evaluation on VECtor

[lizlky]

Hello, thank you for your contribution.
I am running the model on the VECtor dataset, and during the evaluation, it shows "Found no events in 1642647904.234 secs to 1642647904.300 secs at frame-idx 2670.jpg."
I would like to know the reason for this.
Did you use the event data from the dataset itself or the event data generated by vid2e during the evaluation of the VECtor dataset?

[motzet]

Hi,

Thank you for your issue. When processing event data as event voxel grids for evaluation, we skip voxel grids that contain no event data between timestamps t0_us and t1_us (e.g., at the beginning or ending of a scence, where no motion occurs):

DEVO/utils/load_utils.py

Lines 64 to 72 in 93801a4

	def get_real_data_list(evs_slicer, tss_imgs_us, intrinsics, rectify_map, trafos, dT_ms, Horig, Worig):
	data_list = []
	for i, ts_us in enumerate(tss_imgs_us):
	t0_us, t1_us = ts_us, ts_us + dT_ms*1e3
	voxel = read_batch_as_voxel(evs_slicer, t0_us, t1_us, rectify_map, trafos, Horig, Worig)
	if voxel is None:
	print(f"Found no events in {(t0_us)/1e6:.3f}secs to {(t1_us)/1e6:.3f}secs at frame-idx {i}.jpg")
	continue

DEVO/utils/load_utils.py

Lines 47 to 50 in 93801a4

	def read_batch_as_voxel(evs_slicer, t0_us, t1_us, rectify_map, trafos, Horig, Worig, Nbins=5):
	ev_batch = evs_slicer.get_events(t0_us, t1_us)
	if ev_batch is None:
	return None

For evaluation, we used the provided event data from the VECtor dataset, as well as from other datasets. vid2e was only used for the TartanAir training data simulation.