evlab 0.1.0a1

Inspect, clean, convert, and benchmark event-camera data from the command line

evlab

Inspect, clean, convert, and benchmark event-camera data from the command line.

Event-based vision has a preprocessing problem: every sensor and dataset ships a different container (AEDAT, ROS bags, CSV, NPZ, proprietary .dat), every paper wants a different representation (voxel grids, time surfaces, frames), and every pipeline reimplements the same denoising filters. evlab is the small, boring tool that handles that mess so you can get to the actual work.

pip install evlab[viz]

evlab info recording.npz                 # what is this file?
evlab convert events.aedat4 events.npz   # normalize the container
evlab convert drive.dat events.npz       # Prophesee .dat works too
evlab convert flight.bag events.npz      # ...and ROS bags (dvs_msgs)
evlab denoise events.npz clean.npz --filter baf --window 5000
evlab voxel clean.npz voxels.npy --bins 10
evlab visualize clean.npz preview.gif --mode gif
evlab benchmark events.npz clean.npz     # what did the filter do?

How good is a denoising filter, really? Generate a labeled stream and score it:

evlab synth labeled.npz --signal-rate 20000 --noise-rate 8000
evlab denoise-bench labeled.npz --filter baf --window 3000
#   precision     : 99.2%
#   recall        : 37.8%
#   f1            : 0.548
#   noise removed : 99.2%

Status

Early alpha. Works and is tested: the canonical representation; loading NPZ/CSV/TXT, AEDAT4 ([aedat] extra), Prophesee legacy .dat (with timestamp-wrap handling), and ROS1/ROS2 bags with EventArray topics ([ros] extra); BAF/refractory denoising; voxel grids, time surfaces, accumulate frames; synthetic labeled streams and precision/recall filter scoring; and the eight CLI commands above. Planned next: Prophesee EVT3 .raw, dataset-aware loaders (via Tonic), streaming via Faery, and more filters (STCF, IE/YNoise) under denoise-bench.

Python API

import evlab

data = evlab.load("recording.npz")          # EventData: (x, y, t, p) + sensor size
print(data.event_rate)

from evlab.filters import background_activity_filter
clean = background_activity_filter(data, time_window_us=5000)

from evlab.representations import voxel_grid
grid = voxel_grid(clean, bins=10)            # (10, H, W) float32, ready for torch

Design notes

• One canonical in-memory format: a t-sorted structured numpy array (x: u2, y: u2, t: i8 (µs), p: i1) plus sensor geometry. Every loader normalizes into it; every filter/representation consumes it.
• Zero heavy dependencies in the core (numpy + click). Visualization, AEDAT support, and dataset loaders are opt-in extras.
• Filters return copies; nothing mutates your data behind your back.

Development

pip install -e .[dev]
pytest
ruff check src tests

License

MIT