ev::PointCloud_< T, Options, E > Class Template Reference

This class is used to represent events as point clouds. More...

#include <point-cloud.hpp>

Inheritance diagram for ev::PointCloud_< T, Options, E >:

Public Member Functions
bool	contains (const Event_< E > &e) const
	Check if an event is included in the point cloud.
void	visualize (const int t, const double time_scale=1.0, const double axis_size=1.0, const double point_size=2.0)
	Visualize point cloud.
cv::viz::Viz3d &	window ()
	Window the point cloud is shown in, to set the viewpoint or register callbacks.
Public Member Functions inherited from ev::AbstractRepresentation_< T, RepresentationOptions::NONE, int >
std::size_t	count () const
	Number of events integrated in the representation.
TimeType	firstTimestamp () const
	Timestamp of the oldest event integrated in the representation.
TimeType	lastTimestamp () const
	Timestamp of the newest event integrated in the representation.
void	clear ()
	Remove all events from the representation.
bool	insert (const Event_< int > &e)
	Insert one event in the representation.
void	setTimeOffset (const Event_< int > &e)
	Set time offset.
void	setValue (const bool polarity, const Type &value)
	Set values for ON and OFF pixels.
void	setValues (const Type &positive, const Type &negative, const Type &reset)
	Set values for ON, OFF, and non-activated pixels.
void	setColor (const bool polarity, const cv::viz::Color &color)
	Set colors for ON and OFF pixels. For more information, please refer here.
void	setColors (const cv::viz::Color &positive, const cv::viz::Color &negative, const cv::viz::Color &reset)
	Set colors for ON, OFF, and non-activated pixels. For more information, please refer here.
void	setColormap (const cv::ColormapTypes cm)
	Set colormap for the representation.
Public Member Functions inherited from ev::Stats_< AbstractRepresentation_< T, Options, int > >
ResultType	duration () const
	Time difference between the last and the first event.
ResultType	rate () const
	Compute event rate as the ratio between the number of events and the time difference between the last and the first event.
ResultType	density (const cv::Size size) const
	Compute event density as the ratio between the number of events and the number of pixels.
std::size_t	activePixels () const
	Count the pixels with at least one event.
ResultType	fillRatio (const cv::Size size) const
	Compute fill ratio as the fraction of pixels with at least one event.
ResultType	polarityRatio (const PolarityType p) const
	Compute polarity ratio as the fraction of events with the given polarity.
Event_< ResultType >	mean () const
	Compute the mean of the events.
cv::Point_< ResultType >	meanPoint () const
	Compute the mean x,y point of the events.
cv::Matx< ResultType, 2, 2 >	covariance () const
	Compute the covariance of the x,y coordinates of the events around meanPoint().
cv::Rect	boundingBox () const
	Compute the smallest rectangle of pixels containing the events.
ResultType	meanTime () const
	Compute the mean time of the events.
ResultType	midTime () const
	Calculate the midpoint time between the oldest and the newest event.
std::size_t	peak () const
	Find the largest number of events on a single pixel.
ResultType	entropy () const
	Compute the Shannon entropy of the spatial distribution of the events.

Additional Inherited Members
Public Types inherited from ev::AbstractRepresentation_< T, RepresentationOptions::NONE, int >
using	Type
Public Types inherited from ev::Stats_< AbstractRepresentation_< T, Options, int > >
using	ResultType

Detailed Description

template<typename T, const RepresentationOptions Options = RepresentationOptions::NONE, typename E = int>
class ev::PointCloud_< T, Options, E >

This class is used to represent events as point clouds.

Analogously to OpenCV library, the following aliases are defined for convenience:

using PointCloud1b = PointCloud_<uchar>;
using PointCloud3b = PointCloud_<cv::Vec3b>;
using PointCloud1s = PointCloud_<short>;
using PointCloud3s = PointCloud_<cv::Vec3s>;
using PointCloud1w = PointCloud_<ushort>;
using PointCloud3w = PointCloud_<cv::Vec3w>;
using PointCloud1i = PointCloud_<int>;
using PointCloud3i = PointCloud_<cv::Vec3i>;
using PointCloud1f = PointCloud_<float>;
using PointCloud3f = PointCloud_<cv::Vec3f>;
using PointCloud1d = PointCloud_<double>;
using PointCloud3d = PointCloud_<cv::Vec3d>;
using PointCloud1 = PointCloud1b;
using PointCloud3 = PointCloud3b;
using PointCloud = PointCloud1;

Member Function Documentation

contains()

template<typename T, const RepresentationOptions Options = RepresentationOptions::NONE, typename E = int>

bool ev::PointCloud_< T, Options, E >::contains ( const Event_< E > & e ) const

inlinenodiscard

Check if an event is included in the point cloud.

Parameters

e	Event to check

visualize()

template<typename T, const RepresentationOptions Options = RepresentationOptions::NONE, typename E = int>

void ev::PointCloud_< T, Options, E >::visualize	(	const int	t,
		const double	time_scale = 1.0,
		const double	axis_size = 1.0,
		const double	point_size = 2.0 )

Visualize point cloud.

Parameters

t	Amount of time in milliseconds for the event loop to keep running. Zero means "forever"
time_scale	Events will be represented as (x, y, time_scale * t).
axis_size	Size of the 3D axis in the representation
point_size	Size of each point representing an event

window()

template<typename T, const RepresentationOptions Options = RepresentationOptions::NONE, typename E = int>

cv::viz::Viz3d & ev::PointCloud_< T, Options, E >::window ( )

inlinenodiscard

Window the point cloud is shown in, to set the viewpoint or register callbacks.

Returns

Viz3d window

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

• modules/representations/include/openev/representations/point-cloud.hpp