ToVoxelGrid

class tonic.transforms.ToVoxelGrid(sensor_size: Tuple[int, int, int], n_time_bins: int)

Build a voxel grid with bilinear interpolation in the time domain from a set of events. Implements the event volume from Zhu et al. 2019, Unsupervised event-based learning of optical flow, depth, and egomotion.

Parameters:

• sensor_size (Tuple[int, int, int]) – a 3-tuple of x,y,p for sensor_size

• n_time_bins (int) – fixed number of time bins to slice the event sample into.