Open modules samples

Open modules C++ samples

C++ samples of the open modules allow you to understand the building blocks of the SDK by starting from basic examples. If you want to start programming from the ground up, you should start with the C++ Get Started tutorial.

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

• its module

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

• 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_software_info	Prints information on the installed software (e.g. software version)	Base	N/A	SoftwareInfo
metavision_sdk_get_started	Sample explained step by step that shows how to print statistics and display frames from an event-based camera or from a RAW file	Core	SDK UI	Camera PeriodicFrameGenerationAlgorithm
metavision_active_pixel_detection	Detects and masks active pixels	Stream	OpenCV	Camera CDFrameGenerator
metavision_camera_streams_slicer	Slices a stream of events into slices of a fixed number of events or a fixed time duration	Stream	OpenCV	Camera CameraStreamSlicer
metavision_synced_camera_stream_slicer	Slices a stream of events from a master and slaves cameras into slices of a fixed number of events or a fixed time duration	Stream	OpenCV	Camera SyncedCameraStreamsSlicer SyncedCameraSystemBuilder
metavision_viewer	Displays data from an event-based camera or from a RAW, DAT or HDF5 file using SDK Stream API	Stream	OpenCV	Camera CDFrameGenerator
metavision_evk3d_viewer	Displays data from an EVK3D stream as a depth map	Stream	OpenCV	Camera
metavision_file_cutter	Cuts RAW or HDF5 event file from/to given time	Stream	N/A	RAWEventFileLogger HDF5EventFileWriter
metavision_file_info	Gets information about an event file and prints it to console	Stream	N/A	Camera
metavision_file_to_csv	Converts an event file to CSV-formatted file in C++	Stream	N/A	Camera::from_file
metavision_file_to_dat	Converts an event file to DAT-formatted file	Stream	N/A	StreamLoggerAlgorithm
metavision_file_to_hdf5	Converts an event file to an HDF5 event file in C++	Stream	N/A	HDF5EventFileWriter
metavision_raw_evt_encoder	Re-encodes an event file to a RAW EVT2 event file in C++	Stream	N/A	RAWEvt2EventFileWriter
metavision_file_to_video	Converts an event file to an AVI video	Core	N/A	CvVideoRecorder PeriodicFrameGenerationAlgorithm
metavision_filtering	Filters events (ROI + polarity) and displays them on the screen	Core	SDK UI	RoiFilterAlgorithm PolarityFilterAlgorithm
metavision_composed_viewer	Filters events and shows both unfiltered and filtered events	Core	SDK UI	FrameCompositionStage
metavision_csv_viewer	Reads CSV-formatted file and displays events on the screen	Core	SDK UI	PeriodicFrameGenerationAlgorithm
metavision_event_frame_generation	Generates and displays histo/diff event frames from event files	Core	SDK UI	EventFrameDiffGenerationAlgorithm EventFrameHistoGenerationAlgorithm
metavision_event_frame_gpu_loading	Preprocesses raw event frame files on a GPU using CUDA	Core	N/A
metavision_events_integration	Generates grayscale images from integrated events	Core	SDK UI	EventsIntegrationAlgorithm ContrastMapGenerationAlgorithm
metavision_time_surface	Displays Time Surface of events	Core	SDK UI	MostRecentTimestampBuffer
metavision_dummy_radar	Detects the object generating most events x-wise in a RADAR-like display	Core	SDK UI
metavision_simple_windows	Shows how to create and interact with basic windows	UI	SDK UI	Window MTWindow

Open modules Python samples

Python samples of the open modules allow you to understand the building blocks of the SDK by starting from basic examples. If you want to start programming from the ground up, you should start with the Python Get started tutorial.

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

Name	Description	Module	Main algorithms or classes demonstrated in the sample
metavision_simple_viewer	Displays events from an event-based camera or from an event file (RAW, DAT or HDF5)	Core	LiveReplayEventsIterator PeriodicFrameGenerationAlgorithm
metavision_simple_recorder	Record events from an event-based camera to a RAW file	Core	I_EventsStream
metavision_file_to_csv	Converts event file (RAW, DAT or HDF5) file to CSV-formatted file in Python	Core	EventsIterator
metavision_filtering	Filters events (ROI + polarity) and displays them on the screen	Core	PolarityFilterAlgorithm RoiFilterAlgorithm
metavision_csv_viewer	Reads CSV-formatted file and displays events on the screen	Core	PeriodicFrameGenerationAlgorithm
metavision_interop	Reads multiple AER event file formats and displays events on the screen	Core	EventsIterator
metavision_sync	Synchronizes event-based cameras	Core	initiate_device
metavision_adaptive_rate	Reads RAW, dynamically splits into event frames based on the content of the stream, and displays result on screen	Core	AdaptiveRateEventsIterator AdaptiveRateEventsSplitterAlgorithm
metavision_time_surface	Displays Time Surface of events	Core	MostRecentTimestampBuffer
metavision_event_frame_viewer	Displays the content of histo and diff event frames files	Core	EventFrameIterator
metavision_events_integration	Generates grayscale images from integrated events	Core	EventsIntegrationAlgorithm ContrastMapGenerationAlgorithm
metavision_sdk_get_started	Sample explained step by step that shows how to print statistics and display frames from an event-based camera or from an event file	Stream	EventsIterator BaseFrameGenerationAlgorithm
metavision_raw_evt_encoder	Re-encodes an event file to a RAW EVT2 event file in Python	Stream	RAWEvt2EventFileWriter
metavision_camera_stream_slicer	Slices a stream of events (from camera or event file) into slices of a fixed number of events or a fixed time duration	Stream	Camera CameraStreamSlicer
metavision_synced_camera_streams_slicer	Slices a stream of events from a master and slaves cameras into slices of a fixed number of events or a fixed time duration	Stream	Camera SyncedCameraStreamsSlicer SyncedCameraSystemBuilder
demo_event_to_video	Demonstrates Event to Video ML pipeline	Core ML	EventToVideoLightningModel
train_event_to_video	Trains Event to Video ML pipeline	Core ML	EventToVideoLightningModel
viz_data_event_to_video	Visualizes Event to Video training data	Core ML	GPUEBSIM
viz_video_to_event_simulator	Demonstrates CPU Video to Event ML pipeline	Core ML	viz_events
viz_video_to_event_gpu_simulator	Demonstrates GPU Video to Event ML pipeline	Core ML	GPUEventSimulator
demo_corner_detection	Demonstrates Corner Detection ML pipeline	Core ML	CornerDetectionLightningModel
train_corner_detection	Trains Corner Detection ML pipeline	Core ML	CornerDetectionLightningModel

