6#ifndef OPENEV_REPRESENTATIONS_POINT_CLOUD_HPP
7#define OPENEV_REPRESENTATIONS_POINT_CLOUD_HPP
13#include <opencv2/core/hal/interface.h>
14#include <opencv2/core/matx.hpp>
15#include <opencv2/core/types.hpp>
20#include <opencv2/viz/viz3d.hpp>
46template <
typename T, const RepresentationOptions Options = RepresentationOptions::NONE>
54 return std::find(points_[e.
p].begin(), points_[e.
p].end(), cv::Point3f(e.x, e.y, e.
t)) != points_[e.
p].end();
65 void visualize(
const int t,
const double time_scale = 1.0,
const double axis_size = 1.0,
const double point_size = 2.0);
69 std::array<std::vector<cv::Point3_<typename TypeHelper<T>::FloatingPointType>>, 2> points_;
71 cv::viz::Viz3d window_{
"OpenEV"};
74 void clear_()
override;
75 void clear_(
const cv::Mat &background)
override;
76 bool insert_(
const Event &e)
override;
96#include "openev/representations/point-cloud.tpp"
Event abstract representation.
This is an auxiliary class. This class cannot be instanced.
Definition abstract-representation.hpp:119
This class extends cv::Point_<T> for event data. For more information, please refer here.
Definition types.hpp:60
bool p
Definition types.hpp:63
double t
Definition types.hpp:62
This class is used to represent events as point clouds.
Definition point-cloud.hpp:47
bool contains(const Event &e) const
Check if an event is included in the point cloud.
Definition point-cloud.hpp:53
OpenEV compilation options.
Basic event-based vision structures based on OpenCV components.