SDK Calibration Configs
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struct
Metavision
::
BlinkingDotsGridDetectorAlgorithmConfig
Structure containing the configuration to initialize a BlinkingDotsGridDetectorAlgorithm.
Public Members
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timestamp
processing_timestep
= 0 Determines the output periodicity of the algorithm. The callback will be called every processing_timestep microseconds. If set to 0, the execution will be synchronous, meaning that the callback will always be called once at the end of each call to BlinkingDotsGridDetectorAlgorithm::process_events.
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int
num_rows
= 0 Number of horizontal lines of points in the grid.
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int
num_cols
= 0 Number of vertical lines of points in the grid.
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float
distance_between_rows
= 1.f Distance between two consecutive rows in the grid.
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float
distance_between_cols
= 1.f Distance between two consecutive columns in the grid.
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float
special_freq
= 0.f Special frequency, frequency of the first row of the grid, in Hz.
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float
normal_freq
= 0.f Normal frequency, in Hz.
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timestamp
period_diff_thresh_us
= 2000 For the frequency estimation, the maximum difference between two successive periods to be considered the same (in us).
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int
frequency_filter_length
= 7 Minimum number of successive stable periods to validate a frequency.
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float
cluster_center_filter_alpha
= 0.05f Filter constant for the position of the center of the cluster. This value must be > 0 and <=1. Values closer to 1 produce a more reactive, but noisier position estimation.
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float
max_cluster_frequency_diff
= 10.f Maximum difference to add a frequency event to a cluster, in Hz.
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int
min_cluster_size
= 20 Minimum size of a frequency cluster to be used (in pixels). For a LED grid, larger values can help filtering small clusters produced by reflections, but might prevent detection when the leds are far away.
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bool
fisheye
= false Allows the detection of strongly distorted grids, as when using a fisheye lens.
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timestamp
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struct
Metavision
::
BlinkingFrameGeneratorAlgorithmConfig
Structure to instantiate a Blinking Detector configuration.
Public Functions
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inline
BlinkingFrameGeneratorAlgorithmConfig
(double accumulation_time, int min_num_blinking_pixels = 100, double blinking_pixels_ratios_on = 0.15, double blinking_pixels_ratios_off = 0.15, int median_blur_radius = 1, bool enable_event_count = false) Constructor.
- Parameters
accumulation_time – Window of time during which events are considered to detect if a pixel is “blinking”
min_num_blinking_pixels – Minimum number of pixels needed to be detected before outputting a frame
blinking_pixels_ratios_on – The acceptable ratio of pixels that received only positive events over the number of pixels that received both during the accumulation window
blinking_pixels_ratios_off – The acceptable ratio of pixels that received only negative events over the number of pixels that received both during the accumulation window
median_blur_radius – Radius of the median blur applied on the mask of positive and negative pixels. a negative value disables the median blur. (diameter = 1 + 2*radius)
enable_event_count – Enable counting events instead of generating a binary mask.
Public Members
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unsigned int
median_blur_diameter_
Diameter of the median blur applied on the mask of positive and negative pixels (diameter = 1 + 2*radius) a zero value disables the median blur.
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inline
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struct
Metavision
::
DftHighFreqScorerAlgorithmConfig
Structure to instantiate a DftHighFreqScorerAlgorithm configuration.
Public Functions
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inline
DftHighFreqScorerAlgorithmConfig
(timestamp refresh_period_us = 1e4, bool use_inverted_gray = false, bool speed_up = false, double high_pass_filter_dft_rows_ratio = 1.0 / 8) Constructor.
- Parameters
refresh_period_us – Time period between two consecutive process (Skip the blinking frames that are too close in time to the last one processed)
use_inverted_gray – Invert the gray levels so that white becomes black (and conversely) If true, map linearly 0 to 255 and 255 to 0; if false, keep the pixel intensity.
speed_up – Skip the process if the frame hasn’t changed
high_pass_filter_dft_rows_ratio – Ratio of the image’s height determining the radius for the High Pass Filter on the DFT (Ex: if ratio = 1/8 and (width,height) = (640,480), then radius = 480/8 = 60 for the filter)
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inline