xepost/events_h52bag

C++ code to convert event data from HDF5 to ROSbags

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. The exact data structure used can be found here.

Author: Suman Ghosh

Installation

• Install ROS. We need the rosbag and std_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 the build 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 using dpkg -L libhdf5-dev.

• Add path to your installed dvs_msgs header in line 11 of CMakeLists.txt. If not already installed, install dvs_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> <output_topic_name>

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.bag /dvs/left/events