search

uzh-rpg / rpg_emvs

Code for the paper "EMVS: Event-based Multi-View Stereo" (IJCV, 2018)
141 stars 51 forks source link

How to run emvs with my bag recorded by rpg_dvs_ros? #12

Open Lucksong opened 4 years ago

Lucksong commented 4 years ago

Hi, I run your example 'slider_depth.bag' successfully , and I recored some data with the tool 'https://github.com/uzh-rpg/rpg_dvs_ros.git'., but I cant run emvs with my data. As the log shows: Your bag has 'geometry_msgs/PoseStamped' but mine doesnt. As you say ,you also record your data with DVS ROS Driver, what should I do to run emvs with my data? Thanks!

user@user:/data/EventDataGen$ rosbag info emvs/slider_depth.bag path: emvs/slider_depth.bag version: 2.0 duration: 3.4s start: Apr 25 2016 18:53:35.00 (1461581615.00) end: Apr 25 2016 18:53:38.39 (1461581618.39) size: 17.3 MB messages: 1189 compression: none [22/22 chunks] types: dvs_msgs/EventArray [5e8beee5a6c107e504c2e78903c224b8] geometry_msgs/PoseStamped [d3812c3cbc69362b77dc0b19b345f8f5] sensor_msgs/CameraInfo [c9a58c1b0b154e0e6da7578cb991d214] sensor_msgs/Image [060021388200f6f0f447d0fcd9c64743] topics: /dvs/camera_info 661 msgs : sensor_msgs/CameraInfo
/dvs/events 102 msgs : dvs_msgs/EventArray
/dvs/image_raw 87 msgs : sensor_msgs/Image
/optitrack/davis 339 msgs : geometry_msgs/PoseStamped

user@user:/data/EventDataGen$ rosbag info rpg_dvs_ros/bag/2019-11-08-14-48-07.bag path: rpg_dvs_ros/bag/2019-11-08-14-48-07.bag version: 2.0 duration: 9.3s start: Nov 08 2019 14:48:07.65 (1573195687.65) end: Nov 08 2019 14:48:16.99 (1573195696.99) size: 80.7 MB messages: 11470 compression: none [102/102 chunks] types: dvs_msgs/EventArray [5e8beee5a6c107e504c2e78903c224b8] dynamic_reconfigure/Config [958f16a05573709014982821e6822580] dynamic_reconfigure/ConfigDescription [757ce9d44ba8ddd801bb30bc456f946f] rosgraph_msgs/Log [acffd30cd6b6de30f120938c17c593fb] sensor_msgs/CompressedImage [8f7a12909da2c9d3332d540a0977563f] sensor_msgs/Image [060021388200f6f0f447d0fcd9c64743] sensor_msgs/Imu [6a62c6daae103f4ff57a132d6f95cec2] std_msgs/Float32 [73fcbf46b49191e672908e50842a83d4] std_msgs/Int32 [da5909fbe378aeaf85e547e830cc1bb7] theora_image_transport/Packet [33ac4e14a7cff32e7e0d65f18bb410f3] topics: /davis_ros_driver/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription /davis_ros_driver/parameter_updates 1 msg : dynamic_reconfigure/Config
/dvs/events 278 msgs : dvs_msgs/EventArray
/dvs/exposure 215 msgs : std_msgs/Int32
/dvs/image_raw 214 msgs : sensor_msgs/Image
/dvs/imu 9240 msgs : sensor_msgs/Imu
/dvs_accumulated_events 7 msgs : sensor_msgs/Image
/dvs_accumulated_events/compressed 7 msgs : sensor_msgs/CompressedImage
/dvs_accumulated_events/compressed/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription /dvs_accumulated_events/compressed/parameter_updates 1 msg : dynamic_reconfigure/Config
/dvs_accumulated_events/compressedDepth/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription /dvs_accumulated_events/compressedDepth/parameter_updates 1 msg : dynamic_reconfigure/Config
/dvs_accumulated_events/theora 10 msgs : theora_image_transport/Packet
/dvs_accumulated_events/theora/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription /dvs_accumulated_events/theora/parameter_updates 1 msg : dynamic_reconfigure/Config
/dvs_accumulated_events_edges 7 msgs : sensor_msgs/Image
/dvs_accumulated_events_edges/compressed 7 msgs : sensor_msgs/CompressedImage
/dvs_accumulated_events_edges/compressed/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription /dvs_accumulated_events_edges/compressed/parameter_updates 1 msg : dynamic_reconfigure/Config
/dvs_accumulated_events_edges/compressedDepth/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription /dvs_accumulated_events_edges/compressedDepth/parameter_updates 1 msg : dynamic_reconfigure/Config
/dvs_accumulated_events_edges/theora 10 msgs : theora_image_transport/Packet
/dvs_accumulated_events_edges/theora/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription /dvs_accumulated_events_edges/theora/parameter_updates 1 msg : dynamic_reconfigure/Config
/dvs_rendering 276 msgs : sensor_msgs/Image
/dvs_rendering/compressed 276 msgs : sensor_msgs/CompressedImage
/dvs_rendering/compressed/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription /dvs_rendering/compressed/parameter_updates 1 msg : dynamic_reconfigure/Config
/dvs_rendering/compressedDepth/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription /dvs_rendering/compressedDepth/parameter_updates 1 msg : dynamic_reconfigure/Config
/dvs_rendering/theora 278 msgs : theora_image_transport/Packet
/dvs_rendering/theora/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription /dvs_rendering/theora/parameter_updates 1 msg : dynamic_reconfigure/Config
/dvs_undistorted/compressed/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription /dvs_undistorted/compressed/parameter_updates 1 msg : dynamic_reconfigure/Config
/dvs_undistorted/compressedDepth/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription /dvs_undistorted/compressedDepth/parameter_updates 1 msg : dynamic_reconfigure/Config
/dvs_undistorted/theora/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription /dvs_undistorted/theora/parameter_updates 1 msg : dynamic_reconfigure/Config
/events_off_mean_1 9 msgs : std_msgs/Float32
/events_off_mean_5 2 msgs : std_msgs/Float32
/events_on_mean_1 9 msgs : std_msgs/Float32
/events_on_mean_5 2 msgs : std_msgs/Float32
/rosout 309 msgs : rosgraph_msgs/Log (3 connections) /rosout_agg 288 msgs : rosgraph_msgs/Log

guillermogb commented 4 years ago

Hi. Did you read this https://github.com/uzh-rpg/rpg_emvs/issues/9#issuecomment-513121569 ?

Lucksong commented 4 years ago

Hi. Did you read this #9 (comment) ?

Thanks for your replay, and I have tried to install svo but failed with some errors. So I tried to record some new data with the tool https://github.com/uzh-rpg/rpg_dvs_ros which the author used. But data the tool recorded has many topics, and which of some should I use? Thanks very much.

guillermogb commented 4 years ago

The ROS driver for the event camera, rpg_dvs_ros, only reads out the events and may generate some renderings, but it does not provide, among all its topics, the pose of the camera. Please look at the IJCV 2018 paper and the other examples to see what you need: events, camera calibration and camera poses.