EventRain-27K

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Source Paper

PRE-Mamba: A 4D State Space Model for Ultra-High-Frequent Event Camera Deraining

ICCV, 2025

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Description

• Synthetic datasets (KITTI & SPAC). Event streams are partitioned into contiguous windows of Δt = 0.1 s (10^8 ns per segment) and stored in .npz files. The merge_data directory contains background–rain composites, while raw_data contains background-only events. Each .npz stores the arrays ['x', 'y', 't', 'p'].
• Prophesee EVK4 recordings (artificial rain & real-world). Raw .raw event streams are converted to .npz and segmented into Δt = 0.1 s (10^5 μs per segment), with the same keys ['x', 'y', 't', 'p']. For the artificial-rain subset, labels are generated using a K-Nearest Neighbors (KNN) procedure: background events in rainy sequences are identified via spatiotemporal alignment with corresponding rain-free data. Label files are provided in .npy format.

Dataset Structure

EventRain-27K/
├── synthetic/                        
|   ├── synthetic_KITTI/synthetic/    # Resolution:(460, 352)
|   |   ├── merge_data/					# File type: .npz (background + rain)
|   |   └── raw_data/					# File type: .npz (background)
|   └── synthetic_SPAC/               # Resolution:(640, 480)
|       ├── SPAC-dataset-merge/			# File type: .npz (background + rain)
|       └── SPAC-dataset-event/gt/	    # File type: .npz (background)
└── real/
    ├── EVK4_artifical/               # Resolution:(1280, 720)
    |   ├── scene{i:1-4}/
    |   |   ├── labels/                 # File type: .npy (labels: 0/1 >> rain/background)
    |   |   └── merge_data/             # File type: .npz
    └── EVK4_realworld/
        └── scene{i:5}/
            └── merge_data/             # File type: .npz

Dataset Usage

The data can be placed under this directory. Taking SYTHETIC_DATA as an example, the data is divided and processed according to time windows into the following directory structure:

data/
└── synthetic/
│   └── SYNTHETIC_DATA_DIR/
│       └── synthetic/
│           ├── merge_data/
│           │   ├── 1mm/
│           │   │   ├── 0000000000.npz
│           │   │   ├── ...
│           │   │   └── 0000000388.npz
│           │   ├── 5mm/
│           │   │   ├── 0000000000.npz
│           │   │   ├── ...
│           │   │   └── 0000000388.npz
│           │   ├── 10mm/
│           │   │   └── ...
│           │   ├── ...
│           │   └── 200mm/
│           │       ├── 0000000000.npz
│           │       ├── ...
│           │       └── 0000000388.npz
│           └── raw_data/
│               ├── 0000000000.npz
│               ├── ...
│               └── 0000000388.npz
└── real/
    └── EVK4_DATA_DIR/                # EVK4_artificial(scene 1-4) and EVK4_realworld(scene 5) 
        └── scene{i}/                 # Take scene1 as an example
            ├── merge_data/
            │   ├── rain_0/
            │   │   ├── 0000000000.npz
            │   │   ├── ...
            │   │   └── 0000000165.npz
            │   ├── rain_1/
            │   │   ├── 0000000000.npz
            │   │   ├── ...
            │   │   └── 0000000182.npz
            │   ├── rain_2/
            │   │   └── ...
            │   ├── ...
            │   └── rain_3/
            │       ├── 0000000000.npz
            │       ├── ...
            │       └── 0000000166.npz
            └── labels/
                │── labels_rain_0/
                │   ├── labels_0000000000.npy
                │   ├── ...
                │   └── labels_0000000165.npy
                ├── labels_rain_1/
                │   ├── labels_0000000000.npy
                │   ├── ...
                │   └── labels_0000000182.npy
                ├── labels_rain_2/
                │   └── ...
                ├── ...
                └── labels_rain_3/
                    ├── labels_0000000000.npy
                    ├── ...
                    └── labels_0000000166.npy