DAVIS

pyaer.davis.DAVIS(device_id=1, bus_number_restrict=0, dev_address_restrict=0, serial_number='', noise_filter=False)

DAVIS.

Arguments

device_id: int
a unique ID to identify the device from others. Will be used as the source for EventPackets being generate from its data.
default is 1
bus_number_restrict: int
restrict the search for viable devices to only this USB bus number.
default is 0
dev_address_restrict: int
restrict the search for viable devices to only this USB device address.
default is 0
serial_number: str
restrict the search for viable devices to only devices which do possess the given Serial Number in their USB SerialNumber descriptor.
default is ""
noise_filter: bool
if enable noise filter.
default is False

[source]

DAVISFX2

pyaer.davis.DAVISFX2(device_id=1, bus_number_restrict=0, dev_address_restrict=0, serial_number='', noise_filter=False)

DAVIS FX2.

Arguments

device_id: int
a unique ID to identify the device from others. Will be used as the source for EventPackets being generate from its data.
default is 1
bus_number_restrict: int
restrict the search for viable devices to only this USB bus number.
default is 0
dev_address_restrict: int
restrict the search for viable devices to only this USB device address.
default is 0
serial_number: str
restrict the search for viable devices to only devices which do possess the given Serial Number in their USB SerialNumber descriptor.
default is ""
noise_filter: bool
if enable noise filter.
default is False

[source]

DAVISFX3

pyaer.davis.DAVISFX3(device_id=1, bus_number_restrict=0, dev_address_restrict=0, serial_number='', noise_filter=False)

DAVIS FX3.

Arguments

device_id: int
a unique ID to identify the device from others. Will be used as the source for EventPackets being generate from its data.
default is 1
bus_number_restrict: int
restrict the search for viable devices to only this USB bus number.
default is 0
dev_address_restrict: int
restrict the search for viable devices to only this USB device address.
default is 0
serial_number: str
restrict the search for viable devices to only devices which do possess the given Serial Number in their USB SerialNumber descriptor.
default is ""
noise_filter: bool
if enable noise filter.
default is False

[source]

DAVISRPI

pyaer.davis.DAVISRPI(device_id=1, bus_number_restrict=0, dev_address_restrict=0, serial_number='', noise_filter=False)

DAVIS RPI.

Arguments

device_id: int
a unique ID to identify the device from others. Will be used as the source for EventPackets being generate from its data.
default is 1
bus_number_restrict: int
restrict the search for viable devices to only this USB bus number.
default is 0
dev_address_restrict: int
restrict the search for viable devices to only this USB device address.
default is 0
serial_number: str
restrict the search for viable devices to only devices which do possess the given Serial Number in their USB SerialNumber descriptor.
default is ""
noise_filter: bool
if enable noise filter.
default is False

obtain_device_info

obtain_device_info(handle)

Obtain DAVIS info.

This function collects the following information from the device:

Deveice ID
Device serial number
Device USB bus number
Device USB device address
Device string
Logic version
If the device is the master device
Logic clock
ADC clock
Chip ID
Camera DVS width
Camera DVS height
If the device has pixel filter
If the device has hardware background activity filter
If the device has test event generator
Camera APS width
Camera APS height
APS color filter
If the device has APS global shutter
If the device has APS quad ROI
If the device has APS external ADC
If the device has APS internal ADC
If external input has generator
If external input has extra detectors
If the device has DVS ROI filter
If the device has DVS statistics
If the device has MUX statistics

Arguments

handle: caerDeviceHandle
a valid device handle that can be used with the other libcaer functions, or None on error.

open

open(device_id=1, bus_number_restrict=0, dev_address_restrict=0, serial_number='')

Open DAVIS device.

Arguments

device_id: int
a unique ID to identify the device from others. Will be used as the source for EventPackets being generate from its data.
default is 1
bus_number_restrict: int
restrict the search for viable devices to only this USB bus number.
default is 0
dev_address_restrict: int
restrict the search for viable devices to only this USB device address.
default is 0
serial_number: str
restrict the search for viable devices to only devices which do possess the given Serial Number in their USB SerialNumber descriptor.
default is ""

set_bias_from_json

set_bias_from_json(file_path, verbose=False)

Set bias from loading JSON configuration file.

Arguments

file_path: str
absolute path of the JSON bias file.
verbose: bool
optional debugging message.

set_cf_bias

set_cf_bias(param_addr, param, coarse, fine, mode)

Setting coarse fine bias.

Arguments

param_addr: int
a parameter address, to select a specific parameter to update from this particular configuration module. Only positive numbers (including zero) are allowed.
param: int or bool
a configuration parameter's new value.
coarse: int
coarae value
fine: int
fine value
mode: setting mode
n_type, p_type, n_cas_type, n_off_type, p_off_type, vdac

set_bias

set_bias(bias_obj)

Set bias from bias dictionary.

