Advanced modules samples

Advanced modules C++ samples

C++ samples of the advanced modules are showing some algorithms in action.

In the following table, for each sample, you will find:

• its module

• what UI framework is used (SDK UI module, OpenCV or ImGui)

• the main algorithms or classes demonstrated in the sample

Name	Description	Module	UI framework used for display	Main algorithms or classes demonstrated in the sample
metavision_blinking_pattern_focus	Focuses an event-based camera using a blinking pattern	Calibration	SDK UI	DftHighFreqScorerAlgorithm
metavision_calibration_pipeline	Estimates intrinsics and extrinsics parameters of event-based cameras using different patterns.	Calibration	SDK UI	EBPatternDetector IntrinsicsEstimator ExtrinsicsEstimator
metavision_blinking_pattern_recording	Generates and records a blinking pattern	Calibration	SDK UI	BlinkingFrameGeneratorAlgorithm
metavision_noise_filtering	Filters events with a noise filter Activity, Trail or STC) and displays them on the screen	CV	SDK UI	ActivityNoiseFilterAlgorithm TrailFilterAlgorithm SpatioTemporalContrastAlgorithm
metavision_data_rate	Displays event rate from an event-based camera or from an event file	CV	SDK UI	ActivityNoiseFilterAlgorithm SpatioTemporalContrastAlgorithm AntiFlickerAlgorithm
metavision_sparse_optical_flow	Computes the sparse optical flow for moving objects	CV	SDK UI	SparseOpticalFlowAlgorithm
metavision_dense_optical_flow	Computes the optical flow for moving objects at each event along the edge’s normal	CV	SDK UI	PlaneFittingFlowAlgorithm TimeGradientFlowAlgorithm TripletMatchingFlowAlgorithm
metavision_optical_flow	Computes the optical flow for moving objects from AI inference with event cubes	ML	OpenCV	Model
metavision_optical_flow_dual_input	Computes the optical flow for moving objects from AI inference with histograms	ML	OpenCV	Model
metavision_undistortion	Undistort and distort coordinates of events	CV	OpenCV	CameraGeometry
metavision_xyt	Displays events in a 3D space	CV	ImGui	TrailFilterAlgorithmT SpatioTemporalContrastAlgorithm AntiFlickerAlgorithm
metavision_active_marker_2d_tracking	Tracks Active Markers in 2D	CV	SDK UI	ModulatedLightDetectorAlgorithm ActiveMarkerTrackerAlgorithm
metavision_edgelet_2d_tracking	Tracks 2D edgelets	CV3D	OpenCV	Edgelet2dDetectionAlgorithm Edgelet2dTrackingAlgorithm
metavision_model_3d_tracking	Tracks known 3D objects	CV3D	SDK UI	Model3dDetectionAlgorithm Model3dTrackingAlgorithm
metavision_active_marker_3d_tracking	Tracks Active Markers in 3D	CV3D	Ogre	ModulatedLightDetectorAlgorithm ActiveMarkerTrackerAlgorithm ActiveMarkerPoseEstimatorAlgorithm
metavision_embedded_active_marker_3d_tracking	Tracks Active Markers in 3D for embedded platform	CV3D	N/A	ModulatedLightDetectorAlgorithm ActiveMarkerTrackerAlgorithm ActiveMarkerPoseEstimatorAlgorithm
metavision_aruco_marker_tracking	Tracks ArUco Markers in 3D	CV3D	SDK UI	Model3dTrackingAlgorithm
metavision_stereo_matching	Estimates depthmap from synchronized stereo event streams	CV3D	SDK UI	ContrastMapGenerationAlgorithm PyramidalStereoBlockMatchingAlgorithm
metavision_simple_motion_capture	Triangulate active LEDs to recover the motion of a moving target	CV3D	SDK UI Ogre	ModulatedLightDetectorAlgorithm ActiveMarkerTrackerAlgorithm
metavision_counting	Counts small objects moving vertically (e.g. bulk counting)	Analytics	SDK UI	CountingAlgorithm
metavision_jet_monitoring	Monitors jets being dispensed and sends alarms when the dispensing frequency isn’t correct	Analytics	SDK UI	JetMonitoringAlgorithm
metavision_psm	Counts and estimates the sizes of objects moving vertically	Analytics	SDK UI	PsmAlgorithm
metavision_generic_tracking	Tracks any moving object	Analytics	SDK UI	TrackingAlgorithm SpatioTemporalContrastAlgorithm
metavision_spatter_tracking	Tracks simple non-colliding objects	Analytics	SDK UI	SpatterTrackerAlgorithm SpatioTemporalContrastAlgorithm
metavision_vibration_estimation	Estimates vibration frequency per pixel and shows the dominant frequency (the most common frequency among all pixels)	Analytics	SDK UI	FrequencyMapAsyncAlgorithm
metavision_detection_and_tracking	Inference Pipeline of Detection and Tracking	ML	OpenCV	Model
metavision_detection	Inference Pipeline of Detection	ML	OpenCV	Model
metavision_gesture_classification	Inference Pipeline of Classification	ML	OpenCV	Model
metavision_optical_flow	Inference Pipeline of Optical Flow	ML	OpenCV	Model

Advanced modules Python samples

Python samples of the advanced modules are showing some algorithms in action.

