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 () override
	Initialize the DAVIS camera. This function sets up the DAVIS camera for operation. It must be called before any other.
bool	hasAps () const override
	DAVIS cameras have an APS sensor.
bool	hasImu () const override
	DAVIS cameras have an IMU.
cv::Size	getSensorSize () const override
	Get device sensor size.
std::string	getSerialNumber () const override
	Get device serial number, prefixed with the chip model.
bool	setRoi (const cv::Rect_< uint16_t > &roi) override
	Set current ROI. Events outside the ROI are not considered. Images are cropped according to the ROI.
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	enableAps (bool state)
	Enable APS.
void	setApsTimeInterval (uint32_t usec)
	Set APS maximum time interval between subsequent transmissions.
uint32_t	getApsExposure () const
	Get the APS exposure time currently applied by the device.
void	setApsExposure (uint32_t usec)
	Set APS exposure time.
void	enableApsAutoExposure (bool state)
	Let the device choose the APS exposure time on its own, aiming to avoid under and over exposure.
void	enableImu (bool state)
	Enable IMU.
Public Member Functions inherited from ev::AbstractCamera
void	stop ()
	Stop reading data.
bool	isOpen () const
	Check whether the device was found and opened.
uint64_t	getResetTime () const
	Get device reset time.
cv::Rect_< uint16_t >	getRoi () const
	Get current 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.

Static Public Member Functions
static uint32_t	biasToCurrent (const BiasValue &value)
	Convert a bias value into the current it produces. The coarse and fine ranges overlap, so a bias with a lower coarse can produce a higher current than one with a higher coarse, and a fine of zero produces no current at all regardless of the coarse.

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

◆ biasToCurrent()

uint32_t ev::Davis::biasToCurrent ( const BiasValue & value )

staticnodiscard

Convert a bias value into the current it produces. The coarse and fine ranges overlap, so a bias with a lower coarse can produce a higher current than one with a higher coarse, and a fine of zero produces no current at all regardless of the coarse.

Parameters

value The bias value to convert.

Returns: Current in picoamperes.

◆ enableAps()

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

Enable APS.

Parameters

state True to enable, false to disable

Examples: example-davis.cpp.

◆ enableApsAutoExposure()

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

Let the device choose the APS exposure time on its own, aiming to avoid under and over exposure.

Parameters

state True to enable, false to disable

◆ 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.

◆ getApsExposure()

uint32_t ev::Davis::getApsExposure ( ) const

nodiscard

Get the APS exposure time currently applied by the device.

Returns: Exposure time in microseconds

◆ 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.

◆ getSensorSize()

cv::Size ev::Davis::getSensorSize ( ) const

nodiscardoverridevirtual

Get device sensor size.

Returns: Sensor size

Implements ev::AbstractCamera.

Examples: example-davis.cpp.

◆ getSerialNumber()

std::string ev::Davis::getSerialNumber ( ) const

nodiscardoverridevirtual

Get device serial number, prefixed with the chip model.

Returns: Serial number as CHIP-XXXXXXXX, empty if the camera is not open

Implements ev::AbstractCamera.

◆ hasAps()

bool ev::Davis::hasAps ( ) const

inlinenodiscardoverridevirtual

DAVIS cameras have an APS sensor.

Returns: Always true

Implements ev::AbstractCamera.

◆ hasImu()

bool ev::Davis::hasImu ( ) const

inlinenodiscardoverridevirtual

DAVIS cameras have an IMU.

Returns: Always true

Implements ev::AbstractCamera.

◆ setApsExposure()

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

Set APS exposure time.

Parameters

usec	Exposure time in microseconds

◆ 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.

◆ setRoi()

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

overridevirtual

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

Note: Both filters are applied by the device when the model supports them. Events keep full-sensor coordinates, whereas frames are delivered already cropped, so their pixel (0, 0) is roi.tl(). Subtract that offset before overlaying them.

Implements ev::AbstractCamera.

Examples: example-davis.cpp.

◆ start()

void ev::Davis::start ( )

overridevirtual

Initialize the DAVIS camera. This function sets up the DAVIS camera for operation. It must be called before any other.

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 Member Functions

Static Public Attributes

Detailed Description

Member Function Documentation

◆ biasToCurrent()

◆ enableAps()

◆ enableApsAutoExposure()

◆ enableDvs()

◆ enableImu()

◆ getApsExposure()

◆ getBias()

◆ getSensorSize()

◆ getSerialNumber()

◆ hasAps()

◆ hasImu()

◆ setApsExposure()

◆ setApsTimeInterval()

◆ setBias()

◆ setRoi()

◆ start()