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Scarf border (#200)
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* added receptive field border
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@arrenglover
arrenglover authored Aug 23, 2024
1 parent 8bd7601 commit d294f50
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Showing 2 changed files with 72 additions and 41 deletions.
4 changes: 2 additions & 2 deletions cpp_tools/vFramer/drawers.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -221,8 +221,8 @@ void scarfDrawer::updateScarfRep()
input.readAll(true);
while (input.isRunning()) {

double tic = yarp::os::Time::now();
ev::info inf = input.readAll(true);
double tic = yarp::os::Time::now();
for (auto &v : input) scarf.update(v.x, v.y, v.p);
meas_t += yarp::os::Time::now() - tic;
meas_c += inf.count;
Expand All @@ -245,7 +245,7 @@ double scarfDrawer::updateImage()
if(meas_c/meas_t > mr) {
mr = meas_c/meas_t;
ss.str("");
ss << (int)(0.000001*mr) << " x10^6 v/s";
ss << std::fixed << std::setprecision(1) << (0.000001*mr) << " x10^6 v/s";
}
//reset the maximum rate every second
static int i = 0;
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109 changes: 70 additions & 39 deletions ev2/event-driven/algs/surface.h
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Original file line number Diff line number Diff line change
Expand Up @@ -106,7 +106,7 @@ class BIN : public surface
}
};

// Set of Centre Active Retinal Fields
// Set of Centre Active Receptive Fields
class CARF
{
friend class SCARF;
Expand Down Expand Up @@ -154,71 +154,91 @@ class SCARF
//variables
cv::Mat img;
std::vector<CARF> rfs;
std::vector<std::array<int, 4>> cons_map;
std::vector<std::array<CARF*, 4>> cons_map;

public:

void initialise(cv::Size img_res, int rf_size, double alpha = 1.0, double C = 0.3)
{
initialise(img_res, {img_res.width/rf_size, img_res.height/rf_size}, alpha, C);
if(rf_size % 2) rf_size++;
initialise(img_res, {(img_res.width/rf_size)-1, (img_res.height/rf_size)-1}, alpha, C);
}

void initialise(cv::Size img_res, cv::Size rf_res, double alpha = 1.0, double C = 0.3)
{
img = cv::Mat(img_res, CV_32F);
count = rf_res;
dims = {img_res.width / rf_res.width, img_res.height / rf_res.height};

//size of a receptive field removeing some pixels from the border, make sure the receptive field
//is an even number
dims = {img_res.width / (rf_res.width+1), img_res.height / (rf_res.height+1)};
if(dims.height%2) {dims.height--;}
if(dims.width%2) {dims.width--;}

//N is the maximum amount of pixels in the FIFO
int N = dims.area() * alpha * 0.5;

//make the connection map. One entry per pixel . each entry = [id id id id];
cons_map.resize(img_res.area());
//make the CARF receptive fields
rfs.resize(rf_res.area(), CARF(N, img, C));

//for each pixel
for(int y = 0; y < img_res.height; y++) {
for(int x = 0; x < img_res.width; x++) {
int rfx = x / dims.width;
int rfy = y / dims.height;
if(rfx >= count.width || rfy >= count.height)
continue;

int i = 0;
auto &conxs = cons_map[y*img_res.width + x];
conxs[i++] = rfy*rf_res.width+rfx;

int ky = y%dims.height;
int kx = x%dims.width;
auto &connection = cons_map[y*img_res.width + x];
int i = 0;
int xm = x - dims.width/2; int ym = y - dims.height/2;

//as x/y can be negative we allow rfx and rfy to be negative indices.
int rfx = std::floor((double)xm/ dims.width);
int rfy = std::floor((double)ym/ dims.height);
if(rfx < 0 || rfy < 0 || rfx >= rf_res.width || rfy >= rf_res.height)
connection[i++] = nullptr;
else
connection[i++] = &rfs[rfy*rf_res.width+rfx];

//fancy modulus to keep ky and kx positive values.
int ky = (dims.height+(ym%dims.height))%dims.height;
int kx = (dims.width+(xm%dims.width))%dims.width;

//first find potential suppression indicies
bool top{false}, bot{false}, lef{false}, rig{false};
if(ky < dims.height * 0.5)
{if(rfy > 0) top = true;}
else
{if(rfy < count.height-1) bot = true;}
if(kx < dims.width * 0.5)
{if(rfx > 0) lef = true;}
else
{if(rfx < count.width-1) rig = true;}

if(top) conxs[i++] = (rfy-1)*rf_res.width+rfx;
if(bot) conxs[i++] = (rfy+1)*rf_res.width+rfx;
if(lef) conxs[i++] = rfy*rf_res.width+rfx-1;
if(rig) conxs[i++] = rfy*rf_res.width+rfx+1;
if(top && lef) conxs[i++] = (rfy-1)*rf_res.width+rfx-1;
if(top && rig) conxs[i++] = (rfy-1)*rf_res.width+rfx+1;
if(bot && lef) conxs[i++] = (rfy+1)*rf_res.width+rfx-1;
if(bot && rig) conxs[i++] = (rfy+1)*rf_res.width+rfx+1;

while(i < 4) conxs[i++] = -1;
if(ky < dims.height/2) top = true;
else bot = true;
if(kx < dims.width/2) lef = true;
else rig = true;

//get all the rf coordinates
std::vector<cv::Point> potentials;
if(top) potentials.push_back({rfx, rfy-1});
if(bot) potentials.push_back({rfx, rfy+1});
if(lef) potentials.push_back({rfx-1, rfy});
if(rig) potentials.push_back({rfx+1, rfy});
if(top && lef) potentials.push_back({rfx-1, rfy-1});
if(top && rig) potentials.push_back({rfx+1, rfy-1});
if(bot && lef) potentials.push_back({rfx-1, rfy+1});
if(bot && rig) potentials.push_back({rfx+1, rfy+1});

//if the coordinate is valid add a connection;
for(auto &j : potentials) {
if(j.x >= 0 && j.x < rf_res.width && j.y >= 0 && j.y < rf_res.height)
connection[i++] = &rfs[j.y*rf_res.width+j.x];
else
connection[i++] = nullptr;
}

}
}
}

inline void update(const int &u, const int &v, const int &p)
{
auto &conxs = cons_map[v*img.cols+u];
rfs[conxs[0]].add({u, v, p, 1});
for(int j = 1; j < 4; j++) {
if(conxs[j] < 0) return;
rfs[conxs[j]].add({u, v, p, 0});
}
if(conxs[0]) conxs[0]->add({u, v, p, 1});
if(conxs[1]) conxs[1]->add({u, v, p, 0});
if(conxs[2]) conxs[2]->add({u, v, p, 0});
if(conxs[3]) conxs[3]->add({u, v, p, 0});
}

cv::Mat getSurface()
Expand All @@ -234,6 +254,17 @@ class SCARF
return p;
}

//THIS COULD BE IMPROVED.
//INDEXED BY <U, V> - MAYBE A MORE INTUITIVE WAY
//STORE DATA AS std::vector<cv::Point> would result in this being a straight copy
std::vector<cv::Point> getAll(int u, int v)
{
std::vector<cv::Point> p;
for(auto &i : rfs[v*count.width+u].points)
p.push_back({i.u, i.v});
return p;
}

int getN(void)
{
if(rfs.size()) return rfs[0].N;
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