Demo Code for Event Alignment

This is the implementation of the paper "The Spatio-Temporal Poisson Point Process: A Simple model for the Alignment of Event data" (Python 3) . The code takes events as input and registers events to each other. While accurately registering events with each other, the camera's angular and linear velocity is simultaneously estimated.

Requirements

pandas==1.0.5
matplotlib==3.2.1
numpy==1.18.5
opencv_python==4.2.0.34
torch==1.8.0
scikit_learn==0.24.2
scipy==1.4.1

Getting Started

A demo version of the code can be run by executing the command:

python src/main.py -f

this will run the code with its default arguments (as used in the experiments of the paper). The output is (1) an estimate of the angular velocity of the event camera and (2) aligned events visualized via an image of events showing sharp object contours. Both outputs can be found in the output folder.

The file output.txt is in the format of:

[index, reference time, end time, loss value, ω_x, ω_y, ω_z ]

Angular velocity estimation

The provided demo version runs the code on a short subsequence of the event sequence dynamic_rotatation of the DAVIS_240C dataset estimating the angular velocity of the event camera. The demo can be run by executing:

python src/main.py --seq dynamic_rotation -t 'rot'

Linear velocity estimation

To estimate the linear velocity of an event camera on a test example execute:

python src/main.py --seq dynamic_translation -t 'trans'

Optional parameter settings

Details regarding optional parameters settings of the code are shown below:

usage: main.py [-h] [-p PATH] [-d DATASET] [-s SEQ] [-o OUTPUT] [-n NE] [-a ALPHA] [-b BETA] [-l LR] [-i ITER] [-m METHOD] [-t TRANSFORMATION] [-f]

Code to extract motion from event-data

optional arguments:
-h, --help            show this help message and exit
-p PATH, --path PATH  Path to dataset
-d DATASET, --dataset DATASET
                        Name of dataset, default as 'DAVIS_240C'
-s SEQ, --seq SEQ     Name of sequence, default as 'dynamic_rotation'
-o OUTPUT, --output OUTPUT
                        Name for output file, default as 'output.txt'
-n NE, --Ne NE        The number of events per batch, default as 30000
-a ALPHA, --alpha ALPHA
                        'alpha' of gamma prior, default as 0.1
-b BETA, --beta BETA  'beta' of gamma prior, default as 1.59
-l LR, --lr LR        Learning rate of optimization, defualt as 0.05
-i ITER, --iter ITER  Maximum number of iterations, default as 250
-m METHOD, --method METHOD
                        The name of method, can be selected from ['st-ppp', 'cmax'], default as 'st-ppp'
-t TRANSFORMATION, --transformation TRANSFORMATION
                        The type of transformation, can be selected from ['rot', 'trans'], default as 'rot'
-f, --figure          Save figures or not, default as False, use '-f' to set the flag

Evaluation

We provide code for evaluation. Two input files are necessary for the evaluation, the result file (output.txt - output of the estimation) and the groundtruth file.

Please notice that the result file needs to have the following format:

index, reference time, end time, [loss], wx, wy, wz ([*] is optional)

How to run it?

Simply run the code using the command:

python src/eval.py

Dialog boxes for choosing result and groundtruth file will show up. Please follow the instructions shown in the command line window or the title of dialog box.

Citation

Use this bibtex to cite this repository:

@InProceedings{Gu21iccv,
title={The Spatio-Temporal Poisson Point Process: A Simple Model for the Alignment of Event Camera Data},
author={Cheng Gu and Erik Learned-Miller and Daniel Sheldon and Guillermo Gallego and Pia Bideau},
booktitle={International Conference on Computer Vision (ICCV)},
year={2021}
} 

Projects using this Code