This is an auxiliary class. This class cannot be instanced. More...

#include <abstract-camera.hpp>

Inheritance diagram for ev::AbstractCamera:

Public Member Functions
virtual void	start ()=0
	Start reading data.
void	stop ()
	Stop reading data.
bool	isOpen () const
	Check whether the device was found and opened.
virtual bool	hasAps () const =0
	Check whether the device produces APS frames.
virtual bool	hasImu () const =0
	Check whether the device produces IMU data.
virtual cv::Size	getSensorSize () const =0
	Get device sensor size.
virtual std::string	getSerialNumber () const =0
	Get device serial number, prefixed with the camera family.
uint64_t	getResetTime () const
	Get device reset time.
cv::Rect_< uint16_t >	getRoi () const
	Get current ROI.
virtual bool	setRoi (const cv::Rect_< uint16_t > &roi)=0
	Set current ROI. Events outside the ROI are not considered. Images are cropped according to the ROI.
void	setDefectivePixels (const std::string &defective_pixels_file)
	Load a defective pixel file. Events on hot pixels are discarded, and saturated pixels are replaced by the median of their neighbours on every frame.
void	setContainerInterval (const uint32_t usec)
	Set the maximum time interval between subsequent containers.
void	setContainerSize (const uint32_t n)
	Set the maximum number of events a container may hold before it is delivered. The limit applies to each typed packet of the container separately, so a container carrying events, frames, and imu data can deliver up to this number of each of them.
bool	getData (Vector &events)
	Get DVS data.
bool	getData (Queue &events)
	Get DVS data.
bool	getData (StampedMat &frame)
	Get APS data.
bool	getData (StampedMatVector &frames)
	Get APS data.
bool	getData (StampedMatQueue &frames)
	Get APS data.
bool	getData (Imu &imu)
	Get IMU data.
bool	getData (ImuVector &imu)
	Get IMU data.
bool	getData (ImuQueue &imu)
	Get IMU data.
bool	getData (Vector &events, StampedMat &frame)
	Get DVS+APS data.
bool	getData (Vector &events, StampedMatVector &frames)
	Get DVS+APS data.
bool	getData (Queue &events, StampedMatQueue &frames)
	Get DVS+APS data.
bool	getData (Vector &events, Imu &imu)
	Get DVS+IMU data.
bool	getData (Vector &events, ImuVector &imu)
	Get DVS+IMU data.
bool	getData (Queue &events, ImuQueue &imu)
	Get DVS+IMU data.
bool	getData (Vector &events, StampedMat &frame, Imu &imu)
	Get DVS+APS+IMU data.
bool	getData (Vector &events, StampedMatVector &frame, ImuVector &imu)
	Get DVS+APS+IMU data.
bool	getData (Queue &events, StampedMatQueue &frame, ImuQueue &imu)
	Get DVS+APS+IMU data.
std::size_t	getEventRaw (std::vector< uint64_t > &data)
	Retrieve raw event data.
std::size_t	getEventRaw (uint64_t *&data, const bool allow_realloc=true)
	Retrieve raw event data.
void	flush (const double usec) const
	Discard data during an interval of time.

Detailed Description

This is an auxiliary class. This class cannot be instanced.

Member Function Documentation

◆ flush()

void ev::AbstractCamera::flush ( const double usec ) const

Discard data during an interval of time.

Parameters

usec	Time interval in microseconds

◆ getData() [1/17]

bool ev::AbstractCamera::getData ( Imu & imu )

Get IMU data.

Parameters

imu	Imu data destination

Returns: True if imu data not empty

◆ getData() [2/17]

bool ev::AbstractCamera::getData ( ImuQueue & imu )

Get IMU data.

Parameters

imu	Imu data queue to which imu data will be added

Returns: True if queue not empty

◆ getData() [3/17]

bool ev::AbstractCamera::getData ( ImuVector & imu )

Get IMU data.

Parameters

imu	Imu data vector to which imu data will be added

Returns: True if vector not empty

◆ getData() [4/17]

bool ev::AbstractCamera::getData ( ev::Queue & events )

Get DVS data.

Parameters

events Event queue to which events will be added.

Returns: True if queue not empty

◆ getData() [5/17]

bool ev::AbstractCamera::getData	(	ev::Queue &	events,
		ev::ImuQueue &	imu )

Get DVS+IMU data.

Parameters

events	Event queue to which events will be added
imu	Imu data queue to which imu data will be added

Returns: True if event queue or imu data queue not empty

◆ getData() [6/17]

bool ev::AbstractCamera::getData	(	ev::Queue &	events,
		ev::StampedMatQueue &	frames,
		ev::ImuQueue &	imu )

Get DVS+APS+IMU data.

