def read_events(self):
""" A simple function that reads spikes from dynapse """
packetContainer = libcaer.caerDeviceDataGet(self.handle)
packetNum = libcaer.caerEventPacketContainerGetEventPacketsNumber(
packetContainer)
for i in range(packetNum):
packetHeader = libcaer.caerEventPacketContainerGetEventPacket(
packetContainer, i)
if packetHeader == None:
continue
packetType = libcaer.caerEventPacketHeaderGetEventType(
packetHeader)
#get only polarity and special events
if packetType == libcaer.SPIKE_EVENT:
#loop over all events
nEvents = libcaer.caerEventPacketHeaderGetEventNumber(
packetHeader)
for this_e in range(nEvents):
spike = libcaer.caerSpikeEventPacketFromPacketHeader(
packetHeader)
event = libcaer.caerSpikeEventPacketGetEvent(spike, this_e)
self.neuid.append(libcaer.caerSpikeEventGetNeuronID(event))
self.coreid.append(
libcaer.caerSpikeEventGetSourceCoreID(event))
self.chipid.append(libcaer.caerSpikeEventGetChipID(event))
self.ts.append(libcaer.caerSpikeEventGetTimestamp(event))
def read_events(self):
""" A simple function that reads events from DVS128 sensors: polarity, special"""
polarity = None
special = None
packetContainer = libcaer.caerDeviceDataGet(self.handle)
if packetContainer != None:
packetNum = libcaer.caerEventPacketContainerGetEventPacketsNumber(packetContainer)
for i in range(packetNum):
packetHeader = libcaer.caerEventPacketContainerGetEventPacketConst(packetContainer, i)
if packetHeader == None:
continue
packetType = libcaer.caerEventPacketHeaderGetEventType(packetHeader)
eventNum = libcaer.caerEventPacketHeaderGetEventNumber(packetHeader)
if packetType == libcaer.POLARITY_EVENT:
# loop over all polarity events
polarityPacket = libcaer.caerPolarityEventPacketFromPacketHeaderConst(packetHeader)
polarity_ts = numpy.empty(eventNum, dtype=numpy.int32)
polarity_x = numpy.empty(eventNum, dtype=numpy.uint16)
polarity_y = numpy.empty(eventNum, dtype=numpy.uint16)
polarity_pol = numpy.empty(eventNum, dtype=numpy.bool)
for e in range(eventNum):
polarityEvent = libcaer.caerPolarityEventPacketGetEventConst(polarityPacket, e)
polarity_ts[e] = libcaer.caerPolarityEventGetTimestamp(polarityEvent)
polarity_x[e] = libcaer.caerPolarityEventGetX(polarityEvent)
polarity_y[e] = libcaer.caerPolarityEventGetY(polarityEvent)
polarity_pol[e] = libcaer.caerPolarityEventGetPolarity(polarityEvent)
polarity = (polarity_ts, polarity_x, polarity_y, polarity_pol)
elif packetType == libcaer.SPECIAL_EVENT:
# loop over all special events
specialPacket = libcaer.caerSpecialEventPacketFromPacketHeaderConst(packetHeader)
special_ts = numpy.empty(eventNum, dtype=numpy.int32)
special_type = numpy.empty(eventNum, dtype=numpy.uint8)
special_data = numpy.empty(eventNum, dtype=numpy.uint32)
for e in range(eventNum):
specialEvent = libcaer.caerSpecialEventPacketGetEventConst(specialPacket, e)
special_ts[e] = libcaer.caerSpecialEventGetTimestamp(specialEvent)
special_type[e] = libcaer.caerSpecialEventGetType(specialEvent)
special_data[e] = libcaer.caerSpecialEventGetData(specialEvent)
special = (special_ts, special_type, special_data)
return polarity, special
def read_events(self):
""" A simple function that reads events from DAVIS sensors: polarity, frame, imu, special"""
polarity = None
frame = None
imu = None
special = None
packetContainer = libcaer.caerDeviceDataGet(self.handle)
if packetContainer != None:
packetNum = libcaer.caerEventPacketContainerGetEventPacketsNumber(
