Commit Graph

60 Commits

Author SHA1 Message Date
Kwabena W. Agyeman
f4a9c61544 Add find_line_segments
The OpenMV Cam can now infinite lines and line segments from those
infinite lines. find_lines has been updated to allow all this to work.
2017-05-10 21:40:22 -04:00
Kwabena W. Agyeman
31b7b5bf3e Improved find_lines
Frame rate now can hit 30 FPS when JPEG compression is off. Merging of
lines is perfected too which greatly reduces the noise output. Also,
lines are now objects so you can get their values in an easy way.
2017-05-06 14:31:20 -04:00
Kwabena W. Agyeman
690ec923ae Add data matrix support.
Add support for decoding data matrices and example scripts.
2017-04-28 19:58:19 -04:00
Ibrahim Abd Elkader
7204a35758 Revert "Add image.raw() function." 2017-04-28 18:01:11 +02:00
skaiu
b64c744f2f Add image.raw() function. 2017-04-28 21:51:31 +08:00
Ibrahim Abd Elkader
6614d2380c Merge pull request #203 from kwagyeman/master
Image Streaming Code
2017-03-25 18:54:43 +02:00
Kwabena W. Agyeman
55e4809ff6 Image Streaming Code
The user can now call compressed_for_ide() and compress_for_ide() on an
image to make a jpeg compressed image formatted for transmission over a
data link other than USB. Note that OpenMV IDE will automatically handle
one of these compressed images ending up in the frame buffer and display
it like normal.

To send the image data the user can do:

print(img.compress_for_ide(), end='')
print(img.compressed_for_ide(), end='')
uart.write(img.compress_for_ide())
uart.write(img.compressed_for_ide())

and etc. As mentioned above, compress() compresses the image in place.
And that in place compressed image will then end up in the jpeg buffer.
OpenMV IDE will automatically handling decoding these special compressed
images when this happens.

All variations of the above code have been tested and are working.
2017-03-25 12:47:23 -04:00
Kwabena W. Agyeman
bfd048e6f3 Integrate ZBar 2/2
ZBar functionality integrated along with an example script.
2017-03-24 12:45:27 -04:00
iabdalkader
b94182dce4 Add new RAW/BAYER pixel format to support 2BPP VGA. 2017-03-12 03:29:49 +02:00
iabdalkader
a4561c7efa WINC: Add support for AP mode. 2017-03-09 20:39:53 +02:00
Kwabena W. Agyeman
1b3f444351 Add callbacks back in for emulating pixy. 2017-02-15 13:18:11 -05:00
Kwabena W. Agyeman
cd07c0d5fa AprilTags Fixes
* Made all memory allocations during the exhaustive time safe.
* Added 3D pose output from the AprilTags code.
2017-02-14 18:36:52 -05:00
Kwabena W. Agyeman
443ba3bff8 AprilTags Support
Works super good.
2017-02-09 17:37:18 -05:00
Ibrahim Abd Elkader
f7e04a450b Merge pull request #177 from kwagyeman/update_lens_corr
Speed up lens_corr.
2017-01-16 04:43:56 +02:00
Kwabena W. Agyeman
d6b49adefa Speed up lens_corr.
Speed up the algorithm by fixing the abs() issue. Do not use that
function in any of your code. It by itself cut the speed of the code
in half. I don't know what's in that function but I'm guessing it does
ABS of a float using ints or something.

I made the zoom parameter functional now too so you can use lens_corr to
zoom in on the image. Argument parsing is handled too. Finally, I
updated the only script where this is used.

Note that I'm able to get more than 10 FPS at 160x120 on the M4 and 15
FPS at 160x120 on the M7. Previous this was at about 5 FPS and 7.5 FPS
respectively.
2017-01-15 21:32:55 -05:00
Kwabena W. Agyeman
ed3f226478 Tested stats with examples and fixed bugs
The automatic grayscale and rgb565 color tracking scripts are very cool.
2017-01-15 14:59:42 -05:00
iabdalkader
bba8e5a9e0 Remove match_descriptor type arg.
* Not really needed can check MP object types.
2017-01-14 01:15:24 +02:00
Kwabena W. Agyeman
9f37c83def Minor Speed Improvements to Blob, QRCode, and Stats 2017-01-11 17:09:46 -05:00
iabdalkader
6b7eb1a105 Add keypoints detector arg. 2017-01-08 18:40:28 +02:00
iabdalkader
05ea5115b5 Add constants for corner detectors. 2017-01-08 18:33:10 +02:00
iabdalkader
7fa9894bdc ORB: Add max_keypoints and scale_factor args 2017-01-08 17:35:47 +02:00
Kwabena W. Agyeman
0111084125 Updated stats code
We now have a method to get an the normalized histogram of an image
patch. The histogram is returned as an object with methods too. You can
then get the stats off of the histogram or just get the CDF of it. The
CDF is particularly useful for automatically chaning the the color
tracking bounds.
2017-01-07 20:11:30 -05:00
iabdalkader
945a83c789 Add keypoints filtering function.
* This function filters keypoints far from the centroid, it's very useful for finding an accurate bounding box for an object.
  If a bounding box for the object is not needed, the centroid can be used instead since it's not affected too much by outliers.
* The filter finds the centroid of all the previously cross-matched keypoints then finds the mean, variance and standard deviation,
  it then filters keypoints with a distance higher than standard deviation from the centroid.
2017-01-05 05:35:57 +02:00
iabdalkader
e2d0c48401 Replace FREAK with ORB.
* New keypoints descriptor, much better implementation than FREAK.
2017-01-04 05:44:06 +02:00
iabdalkader
1b22a29612 Add set_gain/exposure/whitebalance functions.
* Add functions to disable auto functions control and set manual values.
2016-12-29 03:39:06 +02:00
Kwabena W. Agyeman
af15ec6eb3 New Blob Code
The new API is backwards compatible with the previous one except for
advanced features. The new blob code uses a flood fill algorithm that is
3x faster in filling out blobs that the previous code. On the M7 the
performance cap of 30 FPS is usually reached.

