This Gazebo plugin simulates a DVS
The code is modified from: https://github.com/HBPNeurorobotics/gazebo_dvs_plugin which you should look at for instruction on how to install and how to use
I used the code above for the interface with gazebo. I made some improvements (or at least think so):
- correct the event generation model (no logarithm anywhere in their version)
- linear interpolation of the time so the events are not simply at the time of the last frame
- possibility to save the events in a csv file
Add this two sdf elements between plugin /plugin to save file <save_csv>true</save_csv> <csv_address>/home/.../events.csv</csv_address>
PROBLEMS Too many cycles Dynamic allocation of memory can be improved
BUILD catkin build dvs_gazebo_plugin