Arguments

bias_obj: dict
dictionary that contains DAVIS biases.

Returns

flag: bool
True if set successful, False otherwise.

get_cf_bias

get_cf_bias(param_addr, param)

Get coarse-fine bias.

Arguments

param_addr: int
a parameter address, to select a specific parameter to update from this particular configuration module. Only positive numbers (including zero) are allowed.
param: int or bool
a configuration parameter's new value.

Returns

coarse_value: uint
coarse value
fine_value: uint
fine value

get_bias

get_bias()

Get bias settings.

Returns

bias_obj: dict
dictionary that contains DAVIS current bias settings.

save_bias_to_json

save_bias_to_json(file_path)

Save bias to JSON.

Arguments

file_path: str
the absolute path to the destiation.

Returns

flag: bool
returns True if success in writing, False otherwise.

start_data_stream

start_data_stream(send_default_config=True)

Start streaming data.

Arguments

send_default_config: bool
send default config to the device before starting the data streaming.
default is True

set_noise_filter

set_noise_filter(noise_filter)

Set noise filter.

Arguments

noise_filter: filters.DVSNoise
A valid DVSNoise object. This filter implements software-level background activity filter.

enable_noise_filter

enable_noise_filter()

Enalbe DVS noise filter.

This function enables the DVS noise filter. Note that this function will initialize a DVSNoise filter if there is None.

disable_noise_filter

disable_noise_filter()

Disable noise filter.

This method disable the noise filter. Note that this function doesn't destroy the existed noise filter. It simply switches off the function.

get_polarity_event

get_polarity_event(packet_header, noise_filter=False)

Get a packet of polarity event.

Arguments

packet_header: caerEventPacketHeader
the header that represents a event packet
noise_filter: bool
the background activity filter is applied if True.

Returns

events: numpy.ndarray
a 2-D array that has the shape of (N, 4) where N is the number of events in the event packet. Each row in the array represents a single polarity event. The first number is the timestamp. The second number is the X position of the event. The third number is the Y position of the event. The fourth number represents the polarity of the event (positive or negative).
If the noise_filter option is set to True, this array has an additional column at the end. The last column represents the validity of the corresponding event. Filtered events will be marked as 0.
num_events: int
number of the polarity events available in the packet.

get_event

get_event()

Get Event.

Returns

pol_events: numpy.ndarray
a 2-D array that has the shape of (N, 4) where N is the number of events in the event packet. Each row in the array represents a single polarity event. The first number is the timestamp. The second number is the X position of the event. The third number is the Y position of the event. The fourth number represents the polarity of the event (positive or negative).
If the noise_filter option is set to True, this array has an additional column at the end. The last column represents the validity of the corresponding event. Filtered events will be marked as 0.
num_pol_events: int
number of the polarity events available in the packet.
special_events: numpy.ndarray
a 2-D array that has the shape of (N, 2) where N is the number of events in the event packet. Each row in the array represents a single special event. The first value is the timestamp of the event. The second value is the special event data.
num_special_events: int
number of the special events in the packet.
frames_ts: numpy.ndarray
the APS frame timestamps.
frames: numpy.ndarray
a 3-D array that has the shape of (N, height, width). The height and width of the APS frame is determined by the specific DAVIS device (e.g., DAVIS240 will have a 180x240 APS frame.
imu_events: numpy.ndarray
a 2-D array that has the shape of (N, 8) where N is the number of IMU6 events in the packet. Each row of the array consists a single IMU6 event. The first value is the timestamp of the event. The next three values are accelerations on the X, Y, and Z axes. The next three values are angular velocity on the X, Y and Z axes. The last value is the temperature in Celsius scale.
num_imu_events: int
number of the IMU6 events.

