# PowerLine Tracking with Event Cameras
## Dataset
### Introduction
We release our dataset which contains recordings from onboard a quadrotor tracking powerlines. 
The dataset consists in rosbags containing:
- standard images from a mvBlueFOX camera
- standard images from a DAVIS 346 camera
- events from a DAVIS 346 camera
- imu measurements from a DAVIS 346 camera

### Rosbags
| Topic              | Type                | Description                                                                        |
|--------------------|---------------------|------------------------------------------------------------------------------------|
| /camera/image_raw  | sensor_msgs/Image   | standard images from a mvBlueFOX camera                                            |
| /dvs/events        | dvs_msgs/EventArray | events from a DAVIS 346 camera. See here: https://github.com/uzh-rpg/rpg_dvs_ros   |
| /dvs/image_raw     | sensor_msgs/Image   | standard images from a DAVIS 346 camera                                            |
| /dvs/imu           | sensor_msgs/Imu     | imu measurements from a DAVIS 346 camera                                           |