See https://sites.google.com/view/davis-driving-dataset-2020/home for details.
Software released as part of the publication
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Hu, Y., Binas, J., Neil, D., Liu, S.-C., and Delbruck, T. (2020). "DDD20 End-to-End Event Camera Driving Dataset: Fusing Frames and Events with Deep Learning for Improved Steering Prediction". Special session Beyond Traditional Sensing for Intelligent Transportation, The 23rd IEEE International Conference on Intelligent Transportation Systems, September 20 β 23, 2020, Rhodes, Greece. arXiv [cs.CV]. arXiv. http://arxiv.org/abs/2005.08605
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Binas, J., Neil, D., Liu, S.-C., and Delbruck, T. (2017). DDD17: End-To-End DAVIS Driving Dataset. in ICMLβ17 Workshop on Machine Learning for Autonomous Vehicles (MLAV 2017), Sydney, Australia. Available at: arXiv:1711.01458 [cs] http://arxiv.org/abs/1711.01458
This project currently works with Python 2.7 under linux.
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First, create an Python 2.7 environment
conda create -n ddd20 python=2.7
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Install all dependencies:
pip install future pip install numpy h5py opencv-python-headless openxc==0.15.0
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There is no step 3, have fun! π
See https://sites.google.com/view/davis-driving-dataset-2020/home for details
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Play a file from the beginning
$ python view.py <recorded_file.hdf5>
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Play a file, starting at X percent
$ python view.py <recorded_file.hdf5> X%
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Play a file starting at second X
$ python view.py <recorded_file.hdf5> Xs
The DDD20 recordings are recorded using a custom data structure in HDF5. This design choice made the batch processing restricted without reformatting/exporting.
We prepared a script that can convert the original HDF5 recording into a nicer data strcture that user can directly work on.
$ python export_ddd20_hdf.py [-h] [--rotate ROTATE] filename
The newly exported file is an HDF5 file that is called filename.exported.hdf5
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This file is saved at the same folder of the filename
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This HDF5 file has a very simple structure, it has three datasets:
event: (N events x 4) # each row is an event.
frame: (M frames x 260 x 346)
frame_ts: (M frames x 1)
$ python export.py [-h] [--tstart TSTART] [--tstop TSTOP] [--binsize BINSIZE]
[--update_prog_every UPDATE_PROG_EVERY]
[--export_aps EXPORT_APS] [--export_dvs EXPORT_DVS]
[--out_file OUT_FILE]
filename
This software is released under the GNU LESSER GENERAL PUBLIC LICENSE Version 3.