Ad support for pixel masks

neuromorphicsystems · Sep 25, 2023 · 331c997 · 331c997
1 parent 5d6c8eb
commit 331c997
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Showing 48 changed files with 274 additions and 127 deletions.
diff --git a/README.md b/README.md
@@ -162,9 +162,11 @@ class UsbConfiguration:
 
 ## More examples
 
-See _python/tests_ for different usage examples. `python/tests/display.py` implements a live event viewer with exponential decays caculated by the GPU. It requires vispy and glfw (`pip install vispy glfw`).
+See _python/examples_ for different usage examples.
 
-Some tests generate plots and require Plotly (`pip install plotly pandas kaleido`).
+_python/examples/any_display.py_ implements a live event viewer with exponential decays caculated by the GPU. It requires vispy and glfw (`pip install vispy glfw`).
+
+_python/examples/evk4_plot_hot_pixels_ generates plots and require Plotly (`pip install plotly pandas kaleido`).
 
 ## Contribute
 

diff --git a/drivers/Cargo.toml b/drivers/Cargo.toml
@@ -5,7 +5,7 @@ authors = [
     "Alexandre Marcireau",
 ]
 description = "Neuromorphic devices drivers"
-version = "0.6.0"
+version = "0.7.0"
 edition = "2021"
 license-file = "../LICENSE"
 homepage = "https://github.com/neuromorphicsystems/neuromorphic-rs/"

diff --git a/drivers/src/devices/prophesee_evk4.rs b/drivers/src/devices/prophesee_evk4.rs
@@ -40,6 +40,7 @@ pub struct Configuration {
     pub biases: Biases,
     pub x_mask: [u64; 20],
     pub y_mask: [u64; 12],
+    pub pixel_mask: [u64; 21],
     pub mask_intersection_only: bool,
     pub enable_external_trigger: bool,
     pub clock: Clock,
@@ -67,6 +68,9 @@ pub enum Error {
 
     #[error("bytes mismatch while reading register {0}")]
     RegisterReadMismatch(u32),
+
+    #[error("unsupported mask code ({code}) for pixel mask {offset}")]
+    PixelMask { code: u32, offset: u32 },
 }
 
 impl From<rusb::Error> for Error {
@@ -110,6 +114,7 @@ impl device::Usb for Device {
             },
             x_mask: [0; 20],
             y_mask: [0; 12],
+            pixel_mask: [0; 21],
             mask_intersection_only: false,
             enable_external_trigger: true,
             clock: Clock::Internal,
@@ -973,6 +978,51 @@ fn update_configuration(
         }
         .write(handle)?;
     }
+    if match previous_configuration {
+        Some(previous_configuration) => {
+            previous_configuration.pixel_mask != configuration.pixel_mask
+        }
+        None => true,
+    } {
+        for offset in 0u32..64u32 {
+            let code = if offset < 63 {
+                (((configuration.pixel_mask[(offset / 3) as usize]) >> ((offset % 3) * 21))
+                    & 0x1fffff) as u32
+            } else {
+                let mut code: u32 = 0;
+                for bit in 0..21 {
+                    code |= ((configuration.pixel_mask[bit] >> 63) << bit) as u32;
+                }
+                code
+            };
+            if code == 0 {
+                DigitalMask {
+                    x: 0,
+                    reserved_11_16: 0,
+                    y: 0,
+                    reserved_26_31: 0,
+                    enable: 0,
+                }
+                .offset(offset)
+                .write(handle)?;
+            } else {
+                let x = (code - 1) % 1280;
+                let y = 720 - 1 - (code - 1) / 1280;
+                if x >= 1280 || y >= 720 {
+                    return Err(Error::PixelMask { code, offset });
+                }
+                DigitalMask {
+                    x,
+                    reserved_11_16: 0,
+                    y,
+                    reserved_26_31: 0,
+                    enable: 1,
+                }
+                .offset(offset)
+                .write(handle)?;
+            }
+        }
+    }
     Ok(())
 }
 
