This class extends AbstractCamera_ to operate with DAVIS event cameras. DAVIS cameras offer events (DVS), framed images (APS), and IMU data. More...

#include <davis.hpp>

Inheritance diagram for ev::Davis:

Public Member Functions
void	start (void) override
	Starts device.

BiasValue	getBias (const uint8_t name) const
	Retrieve the bias value associated with the given name.

bool	setBias (const uint8_t name, const BiasValue &value)
	Set the bias value associated with the given name.

void	enableDvs (bool state)
	Enable DVS.

void	setDvsTimeInterval (uint32_t usec)
	Set DVS maximum time interval between subsequent transmissions.

void	setDvsEventsPerPacket (uint32_t n)
	Set DVS maximum number of events per transmission.

void	enableAps (bool state)
	Enable APS.

void	setApsTimeInterval (uint32_t usec)
	Set APS maximum time interval between subsequent transmissions.

void	setExposure (uint32_t exposure)
	Set APS exposure time.

void	enableImu (bool state)
	Enable IMU.

bool	getData (Vector &events) override
	Get DVS data.

bool	getData (Queue &events) override
	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.

void	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.

Public Member Functions inherited from ev::AbstractCamera_
void	setTimeOffset (const double offset)
	Set offset to add after receiving events.

void	stop ()
	Stop reading data.

cv::Size	getSensorSize () const
	Get device sensor size.

cv::Rect	getRoi () const
	Get current ROI.

bool	setRoi (const cv::Rect &roi)
	Set current ROI. Events outside the ROI are not considered. Images are cropped according to the ROI.

BiasValue	getBias (const int8_t config_bias, const uint8_t name) const
	Retrieve the bias value associated with a specific configuration and name.

bool	setBias (const int8_t config_bias, const uint8_t name, const BiasValue &value)
	Set the bias value associated with a specific configuration and name.

void	flush (double msec) const
	Discard data during an interval of time.

Static Public Attributes
static constexpr uint32_t	DEFAULT_INTERVAL = 20000

static constexpr uint32_t	DEFAULT_EXPOSURE = 6500

Detailed Description

This class extends AbstractCamera_ to operate with DAVIS event cameras. DAVIS cameras offer events (DVS), framed images (APS), and IMU data.

Examples: example-davis.cpp.

Member Function Documentation

◆ enableAps()

void ev::Davis::enableAps ( bool state )

Enable APS.

Parameters

state True to enable, false to disable

Examples: example-davis.cpp.

◆ enableDvs()

void ev::Davis::enableDvs ( bool state )

Enable DVS.

Parameters

state True to enable, false to disable

Examples: example-davis.cpp.

◆ enableImu()

void ev::Davis::enableImu ( bool state )

Enable IMU.

Parameters

state True to enable, false to disable

Examples: example-davis.cpp.

◆ getBias()

ev::BiasValue ev::Davis::getBias ( const uint8_t name ) const

Retrieve the bias value associated with the given name.

Parameters

name	The identifier for the bias value to retrieve.

Returns: The bias value corresponding to the given name.

◆ getData() [1/17]

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

Get IMU data.

Parameters

imu	Imu data destination

Returns: True if imu data not empty

◆ getData() [2/17]

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

overridevirtual

Get DVS data.

Parameters

events Event queue to which events will be added.

Returns: True if queue not empty

Implements ev::AbstractCamera_.

◆ getData() [5/17]

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

Get APS data.

Parameters

frame Frame destination

Returns: True if frame not empty

◆ getData() [9/17]

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

overridevirtual

Get DVS data.

Parameters

events Event vector to which events will be added

Returns: True if vector not empty

Implements ev::AbstractCamera_.

Examples: example-davis.cpp.

◆ getData() [12/17]

bool ev::Davis::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::Davis::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::Davis::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::Davis::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::Davis::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::Davis::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]

void ev::Davis::getEventRaw ( std::vector< uint64_t > & data )

Retrieve raw event data.

Parameters

data	A vector to which the raw event data will be 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::Davis::getEventRaw	(	uint64_t *	data,
		const bool	allow_realloc = true )

Retrieve raw event data.

Parameters

data	A vector to which the raw event data will be added.
allow_realloc	If true, this function will assume data is empty and automatically manage its size (reallocating if needed).

Returns: The size of the vector.

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

◆ setApsTimeInterval()

void ev::Davis::setApsTimeInterval ( uint32_t usec )

Set APS maximum time interval between subsequent transmissions.

Parameters

usec	Maximum time interval in microseconds

◆ setBias()

bool ev::Davis::setBias	(	const uint8_t	name,
		const BiasValue &	value )

Set the bias value associated with the given name.

Parameters

name	The identifier for the bias value to set.
value	The new bias value to set.

Returns: True if the bias value was successfully set, false otherwise.

◆ setDvsEventsPerPacket()

void ev::Davis::setDvsEventsPerPacket ( uint32_t n )

Set DVS maximum number of events per transmission.

Warning: Set to zero to disable.

Parameters

n	Maximum number of events

Examples: example-davis.cpp.

◆ setDvsTimeInterval()

void ev::Davis::setDvsTimeInterval ( uint32_t usec )

Set DVS maximum time interval between subsequent transmissions.

Warning: Set to zero to disable.

Parameters

usec	Maximum time interval in microseconds

Examples: example-davis.cpp.

◆ setExposure()

void ev::Davis::setExposure ( uint32_t exposure )

Set APS exposure time.

Parameters

usec	Exposure time in microseconds

◆ start()

void ev::Davis::start ( void )

overridevirtual

Starts device.

Implements ev::AbstractCamera_.

Examples: example-davis.cpp.

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

modules/devices/include/openev/devices/davis.hpp
modules/devices/src/davis.cpp

Public Member Functions

Static Public Attributes

Detailed Description

Member Function Documentation

◆ enableAps()

◆ enableDvs()

◆ enableImu()

◆ getBias()

◆ 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]

◆ setApsTimeInterval()

◆ setBias()

◆ setDvsEventsPerPacket()

◆ setDvsTimeInterval()

◆ setExposure()

◆ start()