event-histogram.hpp

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#ifndef OPENEV_REPRESENTATIONS_EVENT_HISTOGRAM_HPP
#define OPENEV_REPRESENTATIONS_EVENT_HISTOGRAM_HPP
 
#include "openev/core/matrices.hpp"
#include "openev/representations/abstract-representation.hpp"
#include "openev/representations/event-image.hpp"
#include <opencv2/core/hal/interface.h>
#include <opencv2/core/mat.hpp>
#include <opencv2/core/matx.hpp>
#include <utility>
 
namespace ev {
[[maybe_unused]] constexpr bool USING_EVENT_HISTOGRAM_HPP = true;

template <typename T>
class Event_;

template <typename T, const RepresentationOptions Options = RepresentationOptions::NONE, typename E = int>
class EventHistogram_ : public EventImage_<T, Options, E> {
public:
  template <typename... Args>
  explicit EventHistogram_(Args &&...args) : EventImage_<T, Options, E>(std::forward<Args>(args)...) {
    EventImage_<T, Options, E>::clear();
  }
 
  Mat::Counter counter{cv::Mat_<int>(EventImage_<T, Options, E>::size())}; 

  cv::Mat &render();

  inline void setOutlierRejection(const double k) {
    outlierRejectionFactor_ = k;
  }
 
private:
  double outlierRejectionFactor_{0};
  void clear_() override;
  void clear_(const cv::Mat &background) override;
  bool insert_(const Event_<E> &e) override;
  int peak_{0};
};
using EventHistogram1b = EventHistogram_<uchar>;     
using EventHistogram3b = EventHistogram_<cv::Vec3b>; 
using EventHistogram1s = EventHistogram_<short>;     
using EventHistogram3s = EventHistogram_<cv::Vec3s>; 
using EventHistogram1w = EventHistogram_<ushort>;    
using EventHistogram3w = EventHistogram_<cv::Vec3w>; 
using EventHistogram1i = EventHistogram_<int>;       
using EventHistogram3i = EventHistogram_<cv::Vec3i>; 
using EventHistogram1f = EventHistogram_<float>;     
using EventHistogram3f = EventHistogram_<cv::Vec3f>; 
using EventHistogram1d = EventHistogram_<double>;    
using EventHistogram3d = EventHistogram_<cv::Vec3d>; 
using EventHistogram1 = EventHistogram1b;            
using EventHistogram3 = EventHistogram3b;            
using EventHistogram = EventHistogram1;              
} // namespace ev

#include "openev/representations/event-histogram.tpp"
 
#endif // OPENEV_REPRESENTATIONS_EVENT_HISTOGRAM_HPP