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Update io.py #291

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14 changes: 9 additions & 5 deletions tonic/io.py
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Original file line number Diff line number Diff line change
Expand Up @@ -160,14 +160,18 @@ def read_davis_346(filename):
all_addr = all_events["address"]
t = all_events["timeStamp"]

# Seperating DVS events from the shared set of DVS, APS, and IMU events.
bit_31 = (all_addr >> 31) & 0b1
dvs = np.where(bit_31 == 0)

# x, y, and p : bit-shift and bit-mask values taken from jAER (https://github.com/SensorsINI/jaer)
x = (346 - 1) - ((all_addr & 4190208) >> 12)
y = (260 - 1) - ((all_addr & 2143289344) >> 22)
p = ((all_addr & 2048) >> 11)
dvs_x = (346 - 1) - (all_addr[dvs] >> 12) & 0x3FF
dvs_y = (260 - 1) - (all_addr[dvs] >> 22) & 0x1FF
dvs_p = ((all_addr[dvs] & 2048) >> 11)

xytp = make_structured_array(x, y, t, p)
dvs_xytp = make_structured_array(dvs_x, dvs_y, t[dvs], dvs_p, dtype=events_struct)
shape = (346, 260)
return shape, start_timestamp, xytp
return shape, start_timestamp, dvs_xytp


def read_dvs_346mini(filename):
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