time-surface.hpp

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#ifndef OPENEV_REPRESENTATIONS_TIME_SURFACE_HPP
#define OPENEV_REPRESENTATIONS_TIME_SURFACE_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/matx.hpp>
#include <opencv2/core/utils/logger.hpp>
#include <utility>
 
namespace cv {
class Mat;
} // namespace cv
 
namespace ev {
[[maybe_unused]] constexpr bool USING_TIME_SURFACE_HPP = true;

template <typename T>
class Event_;

enum class Kernel { NONE,
                    LINEAR,
                    EXPONENTIAL };
template <typename T, const RepresentationOptions Options = RepresentationOptions::NONE, typename E = int>
class TimeSurface_ : public EventImage_<T, Options, E> {
public:
  template <typename... Args>
  explicit TimeSurface_(Args &&...args) : EventImage_<T, Options, E>(std::forward<Args>(args)...) {
    EventImage_<T, Options, E>::clear();
  }
 
  Mat::Time time{this->size()};         
  Mat::Polarity polarity{this->size()}; 

  cv::Mat &render(const Kernel kernel = Kernel::NONE, const double tau = 0);
 
private:
  void clear_() override;
  void clear_(const cv::Mat &background) override;
  bool insert_(const Event_<E> &e) override;
};
using TimeSurface1b = TimeSurface_<uchar>;     
using TimeSurface3b = TimeSurface_<cv::Vec3b>; 
using TimeSurface1s = TimeSurface_<short>;     
using TimeSurface3s = TimeSurface_<cv::Vec3s>; 
using TimeSurface1w = TimeSurface_<ushort>;    
using TimeSurface3w = TimeSurface_<cv::Vec3w>; 
using TimeSurface1i = TimeSurface_<int>;       
using TimeSurface3i = TimeSurface_<cv::Vec3i>; 
using TimeSurface1f = TimeSurface_<float>;     
using TimeSurface3f = TimeSurface_<cv::Vec3f>; 
using TimeSurface1d = TimeSurface_<double>;    
using TimeSurface3d = TimeSurface_<cv::Vec3d>; 
using TimeSurface1 = TimeSurface1b;            
using TimeSurface3 = TimeSurface3b;            
using TimeSurface = TimeSurface1;              
} // namespace ev

#include "openev/representations/time-surface.tpp"
 
#endif // OPENEV_REPRESENTATIONS_TIME_SURFACE_HPP