Just doing one big commit/PR here since I noticed that breaking it up
causes issues.
Anyway, these fixes give us GOOD/WORKING/FAST optical flow now on the
OpenMV Cam M7. A number of changes were made to the optical flow
scripts. You have have absolute and differential estimation example
scripts. Additionally, you also have the ability to measure rotation and
scale changes too. Linear/Log Polar conversion was added for this. Users
may use the new code for generic image manipulation too. Finally, I
updated the power of 2 resolutions since you actually HAVE to use them
with optical flow for the phasecorrelation code to work correctly.
I have some more advanced scripts coming after this. But, This commit is
already getting kinda large so I'm stopping it here.
* Textual register cleanup.
No functional changes.
* Add exposure control support.
You can now set the exposure for the camera in microseconds (versus an
opaque unknown value previously). First, we have a new method called
get_exposure_us() which will get the expsoure time in microseconds. This
let's you determine what the auto exposure algorithm set the exposure
time to. Second, the previously implmented set_auto_exposure() method
which allows you to turn aec off and on accepts a exposure_us keyword
argument when you turn aec off to manually control the exposure.
The next commit will add support for other sensor types.
* Cleanup register formatting.
No functional changes.
* Add exposure control support for the OV2640.
Register access for this chip is a PITA.
* Formatting Cleanup.
No functional changes.
* Add exposure control for ov9650.
Just doing it for all sensors.
* Add missing 2 factor.
* Added exposure control for the MT9V034.
* Add exposure control example.
Works well on the OV7725.
This fix allows "copy_to_fb" with a different resolution than the
current frame buffer to work. It also allows the frame buffer to be
resized, etc. In particular, the pooling methods I added for optical
flow work again... you'll also be able to scale the frame buffer too.
Moved structs along with image copying code from sensor into
framebuffer.c so that we can use the new copy_fb_to_jpeg_fb() function
in the image library for methods with "copy_to_fb" so that they update
the IDE preview when called.
Also, I noticed that the MAIN_FB_SIZE() value is not calculated
correctly in all cases. Will fix later. Trying to keep this commit clean
for just the refactoring.
All changes have been tested. Too.
With the new frame rate speed increase folks will be asking for smaller
resolutions to get 85 FPS or so when running an algorithm. This commit
adds all scaled modes of frame sizes we already support. We should be
good now on frame sizes for the present and future now.
Todo - skip frames does not run long enough anymore for auto white
balance and gain to stablize before they are turned off in some scripts.
This needs to be adjusted.
* Delay the FB size check and corrections to snapshot(). If the frame doesn't
fit FB it gets cropped for GS, or the sensor is switched to bayer for RGB.
* Added pooling functions to make getting small images easy. set_binning
works too... but, it zooms in way to much. pooling functions aout you to
shrink the image while not zooming in.
* To make the pooling functions easy to use I created a version that
pools the image out of place and one that pools the image in place. The
inplace pooling function can work on the frame buffer (see edits to
sensor.c)
* I added the code to do hann windowing to the FFT lib. However, I
commented it out after it improved performance by basically zero.
Specialized windowing stuff will only come in handy for folks trying to
tune their algorithm... not in general for everything.
* I added subpixel resolution for the phase correlation code. You can
now track the image movement really precisely. Additionally, I fixed up
the displacement outputs to give expected results. I also added a QoR
output for the displacement code so that you can know when the results
are bad.
* Finally, an example script has been added to show off the features.