Parameters

events	Event queue to which events will be added
frames	Frame queue to which frame will be added
imu	Imu data queue to which imu data will be added

Returns: True if event queue, frame queue, or imu data queue not empty

◆ getData() [7/17]

bool ev::AbstractCamera::getData	(	ev::Queue &	events,
		ev::StampedMatQueue &	frames )

Get DVS+APS data.

Parameters

events	Event queue to which events will be added
frames	Frame queue to which frame will be added

Returns: True if event queue or frame queue not empty

◆ getData() [8/17]

bool ev::AbstractCamera::getData ( StampedMat & frame )

Get APS data.

Parameters

frame Frame destination

Returns: True if frame not empty

◆ getData() [9/17]

bool ev::AbstractCamera::getData ( StampedMatQueue & frames )

Get APS data.

Parameters

frames Frame queue to which frame will be added

Returns: True if queue not empty

◆ getData() [10/17]

bool ev::AbstractCamera::getData ( StampedMatVector & frames )

Get APS data.

Parameters

frames Frame vector to which frame will be added

Returns: True if vector not empty

◆ getData() [11/17]

bool ev::AbstractCamera::getData ( ev::Vector & events )

Get DVS data.

Parameters

events Event vector to which events will be added

Returns: True if vector not empty

Examples: example-davis.cpp.

◆ getData() [12/17]

bool ev::AbstractCamera::getData	(	ev::Vector &	events,
		ev::Imu &	imu )

Get DVS+IMU data.

Parameters

events	Event vector to which events will be added
imu	Imu data destination

Returns: True if event vector or imu data not empty

◆ getData() [13/17]

bool ev::AbstractCamera::getData	(	ev::Vector &	events,
		ev::ImuVector &	imu )

Get DVS+IMU data.

Parameters

events	Event vector to which events will be added
imu	Imu data vector to which imu data will be added

Returns: True if event vector or imu data vector not empty

◆ getData() [14/17]

bool ev::AbstractCamera::getData	(	ev::Vector &	events,
		ev::StampedMat &	frame )

Get DVS+APS data.

Parameters

events	Event vector to which events will be added
frame	Frame destination

Returns: True if event vector or frame not empty

◆ getData() [15/17]

bool ev::AbstractCamera::getData	(	ev::Vector &	events,
		ev::StampedMat &	frame,
		ev::Imu &	imu )

Get DVS+APS+IMU data.

Parameters

events	Event vector to which events will be added
frame	Frame destination
imu	Imu data destination

Returns: True if event vector, frame, or imu data not empty

◆ getData() [16/17]

bool ev::AbstractCamera::getData	(	ev::Vector &	events,
		ev::StampedMatVector &	frames,
		ev::ImuVector &	imu )

Get DVS+APS+IMU data.

Parameters

events	Event vector to which events will be added
frames	Frame vector to which frame will be added
imu	Imu data vector to which imu data will be added

Returns: True if event vector, frame vector, or imu data vector not empty

◆ getData() [17/17]

bool ev::AbstractCamera::getData	(	ev::Vector &	events,
		ev::StampedMatVector &	frames )

Get DVS+APS data.

Parameters

events	Event vector to which events will be added
frames	Frame vector to which frame will be added

Returns: True if event vector or frame vector not empty

◆ getEventRaw() [1/2]

std::size_t ev::AbstractCamera::getEventRaw ( std::vector< uint64_t > & data )

Retrieve raw event data.

Parameters

data	A vector to which the raw event data will be added.

Returns: The number of events added.

Note: Events are encoded as follows: Mask for x: 11111111111111100000000000000000 00000000000000000000000000000000 Mask for y: 00000000000000011111111111111100 00000000000000000000000000000000 Mask for p: 00000000000000000000000000000010 00000000000000000000000000000000 Mask for t: 00000000000000000000000000000000 11111111111111111111111111111111

◆ getEventRaw() [2/2]

std::size_t ev::AbstractCamera::getEventRaw	(	uint64_t *&	data,
		const bool	allow_realloc = true )

Retrieve raw event data.

Parameters

data	Buffer to which the raw event data will be written. Updated in place if the buffer is reallocated.
allow_realloc	If true, this function manages the size of the buffer, reallocating if needed. The buffer must then come from malloc/calloc/realloc (never from new[]) and remains owned by the caller, which is responsible for freeing it. If false, the caller must guarantee that the buffer is large enough: no bounds checking is performed.

Returns: The number of events written.

Note: Events are encoded as follows: Mask for x: 11111111111111100000000000000000 00000000000000000000000000000000 Mask for y: 00000000000000011111111111111100 00000000000000000000000000000000 Mask for p: 00000000000000000000000000000010 00000000000000000000000000000000 Mask for t: 00000000000000000000000000000000 11111111111111111111111111111111

◆ getResetTime()

uint64_t ev::AbstractCamera::getResetTime ( ) const

inlinenodiscard

Get device reset time.

