Featgroup (#111)

* Fix the clamping scheme and write out the last partial ADU

* Visualize clusters

* Draw rectangle for feature clusters

* Improve c_thresh adjustment

* Add options to viz

* Cleanup and docs

* Remove opencv ci and get tests passing

---------

Co-authored-by: Andrew <[email protected]>

.github/workflows/rust_action_test_and_docs.yml

@@ -25,8 +25,8 @@ jobs:
           toolchain: nightly
           override: true
 
-      - name: Install OpenCV
-        run: sudo apt-get install -y --fix-missing libopencv-dev libopencv-calib3d-dev libopencv-contrib-dev libopencv-features2d-dev libopencv-highgui-dev libopencv-imgcodecs-dev libopencv-objdetect-dev libopencv-shape-dev libopencv-stitching-dev libopencv-superres-dev libopencv-video-dev libopencv-videoio-dev libopencv-videostab-dev libopencv4.2-java libopencv-calib3d4.2 libopencv-contrib4.2 libopencv-features2d4.2 libopencv-highgui4.2 libopencv-imgcodecs4.2 libopencv-videoio4.2 libgdal26 libodbc1 libssl-dev alsa-utils libasound2-dev portaudio19-dev build-essential libpulse-dev libdbus-1-dev libudev-dev libatk1.0-dev libgtk-3-dev libavfilter-dev libavdevice-dev
+      - name: Install AV dependencies
+        run: sudo apt-get install -y --fix-missing libgdal26 libodbc1 libssl-dev alsa-utils libasound2-dev portaudio19-dev build-essential libpulse-dev libdbus-1-dev libudev-dev libatk1.0-dev libgtk-3-dev libavfilter-dev libavdevice-dev
 
       - name: Clang
         run: sudo apt-get install -y clang && sudo ln -s libclang.so.1 /usr/lib/llvm-10/lib/libclang.so
@@ -38,7 +38,7 @@ jobs:
         run: sudo apt-get install -y portaudio19-dev build-essential libpulse-dev libdbus-1-dev pkg-config libx11-dev libatk1.0-dev libgtk-3-dev libxcb-render0-dev libxcb-shape0-dev libxcb-xfixes0-dev libwayland-dev libxkbcommon-dev ffmpeg
 
       - name: Check project
-        run: cargo check -p adder-codec-core -p adder-codec-rs -p adder-info -p adder-to-dvs -p adder-viz --features "compression open-cv"
+        run: cargo check -p adder-codec-core -p adder-codec-rs -p adder-info -p adder-to-dvs -p adder-viz --features "compression"
 
       - name: Build binaries for testing
         run: cargo build -p adder-info
@@ -68,17 +68,9 @@ jobs:
         run: choco install -y llvm
         shell: bash
 
-      # - name: Install OpenCV
-      #   run: choco install -y opencv --version "$OPENCV_VERSION"
-      #   shell: bash
-
       - name: Test project
         run: |
           export PATH="/C/Program Files/LLVM/bin:$PATH"
           export LIBCLANG_PATH="/C/Program Files/LLVM/bin"
-          export PATH="/C/tools/opencv/build/x64/vc15/bin:$PATH"
-          export OPENCV_LINK_PATHS="/C/tools/opencv/build/x64/vc15/lib"
-          export OPENCV_LINK_LIBS="opencv_world${OPENCV_VERSION//./}"
-          export OPENCV_INCLUDE_PATHS="/C/tools/opencv/build/include"
           cargo test -p adder-codec-core --features "compression"
         shell: bash

Cargo.toml

@@ -16,7 +16,7 @@ opt-level = 3
 panic = "unwind"
 
 [profile.dev.package."adder-codec-rs"]
-opt-level = 3
+opt-level = 1
 overflow-checks = false
 #panic = "abort"
 
@@ -27,7 +27,7 @@ overflow-checks = false
 
 
 [profile.dev.package."*"]
-opt-level = 3
+opt-level = 1
 
 [profile.dev]
 opt-level = 1

adder-codec-core/src/codec/compressed/mod.rs

@@ -50,10 +50,10 @@ mod tests {
         encoder.flush_writer().unwrap();
         let writer = encoder.close_writer().unwrap().unwrap();
 
