The frame id for the ground truth of MVSEC does not match with the the image frame index in hdf5 file.

[JDYG]

Hi, in your provided groundtruth files for MVSEC, the file name is like frame_ev_pair_05001.txt. Is the index 05001 for the raw image in the original hdf5 file? I have tried it, but it seems not, as shown in figure below.

Could you provide the corresponding frame index list for the groundtruth annotations, such like the frame_list.txt in the night dataset.

Another question is, what is the difference between the val_data_3_final and val_data_final in your provided folder ?

The code for show this mismatch is following:

import numpy as np
import h5py
import cv2


events_file_path = 'Datasets/MVSEC/MVSEC-DAY2/outdoor_day2_data.hdf5'

mvsec_data = h5py.File(events_file_path, "r")

frame_data = mvsec_data["davis"]["left"]["image_raw"]
events_data = mvsec_data["davis"]["left"]["events"]


num_list = np.arange(5001, 7001)
for num in num_list:
    img_npz_path = f'Datasets/mvsec_data/val_data_final/frame_ev_pair_{str(num).zfill(5)}.npz'
    img_npz = np.load(img_npz_path)

    img_npz = img_npz['ev_img'][0]
    img_hdf5 = np.array(frame_data[num])
    cv2.imshow('img_npz', img_npz)
    cv2.imshow('img_hdf5', img_hdf5)
    cv2.waitKey(0)