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ECD dataset: It contains four hand-held rotational motion sequences, which is recorded with a DAVIS240C (240 x 180 px).
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ECRot dataset: It contains six synthetic sequences (using a DAVIS240C model) and ten real-world sequences, recorded with a DVXplorer (640 x 480 px resolution).
After downloading, we recommend to organize your dataset directory as follows:
│── dataset_root_dir/
│ ├── dataset/ # e.g., ECRot_dataset
│ ├── sequence/ # e.g., bicycle
│ └── events.bag # The rosbag that contains events (and camera_info)
│ ...Finally, remember to change dataset_root_dir in the launch files.
In addition to events, EMBA takes as input initial camera trajectories and gradient maps (if available) for refinement. We provide the front-end trajectories and the corresponding maps (download here), so that users can conveniently download and test.
Check and make sure that the directory of the input data looks like the following (do not change):
│── input_data_dir/
│ ├── dataset/ # e.g., ECRot_dataset
│ ├── sequence/ # e.g., bicycle
│ ├── map/
│ └── frontend/ # Initial maps generated from the below initial trajectories
│ ├── filename_traj/ # Initial maps generated from the below initial trajectories
│ ├── bin/ # initial maps stored in .bin format (used in EMBA)
│ ├── Gx.bin
│ └── Gy.bin
│ ├── jpg/ # Visualization of the initial maps
│ └── txt/ # Just in case if you cannot load binary files
│ ...
│ └── traj
│ ├── frontend/ # Raw front-end trajectories (not used in EMBA)
│ ├── groundtruth/ # GT trajectories (not used in EMBA)
│ └── interpolation/ # Interpolated front-end trajectories (used in EMBA)
│ ├── filename_raw_traj.txt
│ └── ...Note that every trajectory in traj/interpolation/ has a corresponding map in map/frontend/.
By default, the resolution of initial map is 1024 x 512, except some trajectory filenames end with 2048, which corresponds to the map size of 2048 x 1024.
Finally, remember to change the input_data_dir and filename_raw_traj in the launch files.
Change the output_data_dir in the launch file, for saving output data.
Run the launch file that corresponds to the data sequence you want to test on, e.g.:
roslaunch emba bicycle.launch
Note that to test on playroom, whose rosbag does not have camera_info, you need to copy the calibration file to /home/username/.ros/camera_info before you run roslaunch emba playroom.launch.