Awesome
Real-Time Panoramic Tracking for Event Cameras
This repository provides software for our publication "Real-Time Panoramic Tracking for Event Cameras", ICCP 2017.
If you use this code please cite the following publication (https://arxiv.org/abs/1703.05161):
@inproceedings{reinbacher_iccp2017,
author = {Christian Reinbacher and Gottfried Munda and Thomas Pock},
title = {{Real-Time Panoramic Tracking for Event Cameras}},
booktitle = {2017 International Conference on Computational Photography (ICCP)},
year = {2017},
}
Compiling
For your convenience, the required libraries that are on Github are added as
submodules. So clone this repository with --recursive
or do a
git submodule update --init --recursive
after cloning.
This software requires:
- GCC >= 4.9
- CMake >= 3.2
- Qt >= 5.6
- ImageUtilities (https://github.com/VLOGroup/imageutilities) with the
iugui
,iuio
andiumath
modules - libcaer >=2.0 (https://github.com/inilabs/libcaer)
- cnpy (https://github.com/rogersce/cnpy)
- DVS128 camera (can also load events from files)
To compile, first build and install ImageUtilities, then:
cd cnpy
cmake .
make
(sudo) make install
cd ../libcaer
cmake .
make
(sudo) make install
cd ..
mkdir build
cd build
cmake ../src
make -j6
Per default, the application will compile to support the iniLabs DVS128.
Usage
Launch live_tracking_gui <camera_calibration_file.txt>
to get to the main application which should look like this:
<img src="https://github.com/VLOGroup/dvs-panotracking/raw/master/images/screenshot.png"></img>
Camera calibration files are included in the data/
folder, the format is as follows:
<3x3 camera intrinsics matrix>
<width of panorama>
<height of panorama>
<radial distortion coefficient>
Clicking on the play button with an attached camera will start the live reconstruction method. Alternatively, events can be loaded from text files with one event per line:
<timestamp in seconds> <x> <y> <polarity (-1/1)>
...
...
If you don't own a camera, there is sample data available in the data/
directory. Simply extract it, load it in the application and press the play button.