packetContainer)
for i in range(packetNum):
packetHeader = libcaer.caerEventPacketContainerGetEventPacketConst(
packetContainer, i)
if packetHeader == None:
continue
packetType = libcaer.caerEventPacketHeaderGetEventType(
packetHeader)
eventNum = libcaer.caerEventPacketHeaderGetEventNumber(
packetHeader)
if packetType == libcaer.POLARITY_EVENT:
# loop over all polarity events
polarityPacket = libcaer.caerPolarityEventPacketFromPacketHeaderConst(
packetHeader)
polarity_ts = numpy.empty(eventNum, dtype=numpy.int32)
polarity_x = numpy.empty(eventNum, dtype=numpy.uint16)
polarity_y = numpy.empty(eventNum, dtype=numpy.uint16)
polarity_pol = numpy.empty(eventNum, dtype=numpy.bool)
for e in range(eventNum):
polarityEvent = libcaer.caerPolarityEventPacketGetEventConst(
polarityPacket, e)
polarity_ts[e] = libcaer.caerPolarityEventGetTimestamp(
polarityEvent)
polarity_x[e] = libcaer.caerPolarityEventGetX(
polarityEvent)
polarity_y[e] = libcaer.caerPolarityEventGetY(
polarityEvent)
polarity_pol[e] = libcaer.caerPolarityEventGetPolarity(
polarityEvent)
polarity = (polarity_ts, polarity_x, polarity_y,
polarity_pol)
elif packetType == libcaer.SPECIAL_EVENT:
# loop over all special events
specialPacket = libcaer.caerSpecialEventPacketFromPacketHeaderConst(
packetHeader)
special_ts = numpy.empty(eventNum, dtype=numpy.int32)
special_type = numpy.empty(eventNum, dtype=numpy.uint8)
special_data = numpy.empty(eventNum, dtype=numpy.uint32)
for e in range(eventNum):
specialEvent = libcaer.caerSpecialEventPacketGetEventConst(
specialPacket, e)
special_ts[e] = libcaer.caerSpecialEventGetTimestamp(
specialEvent)
special_type[e] = libcaer.caerSpecialEventGetType(
specialEvent)
special_data[e] = libcaer.caerSpecialEventGetData(
specialEvent)
special = (special_ts, special_type, special_data)
elif packetType == libcaer.FRAME_EVENT:
# only get first frame event in packet
framePacket = libcaer.caerFrameEventPacketFromPacketHeaderConst(
packetHeader)
frameEvent = libcaer.caerFrameEventPacketGetEventConst(
framePacket, 0)
frame_numpy = numpy.empty((self.apsSizeY, self.apsSizeX),
dtype=numpy.uint16)
# read pixels values
for y in range(
libcaer.caerFrameEventGetLengthY(frameEvent)):
for x in range(
libcaer.caerFrameEventGetLengthX(frameEvent)):
frame_numpy[y, x] = libcaer.caerFrameEventGetPixel(
frameEvent, x, y)
frame_ts = libcaer.caerFrameEventGetTimestamp(frameEvent)
frame = (frame_ts, frame_numpy)
elif packetType == libcaer.IMU6_EVENT:
# loop over all IMU 6-axis events
imuPacket = libcaer.caerIMU6EventPacketFromPacketHeaderConst(
packetHeader)
imu_ts = numpy.empty(eventNum, dtype=numpy.int32)
imu_acc = numpy.empty((eventNum, 3), dtype=numpy.float32)
imu_gyro = numpy.empty((eventNum, 3), dtype=numpy.float32)
imu_temp = numpy.empty(eventNum, dtype=numpy.float32)
for e in range(eventNum):
imuEvent = libcaer.caerIMU6EventPacketGetEventConst(
imuPacket, e)
imu_ts[e] = libcaer.caerIMU6EventGetTimestamp(imuEvent)
imu_acc[e,
0] = libcaer.caerIMU6EventGetAccelX(imuEvent)
imu_acc[e,
1] = libcaer.caerIMU6EventGetAccelY(imuEvent)
imu_acc[e,
2] = libcaer.caerIMU6EventGetAccelZ(imuEvent)
imu_gyro[e,
0] = libcaer.caerIMU6EventGetGyroX(imuEvent)
imu_gyro[e,
1] = libcaer.caerIMU6EventGetGyroY(imuEvent)
imu_gyro[e,
2] = libcaer.caerIMU6EventGetGyroZ(imuEvent)
imu_temp[e] = libcaer.caerIMU6EventGetTemp(imuEvent)
imu = (imu_ts, imu_acc, imu_gyro, imu_temp)
return polarity, frame, imu, special