HAL Decoders API

template<bool HAS_4_BITS_INTERFACE>
class AERDecoder : public Metavision::I_EventsStreamDecoder

Public Functions

inline virtual bool get_timestamp_shift(timestamp &ts_shift) const override

Finds the timestamp shift.

If the timestamp shift (timestamp of the first event in the stream) is already known, the function returns true and the parameter timestamp_shift will be set to its value. Otherwise, the function returns false and does nothing.

Returns

true if the timestamp shift is already known, false otherwise

inline virtual timestamp get_last_timestamp() const final override

Gets the timestamp of the last event.

Returns

Timestamp of the last event

inline virtual uint8_t get_raw_event_size_bytes() const override

Gets size of a raw event element in bytes.

class EventBase

struct RawEvent

template<class FrameType, typename T>
class EHCDecoder : public Metavision::I_EventFrameDecoder<FrameType>

Public Functions

inline virtual void decode(const RawData *const raw_data_begin, const RawData *const raw_data_end) override

Decodes raw event frame data.

Warning

It is mandatory to pass strictly consecutive buffers from the same source to this method

Parameters

• raw_data_begin – Pointer to start of frame data

• raw_data_end – Pointer after the last byte of frame data

class Histo3dDecoder : public Metavision::EHCDecoder<RawEventFrameHisto, uint8_t>

Public Functions

inline virtual uint8_t get_raw_event_size_bytes() const override

Gets size of a raw event element in bytes.

class Diff3dDecoder : public Metavision::EHCDecoder<RawEventFrameDiff, int8_t>

Public Functions

inline virtual uint8_t get_raw_event_size_bytes() const override

Gets size of a raw event element in bytes.

class EVT2Decoder : public Metavision::I_EventsStreamDecoder

Public Functions

inline virtual bool get_timestamp_shift(timestamp &ts_shift) const override

Finds the timestamp shift.

If the timestamp shift (timestamp of the first event in the stream) is already known, the function returns true and the parameter timestamp_shift will be set to its value. Otherwise, the function returns false and does nothing.

Returns

true if the timestamp shift is already known, false otherwise

inline virtual timestamp get_last_timestamp() const override

Gets the timestamp of the last event.

Returns

Timestamp of the last event

inline virtual uint8_t get_raw_event_size_bytes() const override

Gets size of a raw event element in bytes.

class Evt2Encoder

Class to encode events in EVT2 format.

Public Functions

Evt2Encoder() = default

Constructor.

void reset_state()

resets the internal timehigh state of the encoder

void encode_event_cd(std::ofstream &ofs, const EventCD &ev)

Encodes a CD event and writes it to the output stream.

Parameters

• ofs – Output stream to write the encoded event to

• ev – CD event to encode

void encode_event_trigger(std::ofstream &ofs, const EventExtTrigger &ev)

Encodes a trigger event and writes it to the output stream.

Parameters

• ofs – Output stream to write the encoded event to

• ev – Trigger event to encode

template<class Validator>
class EVT3Decoder : public Metavision::I_EventsStreamDecoder

Public Functions

inline virtual bool get_timestamp_shift(timestamp &ts_shift) const override

Finds the timestamp shift.

If the timestamp shift (timestamp of the first event in the stream) is already known, the function returns true and the parameter timestamp_shift will be set to its value. Otherwise, the function returns false and does nothing.

Returns

true if the timestamp shift is already known, false otherwise

inline virtual timestamp get_last_timestamp() const final override

Gets the timestamp of the last event.

Returns

Timestamp of the last event

inline virtual uint8_t get_raw_event_size_bytes() const override

Gets size of a raw event element in bytes.

inline virtual size_t add_protocol_violation_callback(const ProtocolViolationCallback_t &cb) override

Adds a function to be called when decoder protocol is breached.

Note

This method is not thread safe. You should add/remove the various callback before starting the streaming

Note

It’s not allowed to add/remove a callback from the callback itself

Parameters

cb – Callback to add

Returns

ID of the added callback

inline virtual bool remove_protocol_violation_callback(size_t callback_id) override

Removes a previously registered protocol violation callback.

Note

This method is not thread safe. You should add/remove the various callback before starting the streaming

Parameters

callback_id – Callback ID

Returns

true if the callback has been unregistered correctly, false otherwise.

template<class Validator>
class EVT4Decoder : public Metavision::I_EventsStreamDecoder

Public Functions

inline virtual bool get_timestamp_shift(timestamp &ts_shift) const override

Finds the timestamp shift.

If the timestamp shift (timestamp of the first event in the stream) is already known, the function returns true and the parameter timestamp_shift will be set to its value. Otherwise, the function returns false and does nothing.

Returns

true if the timestamp shift is already known, false otherwise

inline virtual timestamp get_last_timestamp() const override

Gets the timestamp of the last event.

Returns

Timestamp of the last event

inline virtual std::uint8_t get_raw_event_size_bytes() const override

Gets size of a raw event element in bytes.

template<typename RawEvent, typename Event_TIME_HIGH, typename Event_2D, typename Event_EXT_TRIGGER, typename Event_OTHERS, typename OutputCDType = EventCD>
class EVT21GenericDecoder : public Metavision::I_EventsStreamDecoder

Public Functions

inline virtual timestamp get_last_timestamp() const final override

Gets the timestamp of the last event.

Returns

Timestamp of the last event

inline virtual bool get_timestamp_shift(Metavision::timestamp &timestamp_shift) const override

Finds the timestamp shift.

If the timestamp shift (timestamp of the first event in the stream) is already known, the function returns true and the parameter timestamp_shift will be set to its value. Otherwise, the function returns false and does nothing.

Returns

true if the timestamp shift is already known, false otherwise

inline virtual uint8_t get_raw_event_size_bytes() const override

Gets size of a raw event element in bytes.

class MTRDecoder : public Metavision::I_EventFrameDecoder<PointCloud>

Public Functions

inline MTRDecoder(int sensor_width = 1280, int sensor_height = 720, MTRMode mode = MTRMode::MTR)

Constructor.

Parameters

• sensor_width – Width of the sensor

• sensor_height – Height of the sensor

• mode – MTR (Module for Triangulation) stream mode

inline virtual uint8_t get_raw_event_size_bytes() const override

Gets size of a raw event in bytes.