visualize_sensor.py

"""Visualise the Speck sensor output in real time.

Source: Speck Dev Kit Manual 2025.12 V2, section 3.4.
Press ENTER in the terminal to terminate.
"""

import time

import sinabs.backend.dynapcnn.io as sio

devkit = sio.open_device("speck2fdevkit:0")

import samna

samna_graph = samna.graph.EventFilterGraph()
_, _, streamer = samna_graph.sequential(
    [
        devkit.get_model_source_node(),  # Specify the source of events to this graph as the devkit
        "Speck2fDvsToVizConverter",  # Convert the events to visualizer events
        "VizEventStreamer",  # Stream events to a visualizer via a streamer node
    ]
)
visualizer_port = "tcp://0.0.0.0:40001"

# Launch visualizer
gui_process = sio.launch_visualizer(
    receiver_endpoint=visualizer_port, disjoint_process=True
)
time.sleep(1.0)

# Visualizer configuration branch of the graph.
visualizer_config, _ = samna_graph.sequential(
    [samna.BasicSourceNode_ui_event(), streamer]  # For generating UI commands
)

# Connect to the visualizer
streamer.set_streamer_destination(visualizer_port)
if streamer.wait_for_receiver_count() == 0:
    raise Exception(f"Connecting to visualizer on {visualizer_port} fails.")

# Specify which plot is to be shown in the visualizer
plot1 = samna.ui.ActivityPlotConfiguration(
    image_width=128, image_height=128, title="DVS Layer", layout=[0, 0, 1, 1]
)
visualizer_config.write([samna.ui.VisualizerConfiguration(plots=[plot1])])
time.sleep(1.0)
samna_graph.start()
time.sleep(1.0)
devkit_config = samna.speck2f.configuration.SpeckConfiguration()

# enable monitoring the inputs from the DVS sensor
devkit_config.dvs_layer.raw_monitor_enable = True

# Apply this configuration
devkit.get_model().apply_configuration(devkit_config)
print("Press ENTER to terminate…")
input()

# Stop the graph
samna_graph.stop()

# If we used a sub-process to launch the visualizer, use that to terminate the visualizer.
if gui_process:
    gui_process.terminate()
    gui_process.join()