libcaer

Minimal C library to access, configure and get data from neuromorphic sensors and processors. Currently supported devices are the Dynamic Vision Sensor (DVS), the DAVIS cameras, and the Dynap-SE neuromorphic processor.

REQUIREMENTS:

Linux, MacOS X or Windows (for Windows build instructions see README.Windows) pkg-config cmake >= 3.10.0 gcc >= 4.9 or clang >= 3.6 libusb >= 1.0.17 Optional: libserialport >= 0.1.1 Optional: OpenCV >= 3.1.0

Please make sure that you have the various development packages installed for the above dependencies. They are usually called PKG-dev or PKG-devel.

On Fedora Linux: $ sudo dnf install @c-development cmake pkgconfig libusbx-devel On Ubuntu Linux: $ sudo apt-get install build-essential cmake pkg-config libusb-1.0-0-dev On MacOS X (using Homebrew): $ brew install cmake pkg-config libusb

INSTALLATION:

1) configure:

$ cmake -DCMAKE_INSTALL_PREFIX=/usr . Optional: add -DENABLE_SERIALDEV=1 to enable support for serial port devices, such as the eDVS4337, via libserialport. Optional: add -DENABLE_OPENCV=1 to enable better support for frame enhancement (demoisaicing for color, contrast, white-balance) via OpenCV.

2) build:

$ make

3) install:

$ sudo make install

DOCUMENTATION:

Online HTML documentation is available at https://inivation.gitlab.io/dv/libcaer/ Also check the examples/ directory and the iniVation Support website.

USAGE:

See the examples/ directory. Each example shows minimal working code to connect to a device and print out data coming from it. To compile the examples, see 'examples/README' for the build commands.

General usage follows this pattern (simplified):

h = caerDeviceOpen(TYPE); caerDeviceSendDefaultConfig(h); caerDeviceDataStart(h);

loop: c = caerDeviceDataGet(h); work with c (container) and its event packets

caerDeviceDataStop(h); caerDeviceClose(&h);

All configuration parameters and event types are specified in the public headers and documented there.

PAPER REFERENCES:

DVS: https://ieeexplore.ieee.org/document/4444573 P. Lichtsteiner, C. Posch and T. Delbruck, "A 128×128 120dB 15us Latency Asynchronous Temporal Contrast Vision Sensor", IEEE Journal of Solid State Circuits, 43(2) 566-576, 2008.

DAVIS: https://ieeexplore.ieee.org/document/6889103 C. Brandli, R. Berner, M. Yang, S.-C. Liu, and T. Delbruck, “A 240x180 130dB 3us Latency Global Shutter Spatiotemporal Vision Sensor”, IEEE Journal of Solid State Circuits, 49(10) 2333-2341, 2014.

For an exhaustive list of papers and research concerning event-based vision, please refer to: https://github.com/uzh-rpg/event-based_vision_resources

HELP:

Please use our GitLab bug tracker to report issues and bugs, or our Google Groups mailing list for discussions and announcements.

BUG TRACKER: https://gitlab.com/inivation/dv/libcaer/issues/ MAILING LIST: https://groups.google.com/d/forum/dv-users/

BUILD STATUS: https://gitlab.com/inivation/dv/libcaer/pipelines/