filtering.hpp

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#ifndef OPENEV_EVPROC_FILTERING_HPP
#define OPENEV_EVPROC_FILTERING_HPP
 
#include "openev/core/matrices.hpp"
#include "openev/core/types.hpp"
#include <cstddef>
#include <opencv2/core/mat.hpp>
#include <opencv2/core/types.hpp>
 
namespace ev {
[[maybe_unused]] constexpr bool USING_FILTERING_HPP = true;

class BackgroundActivityFilter {
public:
  BackgroundActivityFilter(const cv::Size &size, ev::TimeType dt, int radius = 1);
 
  ~BackgroundActivityFilter() = default;
  BackgroundActivityFilter(const BackgroundActivityFilter &) = default;
  BackgroundActivityFilter(BackgroundActivityFilter &&) noexcept = default;
  BackgroundActivityFilter &operator=(const BackgroundActivityFilter &) = default;
  BackgroundActivityFilter &operator=(BackgroundActivityFilter &&) noexcept = default;

  inline void setDt(const ev::TimeType dt) {
    dt_ = dt;
  }

  void reset();

  [[nodiscard]] bool operator()(const ev::Event &e);
 
private:
  ev::Mat::Time map_;
  ev::TimeType dt_;
  int radius_;
};

class RefractoryPeriodFilter {
public:
  RefractoryPeriodFilter(const cv::Size &size, ev::TimeType dt);
 
  ~RefractoryPeriodFilter() = default;
  RefractoryPeriodFilter(const RefractoryPeriodFilter &) = default;
  RefractoryPeriodFilter(RefractoryPeriodFilter &&) noexcept = default;
  RefractoryPeriodFilter &operator=(const RefractoryPeriodFilter &) = default;
  RefractoryPeriodFilter &operator=(RefractoryPeriodFilter &&) noexcept = default;

  inline void setDt(const ev::TimeType dt) {
    dt_ = dt;
  }

  void reset();

  [[nodiscard]] bool operator()(const ev::Event &e);
 
private:
  ev::Mat::Time map_;
  ev::TimeType dt_;
};

class HotPixelFilter {
public:
  static constexpr double DEFAULT_FACTOR = 10.0;
  static constexpr std::size_t DISABLED = 0;

  HotPixelFilter(const cv::Size &size, ev::TimeType window, double factor = DEFAULT_FACTOR, std::size_t limit = DISABLED);
 
  ~HotPixelFilter() = default;
  HotPixelFilter(const HotPixelFilter &) = default;
  HotPixelFilter(HotPixelFilter &&) noexcept = default;
  HotPixelFilter &operator=(const HotPixelFilter &) = default;
  HotPixelFilter &operator=(HotPixelFilter &&) noexcept = default;

  inline void setWindow(const ev::TimeType window) {
    window_ = window;
  }

  inline void setFactor(const double factor) {
    factor_ = factor;
  }

  inline void setLimit(const std::size_t limit) {
    limit_ = limit;
  }

  [[nodiscard]] inline const cv::Mat_<uchar> &mask() const {
    return mask_;
  }

  void reset();

  [[nodiscard]] bool operator()(const ev::Event &e);
 
private:
  void evaluate_();
 
  cv::Mat_<int> counts_;
  cv::Mat_<uchar> mask_;
  ev::TimeType window_;
  double factor_;
  std::size_t limit_;
  ev::TimeType start_{0};
  bool started_{false};
};
 
} // namespace ev
 
#endif // OPENEV_EVPROC_FILTERING_HPP