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README.md

Example applications with LEDGE library

The following examples shows how to use LEDGE library into the project.

  • ledge_offline_parallel: Visualize LEDGE (Detected/Tracked line segments) and SCARF with your recorded .log event data. Real-time process due to parallel processing.
  • ledge_offline_sequential: Visualize LEDGE (Detected/Tracked line segments) and SCARF with your recorded .log event data. Useful for debug due to sequential processing.
  • ledge_online: Real-time visualization of LEDGE (Detected/Tracked line segments) and SCARF with an online event camera.
  • ledge_offline_parallel_processing_time: Calculate processing time of detection, tracking, and scarf thread. Additionally, check maximum event rate of SCARF.

How to build applications

cd /app/LEDGE/example
mkdir -p build
cd build
cmake ..
make

RUN LEDGE offline with a recorded data in real-time

Terminal 1 (in docker container)

cd /app/LEDGE/example/build
./ledge-offline-par --data /data/recorded_data/gamer-white-paper/ATIS/data.log --fit_thresh 0.2 --block_size 14 --inlier 0.2 --alpha 1.0 --line_track true --cw 640 --ch 480 --dp 2.5
  • Parameters
    • --data : path of your recorded data in docker container. you can mount a folder from local to docker
    • --fit_thresh: threshold to get good fitting of line segments
    • --block_size: the size of ledge block
    • --inlier: used to get inlier events from line segments (currently should set the same value as --fit_thresh)
    • --alpha: ratio of scarf ring buffer (1.0 is the max ratio)
    • --line_track: flag to use tracking mode of line segments (true: use, false: not use)
    • --cw: FoV width of recorded event data
    • --ch: FoV height of recorded event data
    • --csv: csv path to record all LEDGE results (if you don't specify path, skip recording)
    • --dp: Perturbation size for line segment tracking [px]

RUN LEDGE offline with a recorded data sequentially for debugging

Terminal 1 (in docker container)

cd /app/LEDGE/example/build
./ledge-offline-seq --data /data/recorded_data/gamer-white-paper/ATIS/data.log --fps 600 --fit_thresh 0.2 --block_size 14 --inlier 0.2 --alpha 1.0 --line_track true --cw 640 --ch 480 --csv /your/csv/path --dp 2.5
  • Parameters
    • --data : path of your recorded data in docker container. you can mount a folder from local to docker
    • --fps: process frequency
    • --fit_thresh: threshold to get good fitting of line segments
    • --block_size: the size of ledge block
    • --inlier: used to get inlier events from line segments (currently should set the same value as --fit_thresh)
    • --alpha: ratio of scarf ring buffer (1.0 is the max ratio)
    • --line_track: flag to use tracking mode of line segments (true: use, false: not use)
    • --cw: FoV width of recorded event data
    • --ch: FoV height of recorded event data
    • --csv: csv path to record all LEDGE results (if you don't specify path, skip recording)
    • --dp: Perturbation size for line segment tracking [px]

RUN LEDGE online with YARP and an actual event camera

Terminal 1 (in docker container)

  • Run YARP server in the background
yarpserver &

Terminal 2 (in docker container)

  • Output event data from the actual event camera as /atis3/AE:o
atis-bridge-sdk --s 50

Terminal 3 (in docker container)

  • Run LEDGE online
cd /app/LEDGE/example/build
./ledge-online --fit_thresh 0.2 --block_size 14 --inlier 0.2 --alpha 1.0 --line_track true --cw 640 --ch 480 --dp 2.5
  • Parameters
    • --fps: frame rate of process
    • --fit_thresh: threshold to get good fitting of line segments
    • --block_size: the size of ledge block
    • --inlier: used to get inlier events from line segments (currently should set the same value as --fit_thresh)
    • --alpha: ratio of scarf ring buffer (1.0 is the max ratio)
    • --line_track: flag to use tracking mode of line segments (true: use, false: not use)
    • --cw: FoV width of recorded event data
    • --ch: FoV height of recorded event data
    • --dp: Perturbation size for line segment tracking [px]

RUN LEDGE online with YARP, an actual event camera, and your laptop camera

Terminal 1 (in docker container)

  • Run YARP server in the background
yarpserver &

Terminal 2 (in docker container)

  • Output event data from the actual event camera as /atis3/AE:o
atis-bridge-sdk --s 50

Terminal 3 (in docker container)

  • Run LEDGE online
cd /app/LEDGE/example/build
./ledge-online-laptopcam --fit_thresh 0.2 --block_size 14 --inlier 0.2 --alpha 1.0 --line_track true --cw 640 --ch 480 --dp 2.5 --laptop_cam
  • Parameters
    • --fps: frame rate of process
    • --fit_thresh: threshold to get good fitting of line segments
    • --block_size: the size of ledge block
    • --inlier: used to get inlier events from line segments (currently should set the same value as --fit_thresh)
    • --alpha: ratio of scarf ring buffer (1.0 is the max ratio)
    • --line_track: flag to use tracking mode of line segments (true: use, false: not use)
    • --cw: FoV width of recorded event data
    • --ch: FoV height of recorded event data
    • --dp: Perturbation size for line segment tracking [px]
    • --laptop_cam: Flag to use laptop camera

RUN LEDGE offline to calculate processing time

Terminal 1 (in docker container)

cd /app/LEDGE/example/build
./ledge-offline-par-process-time --data /data/recorded_data/gamer-white-paper/ATIS/data.log --fit_thresh 0.2 --block_size 14 --inlier 0.2 --alpha 1.0 --line_track true --cw 640 --ch 480 --dp 2.5 --start_recording_time 5 --stop_time 10
  • Parameters
    • --data : path of your recorded data in docker container. you can mount a folder from local to docker
    • --fit_thresh: threshold to get good fitting of line segments
    • --block_size: the size of ledge block
    • --inlier: used to get inlier events from line segments (currently should set the same value as --fit_thresh)
    • --alpha: ratio of scarf ring buffer (1.0 is the max ratio)
    • --line_track: flag to use tracking mode of line segments (true: use, false: not use)
    • --cw: FoV width of recorded event data
    • --ch: FoV height of recorded event data
    • --csv: csv path to record processing times (if you don't specify path, skip recording)
    • --dp: Perturbation size for line segment tracking [px]
    • --start_recording_time: Start recording time to avoid first uninitialized sequences [s]
    • --stop_time: Stop recording time [s]