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evt3 — fast event camera decoder for Python

PyPI Python versions CI License: MIT

Read Prophesee and Metavision .raw event camera recordings directly into NumPy arrays. evt3 decodes the EVT3 (EVT 3.0) encoding used by Prophesee event-based vision sensors. The decoder is written in Rust, releases the GIL, and writes straight into NumPy's columnar layout, so there is no Python-level parsing loop and no per-event object.

Use it for event-based vision, neuromorphic research, and DVS data analysis when you need .raw files as x, y, p, t arrays without installing a full camera SDK.

  • Fast — 55M events/second decode-only; the companion CLI is 1.62x faster than the optimized C++ reference on full CSV output, with byte-identical results.
  • NumPy-native — zero-copy uint16/uint8/uint64 arrays, stable across repeated access.
  • Bounded memory — batch iterators for recordings larger than RAM.
  • Streaming — a stateful decoder for live camera byte chunks.
  • No SDK required — pure wheel, only NumPy at runtime.

Installation

pip install evt3

Wheels are published for CPython 3.9 through 3.14 on Linux, macOS, and Windows, including the free-threaded CPython 3.14 build.

The wheel supports .raw files. HDF5 (.h5/.hdf5) input needs the native libhdf5 library and must be built from source — see the HDF5 documentation.

Quick start

import evt3

events = evt3.decode_file("recording.raw")

print(f"Decoded {len(events):,} events")
print(f"Sensor: {events.sensor_width}x{events.sensor_height}")

x = events.x          # np.ndarray[uint16]
y = events.y          # np.ndarray[uint16]
p = events.polarity   # np.ndarray[uint8]  (0=OFF, 1=ON)
t = events.timestamp  # np.ndarray[uint64] (microseconds)

# Short aliases also work
p = events.p
t = events.t

duration_s = (t[-1] - t[0]) / 1e6
print(f"Duration: {duration_s:.2f} s, rate: {len(events) / duration_s:,.0f} ev/s")

Convert to pandas

import pandas as pd

df = pd.DataFrame(events.to_dict())

Large recordings — bounded memory

decode_file holds the whole recording. For files larger than RAM, iterate batches instead:

for batch in evt3.decode_file_batches("recording.raw", batch_bytes=8 << 20):
    analyze(batch.x, batch.y, batch.p, batch.t)

# Including external trigger edges
for events, triggers in evt3.decode_file_batches_with_triggers("recording.raw"):
    analyze(events, triggers.timestamp, triggers.id, triggers.value)

Live input — stateful streaming decoder

The decoder keeps its state across arbitrary chunk borders, so USB packets do not need to align to EVT3 word or time boundaries:

decoder = evt3.Decoder(sensor_width=1280, sensor_height=720)
for raw_chunk in camera_chunks:
    analyze(decoder.feed(raw_chunk))
decoder.finish()

External triggers

events, triggers = evt3.decode_file_with_triggers("recording.raw")
trigger_times = triggers.timestamp
trigger_values = triggers.value

Decode from bytes

with open("recording.raw", "rb") as f:
    raw_bytes = f.read()

events = evt3.decode_bytes(raw_bytes, sensor_width=1280, sensor_height=720)

Build Events from your own arrays

events = evt3.Events.from_arrays(
    x=x, y=y, p=p, t=t,
    geometry=(1280, 720),
    copy=False,
)

Publish to AugurRS

Send decoded or filtered arrays into a running AugurRS session for interactive preview, 3D raw-event inspection, and viewer tools:

evt3.augur.publish_events(events, name="recording-analysis-window")

with evt3.augur.connect() as augur:
    augur.publish_events(events, name="raw")
    augur.publish_events(filtered_events, name="filtered")

Command-line tool

The same decoder ships as a standalone CLI that converts .raw to CSV or a packed binary format:

cargo install evt3-cli
evt3 recording.raw events.csv

Pre-built binaries for Linux, macOS, and Windows are on the releases page. The decoder is also available as a Rust library with cargo add evt3.

Performance notes

The decoder is implemented in Rust with attention to throughput:

  • Streaming buffer decoding for large files
  • Columnar layout for cache-efficient NumPy access
  • Minimal allocation during decoding
  • The GIL is released while Rust reads and decodes

decode_file, decode_file_with_triggers, and decode_bytes stay source-compatible. decode_file writes directly into the final NumPy columns. decode_file_batches and decode_file_batches_with_triggers are opt-in and keep event storage bounded; during iteration the consumer's current arrays and the next batch being built can briefly coexist.

Links

License

MIT — see LICENSE-MIT.

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