@@ -1397,70 +1447,13 @@ register! { AreaY3Addr, 0x904C, { value: 0..32 } }
 register! { AreaY4Addr, 0x9050, { value: 0..32 } }
 register! { CounterCtrl, 0x9054, { value: 0..32 } }
 register! { CounterTimerThreshold, 0x9058, { value: 0..32 } }
-register! { DigitalMaskPixel00, 0x9100, { value: 0..32 } }
-register! { DigitalMaskPixel01, 0x9104, { value: 0..32 } }
-register! { DigitalMaskPixel02, 0x9108, { value: 0..32 } }
-register! { DigitalMaskPixel03, 0x910C, { value: 0..32 } }
-register! { DigitalMaskPixel04, 0x9110, { value: 0..32 } }
-register! { DigitalMaskPixel05, 0x9114, { value: 0..32 } }
-register! { DigitalMaskPixel06, 0x9118, { value: 0..32 } }
-register! { DigitalMaskPixel07, 0x911C, { value: 0..32 } }
-register! { DigitalMaskPixel08, 0x9120, { value: 0..32 } }
-register! { DigitalMaskPixel09, 0x9124, { value: 0..32 } }
-register! { DigitalMaskPixel10, 0x9128, { value: 0..32 } }
-register! { DigitalMaskPixel11, 0x912C, { value: 0..32 } }
-register! { DigitalMaskPixel12, 0x9130, { value: 0..32 } }
-register! { DigitalMaskPixel13, 0x9134, { value: 0..32 } }
-register! { DigitalMaskPixel14, 0x9138, { value: 0..32 } }
-register! { DigitalMaskPixel15, 0x913C, { value: 0..32 } }
-register! { DigitalMaskPixel16, 0x9140, { value: 0..32 } }
-register! { DigitalMaskPixel17, 0x9144, { value: 0..32 } }
-register! { DigitalMaskPixel18, 0x9148, { value: 0..32 } }
-register! { DigitalMaskPixel19, 0x914C, { value: 0..32 } }
-register! { DigitalMaskPixel20, 0x9150, { value: 0..32 } }
-register! { DigitalMaskPixel21, 0x9154, { value: 0..32 } }
-register! { DigitalMaskPixel22, 0x9158, { value: 0..32 } }
-register! { DigitalMaskPixel23, 0x915C, { value: 0..32 } }
-register! { DigitalMaskPixel24, 0x9160, { value: 0..32 } }
-register! { DigitalMaskPixel25, 0x9164, { value: 0..32 } }
-register! { DigitalMaskPixel26, 0x9168, { value: 0..32 } }
-register! { DigitalMaskPixel27, 0x916C, { value: 0..32 } }
-register! { DigitalMaskPixel28, 0x9170, { value: 0..32 } }
-register! { DigitalMaskPixel29, 0x9174, { value: 0..32 } }
-register! { DigitalMaskPixel30, 0x9178, { value: 0..32 } }
-register! { DigitalMaskPixel31, 0x917C, { value: 0..32 } }
-register! { DigitalMaskPixel32, 0x9180, { value: 0..32 } }
-register! { DigitalMaskPixel33, 0x9184, { value: 0..32 } }
-register! { DigitalMaskPixel34, 0x9188, { value: 0..32 } }
-register! { DigitalMaskPixel35, 0x918C, { value: 0..32 } }
-register! { DigitalMaskPixel36, 0x9190, { value: 0..32 } }
-register! { DigitalMaskPixel37, 0x9194, { value: 0..32 } }
-register! { DigitalMaskPixel38, 0x9198, { value: 0..32 } }
-register! { DigitalMaskPixel39, 0x919C, { value: 0..32 } }
-register! { DigitalMaskPixel40, 0x91A0, { value: 0..32 } }
-register! { DigitalMaskPixel41, 0x91A4, { value: 0..32 } }
-register! { DigitalMaskPixel42, 0x91A8, { value: 0..32 } }
-register! { DigitalMaskPixel43, 0x91AC, { value: 0..32 } }
-register! { DigitalMaskPixel44, 0x91B0, { value: 0..32 } }
-register! { DigitalMaskPixel45, 0x91B4, { value: 0..32 } }
-register! { DigitalMaskPixel46, 0x91B8, { value: 0..32 } }
-register! { DigitalMaskPixel47, 0x91BC, { value: 0..32 } }
-register! { DigitalMaskPixel48, 0x91C0, { value: 0..32 } }
-register! { DigitalMaskPixel49, 0x91C4, { value: 0..32 } }
-register! { DigitalMaskPixel50, 0x91C8, { value: 0..32 } }
-register! { DigitalMaskPixel51, 0x91CC, { value: 0..32 } }
-register! { DigitalMaskPixel52, 0x91D0, { value: 0..32 } }
-register! { DigitalMaskPixel53, 0x91D4, { value: 0..32 } }
-register! { DigitalMaskPixel54, 0x91D8, { value: 0..32 } }
-register! { DigitalMaskPixel55, 0x91DC, { value: 0..32 } }
-register! { DigitalMaskPixel56, 0x91E0, { value: 0..32 } }
-register! { DigitalMaskPixel57, 0x91E4, { value: 0..32 } }
-register! { DigitalMaskPixel58, 0x91E8, { value: 0..32 } }
-register! { DigitalMaskPixel59, 0x91EC, { value: 0..32 } }
-register! { DigitalMaskPixel60, 0x91F0, { value: 0..32 } }
-register! { DigitalMaskPixel61, 0x91F4, { value: 0..32 } }
-register! { DigitalMaskPixel62, 0x91F8, { value: 0..32 } }
-register! { DigitalMaskPixel63, 0x91FC, { value: 0..32 } }
+register! { DigitalMask, 0x9100, {
+    x: 0..11,
+    reserved_11_16: 11..16,
+    y: 16..26,
+    reserved_26_31: 26..31,
+    enable: 31..32,
+} }
 register! { AreaCnt00, 0x9200, { value: 0..32 } }
 register! { AreaCnt01, 0x9204, { value: 0..32 } }
 register! { AreaCnt02, 0x9208, { value: 0..32 } }