In the following table, for each sample, you will find its module and the main algorithms or classes demonstrated in the sample.

Name	Description	Module	Main algorithms or classes demonstrated in the sample
metavision_ground_plane_calibration	Computes the mapping between the camera’s reference system and the world’s reference system (camera is rigidly attached)	Calibration	FrequencyAlgorithm FrequencyClusteringAlgorithm
metavision_noise_filtering	Filters events with a noise filter (Activity, Trail or STC) and displays them on the screen	CV	ActivityNoiseFilterAlgorithm TrailFilterAlgorithm SpatioTemporalContrastAlgorithm
metavision_data_rate	Displays event rate from an event-based camera or from an event file	CV	ActivityNoiseFilterAlgorithm SpatioTemporalContrastAlgorithm AntiFlickerAlgorithm
metavision_sparse_optical_flow	Computes the sparse optical flow for moving objects	CV	SparseOpticalFlowAlgorithm
metavision_dense_optical_flow	Computes the dense normal optical flow for moving objects at each event along the edge’s normal	CV	PlaneFittingFlowAlgorithm TimeGradientAlgorithm TripletMatchingAlgorithm
metavision_model_3d_tracking	Tracks known 3D objects	CV3D	Model3dDetectionAlgorithm Model3dTrackingAlgorithm
metavision_stereo_matching	Estimates depthmap from synchronized stereo event streams	CV3D	ContrastMapGenerationAlgorithm PyramidalStereoBlockMatchingAlgorithm
metavision_counting	Counts small objects moving vertically (e.g. bulk counting)	Analytics	CountingAlgorithm
metavision_jet_monitoring	Monitors jets being dispensed and sends alarms when the dispensing frequency isn’t correct	Analytics	JetMonitoringAlgorithm
metavision_psm	Counts and estimates the sizes of objects moving vertically	Analytics	PsmAlgorithm
metavision_generic_tracking	Tracks any moving object	Analytics	TrackingAlgorithm ActivityNoiseFilterAlgorithm TrailFilterAlgorithm
metavision_spatter_tracking	Tracks simple non-colliding objects	Analytics	SpatterTrackerAlgorithm SpatioTemporalContrastAlgorithm
metavision_vibration_estimation	Estimates vibration frequency per pixel and shows the dominant frequency (the most common frequency among all pixels)	Analytics	FrequencyMapAsyncAlgorithm
metavision_detection_and_tracking	Inference Pipeline of Detection and Tracking	ML	DTPipeline DataAssociation
eval_coco_kpi	Evaluates Detection and Tracking pipeline on coco KPIs	ML	evaluate_detection
vizu_gt_det	Visualizes Ground Truth and ML detection results	ML	draw_box_events
train_detection	Trains Detection model with Pytorch Lightning	ML	LightningDetectionModel
export_detector	Exports detection checkpoint to torch.jit model	ML	LightningDetectionModel
classification_inference	Performs classification inference	ML	CDProcessorIterator HDF5Iterator
train_classification	Trains supervised classification model with Pytorch Lightning	ML	ClassificationModel
export_classifier	Exports classification checkpoint to torch.jit model	ML	ClassificationModel
export_fnn_classifier_onnx	Exports a feed forward classification checkpoint to an ONNX model	ML	FNNClassificationModel
flow_inference	Performs Optical Flow inference with a flow network	ML	FlowModel
flow_viz	Visualize the content of a flow file	ML	get_arrows get_dense_flow
train_flow	Trains Optical Flow model	ML	FlowModel
export_flow	Exports flow checkpoint to torch.jit model	ML	FlowModel
generate_hdf5	Writes HDF5 tensor files from event files	ML	generate_hdf5
viz_data	Visualizes a precomputed HDF5 dataset with or without bbox labels	ML	SequentialDataLoader
viz_moving_mnist	Visualizes the Moving MNIST	ML	MovingMNISTDataset
bbox_txt2npy	Converts Bbox from text format to numpy format	ML	EventBbox

Samples listed by Module

• Analytics
• Calibration
• CV
• CV3D
• ML