Calibration of a stereo event camera setup and event-based measurement of a static scene

This repository contains files related to the <i>left</i> camera (Gen4.1 sensor in the Prophesee's Evaluation Kit 2) and <i>right</i> camera (IMX636 ES sensor in Prophesee's Evaluation Kit 4) of a stereo setup of two event cameras.Sensor configurationBias parameters for both cameras are saved in the files <i>left_biases.txt</i> and <i>right_biases.txt</i>.Calibration dataCalibration data of the stereo setup of event cameras is containt in the files <i>left_recorded_patterns.json</i> and <i>right_recorded_patterns.json</i>, which were recorded based on the metavision mono calibration recording tool. These files contain a common description of the employed checkerboard pattern in the form of 3D points of the corners (JSON field "pattern_3d") which are all assumed to lie in the same plane. The grid distances along the edges of the pattern ("square_width" and "square_height") provide scaling to the calibration. Lists of 2D positions of identified corners are found in the field "pts_2d". Each list corresponds to the checkerboard pattern as observed by the stereo setup from a different pose. The order of poses is the same in both calibration files. Stereo measurementRaw event streams of both event cameras of a static scene sampled by a projector are saved in the files <i>left_event_stream.raw</i> and <i>right_event_stream.raw</i>. The projector moved a contrast edge (sharp transition between two levels of illumination) through the measurement volume, stimulating temporally coinciding events in both event cameras. The event cameras were synchronized electronically such that time stamps in both event streams were produced by synchronized clocks. The raw files can be viewed and analyzed using Prophesee's Metavision Studio or any of the other tools provided in the Metavision SDK.