diff --git a/python/.gitignore b/python/.gitignore
@@ -3,4 +3,5 @@ tests/*.raw
 *.so
 *.pyd
 __pycache__
-tests/hot_pixels
+tests/hot_pixels/
+tests/*.png
diff --git a/python/tests/display.py → python/examples/any_display.py b/python/tests/display.py → python/examples/any_display.py
@@ -108,7 +108,7 @@ def __init__(
             1,
         )
         vispy.gloo.set_clear_color("#292929")
-        self.timer = vispy.app.Timer(FRAME_DURATION, connect=self.update, start=True)
+        self.timer = vispy.app.Timer(FRAME_DURATION, connect=self.update, start=True)  # type: ignore
         self.show()
 
     def on_resize(self, event):

diff --git a/python/tests/read_many.py → python/examples/any_read_many.py b/python/tests/read_many.py → python/examples/any_read_many.py
diff --git a/python/tests/test.py → python/examples/any_read_one.py b/python/tests/test.py → python/examples/any_read_one.py
diff --git a/python/tests/record_raw.py → python/examples/any_record_raw.py b/python/tests/record_raw.py → python/examples/any_record_raw.py
diff --git a/python/tests/dual_display.py → python/examples/evk4_dual_display.py b/python/tests/dual_display.py → python/examples/evk4_dual_display.py
@@ -146,7 +146,7 @@ def __init__(
             1,
         )
         vispy.gloo.set_clear_color("#292929")
-        self.timer = vispy.app.Timer(FRAME_DURATION, connect=self.update, start=True)
+        self.timer = vispy.app.Timer(FRAME_DURATION, connect=self.update, start=True)  # type: ignore
         self.show()
 
     def on_resize(self, event):

