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Event-based marker extraction for eWand

Overview

This tool is built ontop of FrequencyCam. It relies on FrequencyCam's ability to detect frequencies. Additionally, it filters out frequencies outside of the frequency of eWand's markers, does blob detection and orders the markers.

Installation

Please follow the instructions of FrequencyCam.

Usage

Get trigger file

Use the extract_triggers.py scripts:

python3 extract_triggers.py /path/to/rosbag /path/to/trigger_file <optional arguments>

Extract markers

  1. Adjust the fields bag_file, bag_topic and frame_time_file to the path in your setup in eb_marker_extraction.launch.py
  2. Run colcon colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo in the ROS2 workspace
  3. Run the extraction ros2 launch frequency_cam eb_marker_extraction.launch.py

The extracted markers are then saved in blob_detection_position_points.csv.