Returns: Reset time in microseconds

◆ getRoi()

cv::Rect_< uint16_t > ev::AbstractCamera::getRoi ( ) const

nodiscard

Get current ROI.

Returns: ROI

Examples: example-davis.cpp.

◆ getSensorSize()

virtual cv::Size ev::AbstractCamera::getSensorSize ( ) const

nodiscardpure virtual

Get device sensor size.

Returns: Sensor size

Implemented in ev::Davis.

◆ getSerialNumber()

virtual std::string ev::AbstractCamera::getSerialNumber ( ) const

nodiscardpure virtual

Get device serial number, prefixed with the camera family.

Returns: Serial number, empty if the camera is not open

Implemented in ev::Davis.

◆ hasAps()

virtual bool ev::AbstractCamera::hasAps ( ) const

nodiscardpure virtual

Check whether the device produces APS frames.

Returns: True if the camera has an APS sensor

Implemented in ev::Davis.

◆ hasImu()

virtual bool ev::AbstractCamera::hasImu ( ) const

nodiscardpure virtual

Check whether the device produces IMU data.

Returns: True if the camera has an IMU

Implemented in ev::Davis.

◆ isOpen()

bool ev::AbstractCamera::isOpen ( ) const

inlinenodiscard

Check whether the device was found and opened.

Returns: True if the camera is open

◆ setContainerInterval()

void ev::AbstractCamera::setContainerInterval ( const uint32_t usec )

Set the maximum time interval between subsequent containers.

Parameters

usec	Maximum time interval in microseconds

Examples: example-davis.cpp.

◆ setContainerSize()

void ev::AbstractCamera::setContainerSize ( const uint32_t n )

Set the maximum number of events a container may hold before it is delivered. The limit applies to each typed packet of the container separately, so a container carrying events, frames, and imu data can deliver up to this number of each of them.

Warning: Set to zero to disable.

Parameters

n	Maximum number of events

Examples: example-davis.cpp.

◆ setDefectivePixels()

void ev::AbstractCamera::setDefectivePixels ( const std::string & defective_pixels_file )

Load a defective pixel file. Events on hot pixels are discarded, and saturated pixels are replaced by the median of their neighbours on every frame.

Parameters

defective_pixels_file Path to a YAML file

Note: The file holds one entry per camera, keyed by the serial number reported by getSerialNumber(). Each entry lists the defective pixels as flat sequences of x, y pairs. Every event at a hot_pixels coordinate is discarded. Every saturated_pixels coordinate is replaced on each APS frame by the median of its neighbours, excluding those that are themselves saturated or fall outside the frame. The dead_pixels entry may be present but is not used.
%YAML:1.0

---

DAVIS346B-00000259:

dead_pixels: []

hot_pixels: [ 102, 216, 308, 205 ]

saturated_pixels: [ 183, 126 ]

DAVIS240C-00000117:

dead_pixels: []

hot_pixels: [ 5, 5 ]

saturated_pixels: []

◆ setRoi()

virtual bool ev::AbstractCamera::setRoi ( const cv::Rect_< uint16_t > & roi )

pure virtual

Set current ROI. Events outside the ROI are not considered. Images are cropped according to the ROI.

Parameters

roi ROI

Returns: True if valid ROI

Implemented in ev::Davis.

◆ start()

virtual void ev::AbstractCamera::start ( )

pure virtual

Start reading data.

Implemented in ev::Davis.

The documentation for this class was generated from the following files:

modules/devices/include/openev/devices/abstract-camera.hpp
modules/devices/src/abstract-camera.cpp

Public Member Functions

Detailed Description

Member Function Documentation

◆ flush()

◆ getData() [1/17]

◆ getData() [2/17]

◆ getData() [3/17]

◆ getData() [4/17]

◆ getData() [5/17]

◆ getData() [6/17]

◆ getData() [7/17]

◆ getData() [8/17]

◆ getData() [9/17]

◆ getData() [10/17]

◆ getData() [11/17]

◆ getData() [12/17]

◆ getData() [13/17]

◆ getData() [14/17]

◆ getData() [15/17]

◆ getData() [16/17]

◆ getData() [17/17]

◆ getEventRaw() [1/2]

◆ getEventRaw() [2/2]

◆ getResetTime()

◆ getRoi()

◆ getSensorSize()

◆ getSerialNumber()

◆ hasAps()

◆ hasImu()

◆ isOpen()

◆ setContainerInterval()

◆ setContainerSize()

◆ setDefectivePixels()

◆ setRoi()

◆ start()