HAL Samples

HAL is the API to access camera functionalities in a generic way (i.e. hiding the hardware specificities of each device). You can discover how to operate and tune sensors and cameras using this API. The samples listed in the table below can be used as starting point.

Note

If you want to build a full-featured application in C++ (with display, data conversion etc.), you might consider using the Stream module that offers a user-friendly API to access the camera and the data with the Camera class (Metavision::Camera). Follow the tutorial Get Started using C++ to discover SDK Stream C++ API.

If you want to code in Python using a higher-level API than HAL, follow the tutorial Python Get started that shows how you can use EventsIterator to stream events.

HAL C++ Samples

Name	Description	Main algorithm or class demonstrated in the sample
metavision_hal_ls	Lists all connected Prophesee devices	DeviceDiscovery
metavision_platform_info	Prints information on the platform, connected devices, and installed software (useful for debug)	I_HW_Identification
metavision_raw_cutter	Cuts RAW file from/to given time	I_Decoder I_EventsStream
metavision_hal_seek	Seek in a RAW file	I_EventsStream
metavision_hal_showcase	Showcases various HAL API facilities	I_TriggerIn I_TriggerOut EventExtTrigger I_Monitoring I_LL_Biases I_EventRateActivityFilterModule I_DigitalEventMask I_HW_Identification I_DigitalCrop
metavision_hal_sync	Synchronizes event-based cameras	I_CameraSynchronization
metavision_hal_toy_sample_plugin	Provides an example of HAL plugin for a toy camera (software-simulated)	CameraDiscovery
metavision_hal_evk4_sample_plugin	Provides an example of HAL plugin for a Prophesee EVK4	CameraDiscovery

HAL Python Sample

Currently, we offer just one basic example for the HAL Python API, which serves as a foundational code template to help you get started. For more advanced usage, you might look at the C++ HAL samples (especially metavision_hal_showcase, which demonstrates multiple facilities) and adapt them into Python.

Name	Description	Main algorithm or class demonstrated in the sample
metavision_hal_get_started	Reads events from an event-based camera or from a RAW file	DeviceDiscovery

Camera Plugins Samples

Some samples are showing advanced usage of our sensors. When installing the SDK from packages/installer, those samples can be found in : <install-prefix>/share/metavision/hal_psee_plugins/cpp_samples/SAMPLE_NAME.

Name	Description	Sensor
metavision_imx636_facility_casting_sample	Accesses sensor-specific implementations of HAL facilities. For more information, check Hardware Layer Library page.	IMX636
metavision_riscv_logger	Receives log messages from an application embedded in the sensor For more information, launch metavision_riscv_logger -h.	GenX320

Samples listed by Module

• HAL
  • List Connected Devices Sample
  • HAL Showcase Sample
  • HAL Seek Sample
  • HAL Sync Sample
  • Platform Info
  • RAW Cutter Sample
  • HAL Toy Sample Plugin
  • HAL EVK4 Sample Plugin
  • Get Started with HAL API using Python
• Base
  • Software Info
• Core
  • Adaptive Rate Events Splitter using Python
  • Composed Viewer Sample using C++
  • CSV Viewer Sample using Python
  • CSV Viewer Sample using C++
  • Event Frame Generation Sample using C++
  • Event Frame GPU Loading Sample using C++
  • Events Integration using Python
  • Events Integration using C++
  • Event Frame Viewer Sample using Python
  • Filtering using Python
  • Filtering using C++
  • Interoperability Sample using Python
  • File to Video
  • File to CSV Sample using Python
  • Dummy Radar Sample using C++
  • Simple Recorder using Python
  • Simple Viewer using Python
  • Sync Sample
  • Time Surface Sample using C++
  • Time Surface Sample using Python
• Core ML
  • Inference Pipeline of Event to Video
  • Training of Event to Video
  • Visualization of Event to Video data
  • Video to Event Simulator
  • Video to Event GPU Simulator
  • Demo of Corner Detection Model
  • Training of Corner Detection model
• Stream
  • Active Pixel Detection
  • Camera Stream Slicer using C++
  • Camera Stream Slicer using Python
  • EVK3D viewer
  • File Cutter
  • File Info
  • File to CSV
  • File to DAT
  • File to HDF5
  • RAW EVT Encoder using C++
  • RAW EVT Encoder using Python
  • Synced Camera Streams Slicer using C++
  • Synced Camera Streams Slicer using Python
  • Metavision Viewer
• UI
  • Simple Window using C++