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This paper introduces an new open-source, header-only and modular C++ framework to facilitate the implementation of event-driven algorithms. The framework relies on three independent components:  sepia  (file IO),  tarsier  (algorithms), and  chameleon  (display). Our benchmarks show that algorithms implemented with  tarsier  are faster and have a lower latency than identical implementations in other state-of-the-art frameworks, thanks to static polymorphism (compile-time pipeline assembly). The  observer pattern  used throughout the framework encourages implementations that better reflect the event-driven nature of the algorithms and the way they process events, easing future translation to neuromorphic hardware. The framework integrates drivers to communicate with the  DVS , the  DAVIS , the  Opal Kelly ATIS , and the  CCam ATIS .

Sepia, Tarsier, and Chameleon: A Modular C++ Framework for Event-Based Computer Vision