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events_h52bag
C++ code to convert event data from HDF5 to ROSbags. By default, data format of h5 input file is expected as in the DSEC dataset or TUM-VIE dataset. The exact data structure used can be found here.
Author: Suman Ghosh
Installation
- Install ROS. We need the
rosbag
andstd_msgs
packages. - Install libhdf5:
sudo apt-get update
sudo apt-get install libhdf5-dev
- Install the blosc filter plugin for hdf5 for read-only access across all HDF5 applications in your system:
git clone https://github.com/Blosc/hdf5-blosc.git
cd hdf5-blosc
mkdir build && cd build
cmake ..
make
- Copy the
libH5Zblosc.so
shared library generated inside thebuild
folder into your local hdf5 plugin path, which is usually/usr/local/hdf5/lib/plugin
or/usr/lib/x86_64-linux-gnu/hdf5/plugins
depending on your Linux distro. Installation location of hdf5 can be found usingdpkg -L libhdf5-dev
. Create theplugins
directory if it does not exist already in your system.
Then, add the following line to your ~/.bashrc
and source it
export HDF5_PLUGIN_PATH=<path to plugins>
- Optional: For M3ED dataset, lzf filter plugin needs to be built as a shared library. Then copy the library file
liblzf_filter.so
into the same HDF5 plugin path, as was done for the blosc filter above.
git clone git@github.com:h5py/h5py.git
cd h5py/lzf
h5fc -I"lzf" -O2 -fPIC -shared lzf/*.c lzf_filter.c -lhdf5 -o liblzf_filter.so
sudo cp liblzf_filter.so /usr/lib/x86_64-linux-gnu/hdf5/plugins/
- Add path to your installed
dvs_msgs
header in line 11 ofCMakeLists.txt
. If not already installed, installdvs_msgs
from https://github.com/uzh-rpg/rpg_dvs_ros in your catkin workspace. - Clone this repository:
git clone https://github.com/tub-rip/events_h52bag.git
- Compile this repository:
cd events_h52bag
mkdir build && cd build
cmake ..
make
Execution
./events_h52bag <path/to/input/h5file> <path/to/output/bagfile(without extension)> <output_topic_name> <sensor_height> <sensor_width> [optional, default=500000000]<events_read_per_iteration> [optional, default=100000]<event_packet_size> [optional, default="events"]<dataset_prefix>
To overcome memory limitations for large data files, h5 files are read in multiple iterations (500M events per iteration max). The result is a single ROSBag.
Working example
- Download input data from DSEC dataset: https://download.ifi.uzh.ch/rpg/DSEC/train/thun_00_a/thun_00_a_events_left.zip
- Extract
events.h5
from zip. - Execute:
./events_h52bag events.h5 out /dvs/left/events 480 640
- The output ROSBag
out.bag
is generated.
Log
- 13.08.24: Changed behavior. A single ROSBag output is produced.
- 16.05.23: Now supports M3ED dataset. Dataset prefix can now be passed as an argument, which is
prophesee/left
andprophesee/right
for M3ED h5 files. - 14.09.21: Sensor size can now be passed an argument. Set to 0 when no
t_offset
data is present in h5 file. Tested on TUM-VIE dataset. - 07.02.21: Optional argument
events_per_bag
can be used to generate multiple rosbags while converting from a single h5 file. Optional argumentevent_packet_size
can be passed to modify ROS message rate.