Prerequisites

This page defines the baseline setup required before running the public release.

Tested Environment

The following environment has been tested:

  • Ubuntu 22.04
  • OpenCV 4.5.4
  • C++17 compiler (GCC/Clang)
  • CMake 3.16+

Newer Ubuntu and OpenCV versions may work, but are not verified.

Note: If you have trouble with environment setup, you can optionally use Docker.

Required Dependencies

Install core packages:

sudo apt-get update
sudo apt-get install -y build-essential cmake pkg-config libopencv-dev libhdf5-dev libeigen3-dev

Install Ceres Solver (2.2.0 recommended) using the official guide:

Input Preconditions

Input HDF5 must include the following dataset layout:

/
└── events
    ├── ts   (uint64, microseconds)
    ├── xs   (uint16)
    ├── ys   (uint16)
    └── ps   (uint8, 0 or 1)
  • ts, xs, ys, and ps must be one-dimensional arrays of equal length.
  • ts must be integer microseconds (uint64).