DAVIS240C Bias Example

{
    "DiffBn_coarse": 4,
    "DiffBn_fine": 39,
    "ONBn_coarse": 6,
    "ONBn_fine": 200,
    "OFFBn_coarse": 4,
    "OFFBn_fine": 0,
    "APSCasEPC_coarse": 5,
    "APSCasEPC_fine": 185,
    "DiffCasBNC_coarse": 5,
    "DiffCasBNC_fine": 115,
    "APSROSFBn_coarse": 6,
    "APSROSFBn_fine": 219,
    "LocalBufBn_coarse": 5,
    "LocalBufBn_fine": 164,
    "PixInvBn_coarse": 5,
    "PixInvBn_fine": 129,
    "PrBp_coarse": 2,
    "PrBp_fine": 58,
    "PrSFBp_coarse": 1,
    "PrSFBp_fine": 33,
    "RefrBp_coarse": 4,
    "RefrBp_fine": 25,
    "AEPdBn_coarse": 6,
    "AEPdBn_fine": 91,
    "LcolTimeoutBn_coarse": 5,
    "LcolTimeoutBn_fine": 49,
    "AEPuXBp_coarse": 4,
    "AEPuXBp_fine": 80,
    "AEPuYBp_coarse": 7,
    "AEPuYBp_fine": 152,
    "IFThrBn_coarse": 5,
    "IFThrBn_fine": 255,
    "IFRefrBn_coarse": 5,
    "IFRefrBn_fine": 255,
    "PadFollBn_coarse": 7,
    "PadFollBn_fine": 215,
    "APSOverflowLevelBn_coarse": 6,
    "APSOverflowLevelBn_fine": 253,
    "BiasBuffer_coarse": 5,
    "BiasBuffer_fine": 254,
    "aps_enabled": true,
    "dvs_enabled": true,
    "exposure": 4000,
    "autoexposure": true, 
    "frame_delay": 0,
    "imu_enabled": true,
    "imu_acc_scale": 3,
    "imu_gyro_scale": 3,
    "imu_low_pass_filter": 0,
    "noise_filter_configs": {
        "sw_background_activity_two_levels": true,
        "sw_background_activity_check_polarity": true,
        "sw_background_activity_support_min": 2,
        "sw_background_activity_support_max": 8,
        "sw_background_activity_time": 2000,
        "sw_background_activity_enable": true,
        "sw_refractory_period_time": 200,
        "sw_refractory_period_enable": true,
        "sw_hotpixel_enable": true,
        "sw_hotpixel_learn": true
    }
}

DAVIS346B Bias Example

{
    "ADC_RefHigh_volt": 24,
    "ADC_RefHigh_curr": 7,
    "ADC_RefLow_volt": 1,
    "ADC_RefLow_curr": 7,
    "LocalBufBn_coarse": 5,
    "LocalBufBn_fine": 164,
    "PadFollBn_coarse": 7,
    "PadFollBn_fine": 215,
    "DiffBn_coarse": 4,
    "DiffBn_fine": 39,
    "ONBn_coarse": 6,
    "ONBn_fine": 255,
    "OFFBn_coarse": 4,
    "OFFBn_fine": 0,
    "PixInvBn_coarse": 5,
    "PixInvBn_fine": 129,
    "PrBp_coarse": 2,
    "PrBp_fine": 255,
    "PrSFBp_coarse": 1,
    "PrSFBp_fine": 199,
    "RefrBp_coarse": 3,
    "RefrBp_fine": 7,
    "ReadoutBufBp_coarse": 6,
    "ReadoutBufBp_fine": 20,
    "APSROSFBn_coarse": 6,
    "APSROSFBn_fine": 219,
    "ADCCompBp_coarse": 5,
    "ADCCompBp_fine": 20,
    "COLSELLowBn_coarse": 0,
    "COLSELLowBn_fine": 1,
    "DACBufBp_coarse": 6,
    "DACBufBp_fine": 60,
    "LcolTimeoutBn_coarse": 5,
    "LcolTimeoutBn_fine": 49,
    "AEPdBn_coarse": 6,
    "AEPdBn_fine": 91,
    "AEPuXBp_coarse": 4,
    "AEPuXBp_fine": 80,
    "AEPuYBp_coarse": 7,
    "AEPuYBp_fine": 152,
    "IFRefrBn_coarse": 5,
    "IFRefrBn_fine": 255,
    "IFThrBn_coarse": 5,
    "IFThrBn_fine": 255,
    "BiasBuffer_coarse": 5,
    "BiasBuffer_fine": 254,
    "aps_enabled": true,
    "dvs_enabled": true,
    "exposure": 4000,
    "autoexposure": true,
    "frame_delay": 0,
    "imu_enabled": true,
    "imu_acc_scale": 3,
    "imu_gyro_scale": 3,
    "imu_low_pass_filter": 0,
    "background_activity_filter_enabled": false,
    "background_activity_filter_time": 80,
    "refractory_period_enabled": true,
    "refractory_period_time": 2,
    "noise_filter_configs": {
        "sw_background_activity_two_levels": true,
        "sw_background_activity_check_polarity": true,
        "sw_background_activity_support_min": 2,
        "sw_background_activity_support_max": 8,
        "sw_background_activity_time": 2000,
        "sw_background_activity_enable": true,
        "sw_refractory_period_time": 200,
        "sw_refractory_period_enable": true,
        "sw_hotpixel_enable": true,
        "sw_hotpixel_learn": true
    }
}