diff --git a/python/tests/external_synchronization.py → ...examples/evk4_external_synchronization.py b/python/tests/external_synchronization.py → ...examples/evk4_external_synchronization.py
diff --git a/python/examples/evk4_mask.png b/python/examples/evk4_mask.png
diff --git a/python/examples/evk4_mask.py b/python/examples/evk4_mask.py
@@ -0,0 +1,48 @@
+import pathlib
+
+import neuromorphic_drivers as nd
+import numpy as np
+import plotly.express
+
+dirname = pathlib.Path(__file__).resolve().parent
+
+pixel_mask = nd.PropheseeEvk4PixelMask()
+pixel_mask.set(63, 1026, 664)
+nd.write_mask_as_png(
+    pixel_mask.pixels(),
+    dirname / "evk4_mask.png",
+)
+
+print(pixel_mask.pixel_mask())
+
+counts = np.zeros(
+    (nd.prophesee_evk4.Properties().width, nd.prophesee_evk4.Properties().height),
+    dtype=np.uint64,
+)
+
+with nd.open(
+    configuration=nd.prophesee_evk4.Configuration(
+        biases=nd.prophesee_evk4.Biases(
+            diff_off=50,
+        ),
+        pixel_mask=pixel_mask.pixel_mask(),
+    )
+) as device:
+    for status, packet in device:
+        if "dvs_events" in packet:
+            np.add.at(counts, (packet["dvs_events"]["x"], packet["dvs_events"]["y"]), 1)
+            if packet["dvs_events"]["t"][-1] > 2000000:
+                break
+
+log_counts = np.flipud(np.log((counts + 1).astype(np.float64)).transpose())
+figure = plotly.express.imshow(log_counts, color_continuous_scale="thermal")
+figure.update_layout(
+    width=nd.prophesee_evk4.Properties().width,
+    height=nd.prophesee_evk4.Properties().height,
+    margin=dict(l=0, r=0, b=0, t=0),
+    xaxis={"visible": False, "showticklabels": False},
+    yaxis={"visible": False, "showticklabels": False},
+    showlegend=False,
+)
+figure.update_coloraxes(showscale=False)
+figure.write_image(dirname / f"evk4_mask_accumulated.png")
diff --git a/python/examples/evk4_mask_accumulated.png b/python/examples/evk4_mask_accumulated.png
diff --git a/python/tests/find_hot_pixels.py → python/examples/evk4_plot_hot_pixels.py b/python/tests/find_hot_pixels.py → python/examples/evk4_plot_hot_pixels.py
@@ -65,7 +65,7 @@
 
 
 for diff_off, counts in diff_off_to_counts.items():
-    log_counts = np.log((counts + 1).astype(np.float64)).transpose()
+    log_counts = np.flipud(np.log((counts + 1).astype(np.float64)).transpose())
     figure = plotly.express.imshow(log_counts, color_continuous_scale="thermal")
     figure.update_layout(
         width=1280,

