Offline Generation Tool

This page describes how to use the offline tool - the main tool to generate ground truth from a recording. The input to the tool is a dataset configuration folder with a recorded .bag file, which contains ROS topics with camera frames or events and vicon messages.

A ROS environment and workspace that is analagous to the provided Docker environment is required.

The tool is only capable of running per-camera; a typical roslaunch command may look like:

    roslaunch evimo event_imo_offline.launch show:=-1 folder:=<dataset configuration folder> camera_name:=<camera_name> \
                                             generate:=true \
                                             save_3d:=false \
                                             fps:=40 \
                                             t_offset:=0 \
                                             t_len:=-1

After the generation, the TXT version of the ground truth can be found in:
<dataset configuration folder>/<camera_name>/ground_truth

Parameters

The parameters of the .launch file are:

Key	Description
`folder:=<string>`	Path to the dataset configuration folder
`camera_name:=<string>`	Name of the folder within the dataset configuration folder that contains the camera configuration
`show:=<integer>`	`-1` disables the visualization `-2` allows to inspect the sequence frame-by-frame’ Positive numbers show the trajectory and a collection of evenly spaced frames (e.g. `show:=10` will render data at 10 timestamps). A full description of the visualization modes is available here
`generate:=<bool>`	If `true`, the ground truth will be saved in the camera folder (in `ground_truth` subfolder) within the dataset configuration folder.
`save_3d:=<bool>`	Experimental feature that will save filtered events as a `.ply` file
`fps:=<float>`	The tool will attempt to generate ground truth every 1/fps seconds In EVIMO2v2 the frame rate and timestamps are gaurunteed for event cameras. For classical cameras, the frametimes determine the ground truth times. In EVIMO and EVIMO2v1 the actual frame rate or timestamps are not guaranteed. Ground truth is only generated when both events (or camera frame) and Vicon pose are available. E.g. the actual timestamp will ‘stick’ to the lowest rate data source.
`t_offset:=<float>`	Skip `t_offset` seconds from the beginning of the recording
`t_len:=<float>`	Process at most `t_len` seconds Negative values cause the entire recording to be processed