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"syn", + "synstructure", +] [[package]] -name = "zerocopy" -version = "0.7.35" +name = "zerovec" +version = "0.10.4" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "1b9b4fd18abc82b8136838da5d50bae7bdea537c574d8dc1a34ed098d6c166f0" +checksum = "aa2b893d79df23bfb12d5461018d408ea19dfafe76c2c7ef6d4eba614f8ff079" dependencies = [ - "zerocopy-derive", + "yoke", + "zerofrom", + "zerovec-derive", ] [[package]] -name = "zerocopy-derive" -version = "0.7.35" +name = "zerovec-derive" +version = "0.10.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "fa4f8080344d4671fb4e831a13ad1e68092748387dfc4f55e356242fae12ce3e" +checksum = "6eafa6dfb17584ea3e2bd6e76e0cc15ad7af12b09abdd1ca55961bed9b1063c6" dependencies = [ "proc-macro2", "quote", @@ -1481,3 +5462,41 @@ checksum = "99a5bab8d7dedf81405c4bb1f2b83ea057643d9cb28778cea9eecddeedd2e028" dependencies = [ "zune-core", ] + +[[package]] +name = "zvariant" +version = "4.2.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "2084290ab9a1c471c38fc524945837734fbf124487e105daec2bb57fd48c81fe" +dependencies = [ + "endi", + "enumflags2", + "serde", + "static_assertions", + "url", + "zvariant_derive", +] + +[[package]] +name = "zvariant_derive" +version = "4.2.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "73e2ba546bda683a90652bac4a279bc146adad1386f25379cf73200d2002c449" +dependencies = [ + "proc-macro-crate", + "proc-macro2", + "quote", + "syn", + "zvariant_utils", +] + +[[package]] +name = "zvariant_utils" +version = "2.1.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "c51bcff7cc3dbb5055396bcf774748c3dab426b4b8659046963523cee4808340" +dependencies = [ + "proc-macro2", + "quote", + "syn", +] diff --git a/Cargo.toml b/Cargo.toml index c315492..aa20e92 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -25,6 +25,7 @@ serde_json = "1.0" thiserror = "1.0" toml = "0.8.19" zstd = "0.13.2" +slint = "1.9.1" [build-dependencies] bindgen = "0.70.1" diff --git a/examples/camera_to_aedat4.py b/examples/camera_to_aedat4.py new file mode 100644 index 0000000..169e5f1 --- /dev/null +++ b/examples/camera_to_aedat4.py @@ -0,0 +1,7 @@ +import faery + +( + faery.events_stream_from_camera("Inivation") # Open an Inivation camera + .crop(10, 110, 10, 110) # Remove events outside the region (10, 10) to (110, 110) + .to_file("some.aedat4") # Save the events to a file +) diff --git a/flake.nix b/flake.nix index cde9ea4..19b05ff 100644 --- a/flake.nix +++ b/flake.nix @@ -12,7 +12,7 @@ pkgs = import nixpkgs { inherit system; }; faery = let - pypkgs = pkgs.python313Packages; + pypkgs = pkgs.python312Packages; in pkgs.mkShell { buildInputs = [ diff --git a/pyproject.toml b/pyproject.toml index a12cc4d..e3945b0 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -24,7 +24,7 @@ repository = "https://github.com/aestream/faery/" documentation = "https://github.com/aestream/faery/" [build-system] -requires = ["maturin==1.7.4"] +requires = ["maturin==1.8.0"] build-backend = "maturin" [tool.maturin] diff --git a/python/faery/__init__.py b/python/faery/__init__.py index a68eef1..cc49980 100644 --- a/python/faery/__init__.py +++ b/python/faery/__init__.py @@ -146,6 +146,8 @@ def name_to_colormaps() -> dict[str, Colormap]: ) } +from .event_camera_input import events_stream_from_camera + __all__ = [ "__version__", @@ -181,6 +183,7 @@ def name_to_colormaps() -> dict[str, Colormap]: "VideoFileTune", "VideoFileType", "events_stream_from_array", + "events_stream_from_camera", "events_stream_from_file", "events_stream_from_stdin", "events_stream_from_udp", diff --git a/python/faery/cli/process.py b/python/faery/cli/process.py index a575a84..c2f0602 100644 --- a/python/faery/cli/process.py +++ b/python/faery/cli/process.py @@ -78,6 +78,7 @@ def add_csv_properties(parser: argparse.ArgumentParser): def input_parser() -> argparse.ArgumentParser: parser = base_parser("input") subparsers = parser.add_subparsers(required=True, dest="input") + # Stdin subparser subparser = subparsers.add_parser("stdin") subparser.add_argument( "--dimensions", @@ -125,6 +126,10 @@ def input_parser() -> argparse.ArgumentParser: help="(default: %(default)s)", ) add_csv_properties(subparser) + # Inivation subparser + subparser = subparsers.add_parser("inivation") + subparser.add_argument("--buffer-size", type=int, default=1024, help="Array buffer size (default: %(default)s)") + # UDP subparser subparser = subparsers.add_parser("udp") subparser.add_argument("address", type=list_filters.parse_udp) subparser.add_argument( @@ -274,6 +279,11 @@ def output_parser( default="none", help="(default: %(default)s)", ) + subparser.add_argument( + "--enforce-monotonic-timestamps", + action=argparse.BooleanOptionalAction, + help="Enforce non-monitonic timestamps. Defaults to True. Negate this with causion: some file formats do not support non-monotonic timestamps.") + subparser.set_defaults(enforce_monotonic_timestamps=True) if stream_parent_class in { faery.FiniteEventsStream, faery.FiniteRegularEventsStream, @@ -490,6 +500,8 @@ def set_input(self, arguments: list[str]): skip_errors=args.csv_skip_errors, ), ) + elif args.input == "inivation": + self.stream = faery.events_stream_from_camera("Inivation") elif args.input == "udp": self.stream = faery.events_stream_from_udp( dimensions=args.dimensions, diff --git a/python/faery/event_camera_input.py b/python/faery/event_camera_input.py new file mode 100644 index 0000000..105a25e --- /dev/null +++ b/python/faery/event_camera_input.py @@ -0,0 +1,60 @@ +import importlib.util +import logging +import typing + +import numpy as np + +import faery.events_stream as events_stream + +def has_event_camera_drivers(): + return importlib.util.find_spec("event_camera_drivers") is not None + + +def has_inivation_camera_drivers(): + if has_event_camera_drivers(): + import event_camera_drivers as evd + return hasattr(evd, "InivationCamera") + return False + + +class InivationCameraStream(events_stream.EventsStream): + def __init__(self, buffer_size: int = 1024): + """Create an events stream from a connected Inivation camera + + Args: + buffer_size: The size of the buffer to use for the event stream, defaults to 1024 + + Returns: + An (infinite) event stream from the camera + + Usage: + >>> stream = InivationCameraStream() # Open camera (will fail if no camera is connected) + >>> stream.map(...) # Use the stream as any other (infinite) event stream + """ + + super().__init__() + + try: + import event_camera_drivers as evd + self.camera = evd.InivationCamera(buffer_size=buffer_size) + except ImportError as e: + logging.error("Inivation camera drivers not available, please install the event_camera_drivers library") + raise e + + def __iter__(self) -> typing.Iterator[np.ndarray]: + while self.camera.is_running(): + v = next(self.camera) + yield v + + def dimensions(self): + return self.camera.resolution() + + +def events_stream_from_camera(manufacturer: typing.Literal["Inivation", "Prophesee"], buffer_size: int = 1024): + if manufacturer == "Inivation": + return InivationCameraStream(buffer_size) + elif manufacturer == "Prophesee": + raise NotImplementedError("Prophesee camera drivers are not implemented yet") + else: + raise ValueError(f"Unknown camera manufacturer: {manufacturer}") + diff --git a/python/faery/events_stream.py b/python/faery/events_stream.py index 11e2e9d..f6f0ee8 100644 --- a/python/faery/events_stream.py +++ b/python/faery/events_stream.py @@ -105,6 +105,7 @@ def to_file( csv_header: bool = True, file_type: typing.Optional[enums.EventsFileType] = None, on_progress: typing.Callable[[OutputState], None] = lambda _: None, + enforce_monotonic_timestamps: bool = True, ) -> str: """ Writes the stream to an event file (supports .aedat4, .es, .raw, and .dat). @@ -128,6 +129,8 @@ def to_file( csv_separator: Separator between CSV fields. Defaults to b",". csv_header: Whether to generate a CSV header. Defaults to True. file_type: Override the type determination algorithm. Defaults to None. + enforce_monotonic_timestamps: Whether to enforce that timestamps are monotonically increasing. Note that some formats + (such as AEDAT, ES, and DAT) do not support non-monotonic timestamps. Defaults to True. Returns: The original t0 as a timecode if the file type is ES, EVT (.raw) or DAT, and if `zero_t0` is true. 0 as a timecode otherwise. @@ -154,6 +157,7 @@ def to_file( file_type=file_type, use_write_suffix=use_write_suffix, on_progress=on_progress, # type: ignore + enforce_monotonic_timestamps=enforce_monotonic_timestamps, ) def to_stdout( @@ -407,7 +411,7 @@ def to_event_rate( class RegularEventsStream( - stream.RegularStream[numpy.ndarray], + stream.Stream[numpy.ndarray], Output[events_stream_state.RegularEventsStreamState], ): def regularize( diff --git a/python/faery/events_stream_state.py b/python/faery/events_stream_state.py index 38f1ba9..d095d68 100644 --- a/python/faery/events_stream_state.py +++ b/python/faery/events_stream_state.py @@ -110,7 +110,6 @@ class FiniteRegularEventsStreamState: Total number of packets in the stream. """ - class StateManager: """ Keeps track of the number of frames processed by the stream and calls `on_progress`. diff --git a/python/faery/file_encoder.py b/python/faery/file_encoder.py index cd6c5f9..c47d89b 100644 --- a/python/faery/file_encoder.py +++ b/python/faery/file_encoder.py @@ -34,6 +34,7 @@ def events_to_file( on_progress: typing.Callable[ [events_stream_state.EventsStreamState], None ] = lambda _: None, + enforce_monotonic_timestamps: bool = True, ) -> str: """Writes the stream to an event file (supports .aedat4, .es, .raw, and .dat). @@ -54,6 +55,8 @@ def events_to_file( csv_separator: Separator for CSV files, must be a single character. Defaults to b",". csv_header: Whether to add a header to the CSV file. Defaults to True. file_type: Override the type determination algorithm. Defaults to None. + enforce_monotonic_timestamps: Whether to enforce that timestamps are monotonically increasing. Note that some formats + (such as AEDAT, ES, and DAT) do not support non-monotonic timestamps. Defaults to True. Returns: The original t0 as a timecode if the file type is ES, EVT (.raw), or DAT, and if `zero_t0` is true. 0 as a timecode otherwise. @@ -91,6 +94,7 @@ def events_to_file( ) if file_type == "aedat": assert path is not None + assert enforce_monotonic_timestamps, "AEDAT files do not support non-monotonic timestamps, since timestamps may overflow" with aedat.Encoder( path=path if write_path is None else write_path, description_or_tracks=[ @@ -113,6 +117,7 @@ def events_to_file( separator=csv_separator[0], header=csv_header, dimensions=dimensions, + enforce_monotonic=enforce_monotonic_timestamps, ) as encoder: state_manager.start() for events in stream: @@ -125,6 +130,7 @@ def events_to_file( t0 = 0 elif file_type == "dat": assert path is not None + assert enforce_monotonic_timestamps, "DAT files do not support non-monotonic timestamps, since timestamps may overflow" with dat.Encoder( path=path if write_path is None else write_path, version="dat2" if version is None else version, # type: ignore @@ -158,6 +164,7 @@ def events_to_file( state_manager.end() elif file_type == "es": assert path is not None + assert enforce_monotonic_timestamps, "ES files do not support non-monotonic timestamps" with event_stream.Encoder( path=path if write_path is None else write_path, event_type="dvs", @@ -184,6 +191,7 @@ def events_to_file( version="evt3" if version is None else version, # type: ignore zero_t0=zero_t0, dimensions=dimensions, + enforce_monotonic=enforce_monotonic_timestamps, ) as encoder: state_manager.start() for events in stream: diff --git a/python/faery/types/csv.pyi b/python/faery/types/csv.pyi index eade175..8bfd8d5 100644 --- a/python/faery/types/csv.pyi +++ b/python/faery/types/csv.pyi @@ -40,6 +40,7 @@ class Encoder: separator: int, header: bool, dimensions: tuple[int, int], + enforce_monotonic: bool, ): ... def __enter__(self) -> Encoder: ... def __exit__( diff --git a/python/faery/types/evt.pyi b/python/faery/types/evt.pyi index c485adc..93793d9 100644 --- a/python/faery/types/evt.pyi +++ b/python/faery/types/evt.pyi @@ -31,6 +31,7 @@ class Encoder: version: typing.Literal["evt2", "evt2.1", "evt3"], zero_t0: bool, dimensions: tuple[int, int], + enforce_monotonic: bool, ): ... def __enter__(self) -> Encoder: ... def __exit__( diff --git a/src/csv/encoder.rs b/src/csv/encoder.rs index 4d6ea78..bac2847 100644 --- a/src/csv/encoder.rs +++ b/src/csv/encoder.rs @@ -25,6 +25,7 @@ pub struct Encoder { dimensions: (u16, u16), separator: char, previous_t: u64, + enforce_monotonic: bool, } #[derive(thiserror::Error, Debug)] @@ -48,6 +49,7 @@ impl Encoder { separator: u8, header: bool, dimensions: (u16, u16), + enforce_monotonic: bool, ) -> Result { let separator = std::str::from_utf8(&[separator])? .chars() @@ -67,6 +69,7 @@ impl Encoder { dimensions, separator, previous_t: 0, + enforce_monotonic }) } @@ -74,7 +77,7 @@ impl Encoder { &mut self, event: neuromorphic_types::DvsEvent, ) -> Result<(), utilities::WriteError> { - if event.t < self.previous_t { + if self.enforce_monotonic && event.t < self.previous_t { return Err(utilities::WriteError::NonMonotonic { previous_t: self.previous_t, t: event.t, diff --git a/src/csv/mod.rs b/src/csv/mod.rs index 6bc35d6..086cbdb 100644 --- a/src/csv/mod.rs +++ b/src/csv/mod.rs @@ -151,6 +151,7 @@ impl Encoder { separator: u8, header: bool, dimensions: (u16, u16), + enforce_monotonic: bool, ) -> PyResult { Python::with_gil(|python| -> PyResult { Ok(Encoder { @@ -165,6 +166,7 @@ impl Encoder { separator, header, dimensions, + enforce_monotonic, )?), }) }) diff --git a/src/evt/encoder.rs b/src/evt/encoder.rs index 3663ad9..0dd6173 100644 --- a/src/evt/encoder.rs +++ b/src/evt/encoder.rs @@ -9,6 +9,7 @@ pub struct Evt2Encoder { previous_t: u64, t_high: u64, t0: Option, + enforce_monotonic: bool, } pub struct Evt21Encoder { @@ -16,6 +17,7 @@ pub struct Evt21Encoder { dimensions: (u16, u16), previous_t: u64, t0: Option, + enforce_monotonic: bool, } pub struct Evt3Encoder { @@ -25,6 +27,7 @@ pub struct Evt3Encoder { msb: u64, vector: Vector, t0: Option, + enforce_monotonic: bool, } pub enum Encoder { @@ -54,6 +57,7 @@ impl Encoder { version: common::Version, zero_t0: bool, dimensions: (u16, u16), + enforce_monotonic: bool, ) -> Result { Ok(match version { common::Version::Evt2 => { @@ -89,6 +93,7 @@ impl Encoder { previous_t: 0, t_high: u64::MAX, t0: if zero_t0 { None } else { Some(0) }, + enforce_monotonic, }) } common::Version::Evt21 => { @@ -107,6 +112,7 @@ impl Encoder { width, height, previous_t: 0, + enforce_monotonic, }) */ } @@ -152,6 +158,7 @@ impl Encoder { index: 0, }, t0: if zero_t0 { None } else { Some(0) }, + enforce_monotonic, }) } }) @@ -239,7 +246,7 @@ impl Evt2Encoder { } }; let t = event.t - t0; - if t < self.previous_t { + if self.enforce_monotonic && t < self.previous_t { return Err(utilities::WriteError::NonMonotonic { previous_t: self.previous_t + t0, t: t + t0, @@ -286,7 +293,7 @@ impl Evt2Encoder { } }; let t = event.t - t0; - if t < self.previous_t { + if self.enforce_monotonic && t < self.previous_t { return Err(utilities::WriteError::NonMonotonic { previous_t: self.previous_t + t0, t: t + t0, @@ -369,7 +376,7 @@ impl Evt3Encoder { } }; let t = event.t - t0; - if t < self.previous_t { + if self.enforce_monotonic && t < self.previous_t { return Err(utilities::WriteError::NonMonotonic { previous_t: self.previous_t + t0, t: t + t0, @@ -408,7 +415,7 @@ impl Evt3Encoder { } }; let t = event.t - t0; - if t < self.previous_t { + if self.enforce_monotonic && t < self.previous_t { return Err(utilities::WriteError::NonMonotonic { previous_t: self.previous_t + t0, t: t + t0, diff --git a/src/evt/mod.rs b/src/evt/mod.rs index 50d110e..8c21ec0 100644 --- a/src/evt/mod.rs +++ b/src/evt/mod.rs @@ -166,6 +166,7 @@ impl Encoder { version: &str, zero_t0: bool, dimensions: (u16, u16), + enforce_monotonic: bool, ) -> PyResult { Python::with_gil(|python| -> PyResult { Ok(Encoder { @@ -174,6 +175,7 @@ impl Encoder { common::Version::from_string(version)?, zero_t0, dimensions, + enforce_monotonic, )?), }) }) diff --git a/tests/test_encoders.py b/tests/test_encoders.py index 8ccf79b..37d478a 100644 --- a/tests/test_encoders.py +++ b/tests/test_encoders.py @@ -51,6 +51,7 @@ def test_low_level_decoder_encoder(file: assets.File): separator=b","[0], header=True, dimensions=file.dimensions, + enforce_monotonic=True ) as encoder: for events in decoder: encoder.write(events) @@ -150,6 +151,7 @@ def test_low_level_decoder_encoder(file: assets.File): version="evt2", zero_t0=True, dimensions=decoder.dimensions, + enforce_monotonic=True ) as encoder: for packet in decoder: encoder.write(packet) @@ -165,6 +167,7 @@ def test_low_level_decoder_encoder(file: assets.File): version="evt3", zero_t0=True, dimensions=decoder.dimensions, + enforce_monotonic=True ) as encoder: for packet in decoder: encoder.write(packet)