-        dbg!(writer.len());
-        // It should still be just the header, because we haven't integrated enough events
-        // to write out a frame (haven't reached DeltaT_max)
-        assert_eq!(writer.len(), meta.header_size);
+        let tmp_len = writer.len();
+
+        // We should have compressed the partial ADU, and thus have more than the header size
+        assert!(writer.len() > meta.header_size);
 
         let output = crate::codec::compressed::stream::CompressedOutput::new(meta, Vec::new());
         let mut encoder = Encoder::new_compressed(
@@ -75,6 +75,6 @@ mod tests {
         let writer = encoder.close_writer().unwrap().unwrap();
 
         // Now we've exceeded the DeltaT_max, so we should have written out a frame
-        assert!(writer.len() > meta.header_size);
+        assert!(writer.len() > tmp_len);
     }
 }

adder-codec-core/src/codec/compressed/source_model/event_structure/event_adu.rs

@@ -26,7 +26,7 @@ pub struct EventAdu {
     /// How many dt_ref intervals the whole adu spans
     pub(crate) num_intervals: usize,
 
-    skip_adu: bool,
+    pub(crate) skip_adu: bool,
 
     cube_to_write_count: u16,
 

adder-codec-core/src/codec/compressed/source_model/event_structure/event_cube.rs

@@ -396,7 +396,7 @@ impl ComponentCompression for EventCube {
                                     + ((t_residual as i64) << bitshift_amt as i64))
                                     as AbsoluteT;
                             }
-                            debug_assert!(event.t < 2_u32.pow(29));
+                            debug_assert!(event.t < 2_u32.pow(31));
 
                             *init = *event;
                         } else {

adder-codec-core/src/codec/compressed/source_model/event_structure/mod.rs

@@ -4,5 +4,5 @@ pub mod event_adu;
 /// An `EventCube` has many compressed events
 mod event_cube;
 
+/// Width and height (same number) of a block
 pub const BLOCK_SIZE: usize = 16;
-pub const BLOCK_SIZE_AREA: usize = BLOCK_SIZE * BLOCK_SIZE;

adder-codec-core/src/codec/compressed/stream.rs

@@ -1,6 +1,6 @@
 use crate::codec::{CodecError, CodecMetadata, EncoderOptions, ReadCompression, WriteCompression};
 use bitstream_io::{BigEndian, BitRead, BitReader, BitWrite, BitWriter};
-use std::io::{BufWriter, Cursor, Read, Seek, SeekFrom, Write};
+use std::io::{Cursor, Read, Seek, SeekFrom, Write};
 
 use crate::codec::compressed::source_model::event_structure::event_adu::EventAdu;
 use crate::codec::compressed::source_model::HandleEvent;
@@ -73,6 +73,30 @@ impl<W: Write> WriteCompression<W> for CompressedOutput<W> {
     }
 
     fn into_writer(&mut self) -> Option<W> {
+        if !self.adu.skip_adu {
+            if let Some(stream) = &mut self.stream {
+                dbg!("compressing partial last adu");
+                let mut temp_stream = BitWriter::endian(Vec::new(), BigEndian);
+
+                let parameters = self.options.crf.get_parameters();
+
+                // Compress the Adu. This also writes the EOF symbol and flushes the encoder
+                self.adu
+                    .compress(&mut temp_stream, parameters.c_thresh_max)
+                    .ok()?;
+
+                let written_data = temp_stream.into_writer();
+
+                // Write the number of bytes in the compressed Adu as the 32-bit header for this Adu
+                stream
+                    .write_bytes(&(written_data.len() as u32).to_be_bytes())
+                    .ok()?;
+
+                // Write the temporary stream to the actual stream
+                stream.write_bytes(&written_data).ok()?;
+            }
+        }
+
         let tmp = self.stream.take();
 
