg, but I didn't find the code to load this parameter in the program.

How does this parameter work, and what are the corresponding contrast thresholds for "Low", "Default", etc.? And what is the meaning of other parameters like "Enable automatic exposure" in this cfg file?

Many thanks，

Jinghang

[Luca Longinotti]

Hello!

To change the bias-sensitivity in ROS, you should use one of the ROS setting GUIs to change parameters. That will offer you a nice menu to select from.

The valid parameters are defined in DVXplorer.cfg right before the configuration attribute, in the 'bias_sensitivity_enum': VeryLow, Low, Default, High and VeryHigh, with corresponding integer values 0, 1, 2, 3, 4.

The "Enable automatic exposure" in that file is a typo, I've fixed it now. It should read "Enable global hold in readout", which is an advanced feature of the sensor and only really useful for certain use cases like LED detection.

Hope this helps, have a nice day!

-- 

Luca Longinotti (llongi)

Head of Embedded Platforms
iniVation AG - https://inivation.com/
Zurich, Switzerland
Office: +41 44 500 32 14