diff --git a/python/tests/update_biases.py → python/examples/evk4_update_biases.py b/python/tests/update_biases.py → python/examples/evk4_update_biases.py
diff --git a/python/examples/hot_pixels/diff_off_46_count.png b/python/examples/hot_pixels/diff_off_46_count.png
diff --git a/python/examples/hot_pixels/diff_off_46_map.png b/python/examples/hot_pixels/diff_off_46_map.png
diff --git a/python/examples/hot_pixels/diff_off_47_count.png b/python/examples/hot_pixels/diff_off_47_count.png
diff --git a/python/examples/hot_pixels/diff_off_47_map.png b/python/examples/hot_pixels/diff_off_47_map.png
diff --git a/python/examples/hot_pixels/diff_off_48_count.png b/python/examples/hot_pixels/diff_off_48_count.png
diff --git a/python/examples/hot_pixels/diff_off_48_map.png b/python/examples/hot_pixels/diff_off_48_map.png
diff --git a/python/examples/hot_pixels/diff_off_49_count.png b/python/examples/hot_pixels/diff_off_49_count.png
diff --git a/python/examples/hot_pixels/diff_off_49_map.png b/python/examples/hot_pixels/diff_off_49_map.png
diff --git a/python/examples/hot_pixels/diff_off_50_count.png b/python/examples/hot_pixels/diff_off_50_count.png
diff --git a/python/examples/hot_pixels/diff_off_50_map.png b/python/examples/hot_pixels/diff_off_50_map.png
diff --git a/python/examples/hot_pixels/diff_off_51_count.png b/python/examples/hot_pixels/diff_off_51_count.png
diff --git a/python/examples/hot_pixels/diff_off_51_map.png b/python/examples/hot_pixels/diff_off_51_map.png
diff --git a/python/examples/hot_pixels/diff_off_52_count.png b/python/examples/hot_pixels/diff_off_52_count.png
diff --git a/python/examples/hot_pixels/diff_off_52_map.png b/python/examples/hot_pixels/diff_off_52_map.png
diff --git a/python/examples/hot_pixels/diff_off_53_count.png b/python/examples/hot_pixels/diff_off_53_count.png
diff --git a/python/examples/hot_pixels/diff_off_53_map.png b/python/examples/hot_pixels/diff_off_53_map.png
diff --git a/python/examples/hot_pixels/diff_off_54_count.png b/python/examples/hot_pixels/diff_off_54_count.png
diff --git a/python/examples/hot_pixels/diff_off_54_map.png b/python/examples/hot_pixels/diff_off_54_map.png
diff --git a/python/examples/hot_pixels/diff_off_55_count.png b/python/examples/hot_pixels/diff_off_55_count.png
diff --git a/python/examples/hot_pixels/diff_off_55_map.png b/python/examples/hot_pixels/diff_off_55_map.png
diff --git a/python/examples/hot_pixels/diff_off_56_count.png b/python/examples/hot_pixels/diff_off_56_count.png
diff --git a/python/examples/hot_pixels/diff_off_56_map.png b/python/examples/hot_pixels/diff_off_56_map.png
diff --git a/python/examples/hot_pixels/diff_off_57_count.png b/python/examples/hot_pixels/diff_off_57_count.png
diff --git a/python/examples/hot_pixels/diff_off_57_map.png b/python/examples/hot_pixels/diff_off_57_map.png
diff --git a/python/examples/hot_pixels/diff_off_58_count.png b/python/examples/hot_pixels/diff_off_58_count.png
diff --git a/python/examples/hot_pixels/diff_off_58_map.png b/python/examples/hot_pixels/diff_off_58_map.png
diff --git a/python/examples/hot_pixels/diff_off_59_count.png b/python/examples/hot_pixels/diff_off_59_count.png
diff --git a/python/examples/hot_pixels/diff_off_59_map.png b/python/examples/hot_pixels/diff_off_59_map.png
diff --git a/python/examples/hot_pixels/diff_off_60_count.png b/python/examples/hot_pixels/diff_off_60_count.png
diff --git a/python/examples/hot_pixels/diff_off_60_map.png b/python/examples/hot_pixels/diff_off_60_map.png
diff --git a/python/examples/pixel_mask.png b/python/examples/pixel_mask.png
diff --git a/python/python/neuromorphic_drivers/generated/devices/prophesee_evk4.py b/python/python/neuromorphic_drivers/generated/devices/prophesee_evk4.py
@@ -89,6 +89,29 @@ class Configuration:
         serde.type.uint64,
         serde.type.uint64,
     ] = (0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)
+    pixel_mask: tuple[
+        serde.type.uint64,
+        serde.type.uint64,
+        serde.type.uint64,
+        serde.type.uint64,
+        serde.type.uint64,
+        serde.type.uint64,
+        serde.type.uint64,
+        serde.type.uint64,
+        serde.type.uint64,
+        serde.type.uint64,
+        serde.type.uint64,
+        serde.type.uint64,
+        serde.type.uint64,
+        serde.type.uint64,
+        serde.type.uint64,
+        serde.type.uint64,
+        serde.type.uint64,
+        serde.type.uint64,
+        serde.type.uint64,
+        serde.type.uint64,
+        serde.type.uint64,
+    ] = (0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)
     mask_intersection_only: bool = False
     enable_external_trigger: bool = True
     clock: Clock = Clock.INTERNAL