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uzh-rpg / eds-buildconf

Build bootstrapping for the Event-aided Direct Sparce Odometry (EDS)
GNU General Public License v3.0
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rosbag to pocolog OR running EDS directly with rosbags #4

Open munirjojoverge opened 2 years ago

munirjojoverge commented 2 years ago

Hi guys, Thanks a lot for sharing this impressive work! I see in the project webpage (https://rpg.ifi.uzh.ch/eds.html) that you offer to download the rosbags. Is there anyway to run EDS with rosbags? I might have missed it, but I haven't found any equivalent to "run_eds_logs.rb" that will allow us to run rosbags. If the answer is "no", then...is there any way to convert from rosbag to pocolog to run it? I've see the opposite tool (pocolog2rosbag.py)

Thanks

jhidalgocarrio commented 2 years ago

Hi, Thanks for your comment. Working in rosbag2pocolog.py, I agree it would be a nice tool. In the meantime you might find the pocolog files (.log) in the dataset webpage. EDS cannot run rosbags because it is not based on ROS. Porting EDS to ROS should be straight forwards, by creating a node class similar to the Task class in the ROS ecosystem.

huangfeng95 commented 1 year ago

2023-04-12 11-47-55屏幕截图 Hi, I tried to subscribe to the rosbag file of EDS dataset using ROS, but encountered the problem shown in the figure when I was using CV_ Bridge:: toCvShare. In my opinion, the step of the image should be 640 * 3=1920, but the fact seems to be different. Could you tell me how to subscribe to the image of this dataset? Thank you. @jhidalgocarrio

jhidalgocarrio commented 1 year ago

Hi @huangfeng95 , You are right. The step size should be 640 3=1920. However, I converted using step = 640 3 * 8 = 15360. (Multiplying by the number of bytes per channel). I did not see this issue before since I used rqt_bag <rosbag> to verify the images in the bag file, and rqt_bag does not check the step size. It correctly visualizes the images.

I will update the rosbag files in the server with the correct step number. In the meantime, just divide by 8 to get the correct step size in your local copy.

Thanks for noticing.

huangfeng95 commented 1 year ago

Okay, I get it. Thank you for your excellent work! @jhidalgocarrio

AnotherFortnight commented 1 month ago

@huangfeng95 Hello, have you successfully run EDS using rosbag? I also encountered this problem and don’t know how to run it using the stereo davis dataset mentioned in paper.

huangfeng95 commented 1 month ago

@AnotherFortnight EDS seems to not support input in rosbag format. Fortunately, the author uploaded the stereo Davis dataset in pocolog format on the server, such as bin,, hoping it can be helpful to you!

AnotherFortnight commented 1 month ago

@huangfeng95 Thank you so much! That helps a lot!