         tmp.map(|bitwriter| bitwriter.into_writer())
@@ -89,6 +113,7 @@ impl<W: Write> WriteCompression<W> for CompressedOutput<W> {
     fn ingest_event(&mut self, event: Event) -> Result<(), CodecError> {
         // Check that the event fits within the Adu's time range
         if event.t > self.adu.start_t + (self.adu.dt_ref * self.adu.num_intervals as DeltaT) {
+            // dbg!("compressing adu");
             // If it doesn't, compress the events and reset the Adu
             if let Some(stream) = &mut self.stream {
                 // Create a temporary u8 stream to write the arithmetic-coded data to
@@ -204,7 +229,7 @@ impl<R: Read + Seek> ReadCompression<R> for CompressedInput<R> {
                 adu.decompress(&mut adu_stream);
 
                 let duration = start.elapsed();
-                println!("Decompressed Adu in {:?} ns", duration.as_nanos());
+                // println!("Decompressed Adu in {:?} ns", duration.as_nanos());
             }
             // Then return the next event from the queue
             match adu.digest_event() {
@@ -249,7 +274,7 @@ mod tests {
     use std::io;
 
     /// Test the creation a CompressedOutput and writing a bunch of events to it but NOT getting
-    /// to the time where we compress the Adu
+    /// to the time where we have a full Adu. It will compress the last partial ADU.
     #[test]
     fn test_compress_empty() -> Result<(), Box<dyn Error>> {
         use crate::codec::compressed::stream::CompressedOutput;
@@ -301,7 +326,7 @@ mod tests {
         }
 
         let output = compressed_output.into_writer().unwrap().into_inner();
-        assert!(output.is_empty());
+        assert!(!output.is_empty());
         Ok(())
     }
 

adder-codec-core/src/codec/decoder.rs

@@ -1,4 +1,3 @@
-use crate::codec::Magic;
 use crate::codec::{CodecError, CodecMetadata, EncoderType, ReadCompression, ReadCompressionEnum};
 use crate::SourceType::*;
 use crate::{Event, PlaneSize, SourceCamera, SourceType};
@@ -8,7 +7,6 @@ use crate::{Event, PlaneSize, SourceCamera, SourceType};
 #[cfg(feature = "compression")]
 use crate::codec::compressed::stream::CompressedInput;
 
-use crate::codec::encoder::Encoder;
 use crate::codec::header::{
     EventStreamHeader, EventStreamHeaderExtensionV1, EventStreamHeaderExtensionV2,
     EventStreamHeaderExtensionV3, MAGIC_COMPRESSED,

adder-codec-core/src/codec/mod.rs

@@ -63,6 +63,7 @@ pub mod empty;
 pub mod encoder;
 mod header;
 
+/// Control the quality of ADDER transcoding and compression in a predictable manner
 pub mod rate_controller;
 /// Raw codec utilities
 pub mod raw;

adder-codec-core/src/lib.rs

@@ -46,6 +46,7 @@ pub enum SourceCamera {
     Asint,
 }
 
+/// Is the given source camera a framed source?
 pub fn is_framed(source_camera: SourceCamera) -> bool {
     matches!(
         source_camera,

adder-codec-rs/Cargo.toml

@@ -19,7 +19,7 @@ exclude = [
 default-run = "adder_simulproc"
 
 [features]
-default = ["transcoder"]
+default = ["compression"]
 transcoder = ["dep:fast-math", "adder-codec-core"]
 compression = ["dep:fast-math", "adder-codec-core/compression"]
 open-cv = ["opencv", "davis-edi-rs"]
@@ -30,7 +30,6 @@ feature-logging-nonmaxsuppression = ["feature-logging"]
 
 
 [dependencies]
-packed_simd = "0.3.9"
 bytemuck = "1.14.0"
 adder-codec-core = { path = "../adder-codec-core", version = "0.3.2", default-features = false, optional = true}
 #adder-codec-core = { version = "0.3.0", default-features = false, optional = true}
@@ -44,10 +43,13 @@ davis-edi-rs = { version = "0.2.4", optional = true }
 duplicate = "0.4.1"
 fast-math = { version = "0.1", optional = true }
 fenwick = "2.0.1"
+fixed = "1.25.1"
 float-cmp = "0.9.0"
 futures = "0.3.26"
 generational-arena = "0.2"
 itertools = "0.10.3"
+kdtree = "0.7.0"
+kiddo = "4.2.0"
 ndarray = { version = "0.15.6", features = ["rayon", "serde"] }
 num = "0.4"
 num-traits = "0.2.15"