Additionally, blobs are objects with named attributes now so you don't
have to index access them anymore. However, index access is still
supported.
2016-12-27 19:10:24 -05:00
Kwabena W. Agyeman
6a8ce01e79 Add QRCode detection.
Use the qrcodes script and point your OpenMV Cam at google search
results for QR Codes.
2016-12-27 15:30:35 -05:00
iabdalkader
fd384bf1b0 Export OV7725's lens shading correction function. 2016-12-25 02:45:05 +02:00
iabdalkader
ef6e6303c7 Add HoG. 2016-10-10 17:22:04 +02:00
iabdalkader
60dc3f7e91 Remove ToF module. 2016-10-10 16:53:02 +02:00
iabdalkader
14b6330b67 Add simple lens correction function. 2016-09-23 18:46:11 +02:00
iabdalkader
f55c9b48eb Add gaussian function. 2016-09-20 01:03:22 +02:00
iabdalkader
e81f228796 Add simple edge function. 2016-09-14 20:54:53 +02:00
iabdalkader
e104be63df Implement Canny edge detector. 2016-09-13 02:37:43 +02:00
iabdalkader
83451de050 Add Hough Transform. 2016-09-12 22:16:58 +02:00
iabdalkader
627d81f569 Add imlib mask_ellipse. 2016-09-08 03:12:14 +02:00
iabdalkader
1142940b88 Add MLX qstrs. 2016-08-19 19:09:47 +02:00
iabdalkader
56438bc079 Add cpufreq module.
* Add CPU frequency scaling module and example script.
2016-08-17 19:42:05 +02:00
iabdalkader
0363fa8758 Add ToF module. 2016-07-27 15:21:33 +03:00
iabdalkader
02088a14e1 Rename set_binning to set_windowing. 2016-06-20 22:24:00 +02:00
iabdalkader
968bfde8f2 Add new smaller resolutions.
* Add 40x30, 64x32 and 64x64
2016-06-19 21:27:09 +02:00
Kwabena W. Agyeman
7af818c4d8 Finished up optical flow code.
* 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.
2016-06-18 23:05:44 -04:00
iabdalkader
2594a1e320 Add py_helper_lookup_offset. 2016-06-17 00:30:02 +02:00
iabdalkader
e40c50f739 Add diamond search for fast template matching. 2016-06-15 22:59:17 +02:00
iabdalkader
d9b03641f7 Add copy to framebuffer function and example script. 2016-06-15 21:59:36 +02:00
Kwabena W. Agyeman
45fdcc973e Add FFT Code and Phase Correlation Code
The heart of the 1D FFT works. I tested this on the PC. However, 2D FFTs
may have issues and the phase correlation algorithm does not generate
the expected results. That said, most of the work is done. Stuff just
needs to be deubgged.

The FFT lib is designed to handle up to 1024 point real FFTs and 512
complex FFTs. As for 2D FFTs, we can do up to 64x64 pixels. After which,
we don't have enough RAM to handle them because they use up about 128KB
each.

Things to do... the 2D FFT needs to be verified. So, we need to run an
image through it and then back again to verify that there are no
problems. Then we need to compare the 2D FFT output with another 2D FFT
algorithm on the PC...

Once the FFTs are known to be good we then need to make sure the phase
corelation algorithm outs the correct results. We need to test that with
multiple shifted images, etc.
2016-06-12 19:55:45 -04:00
iabdalkader
440c9dc8bc Implement binning. 2016-06-03 23:01:28 +02:00
iabdalkader
2e2c563227 Re-implement line filters with Python callbacks. 2016-05-16 14:22:30 +02:00
Kwabena W. Agyeman
80cb701d3b Add missing cam functionality
Added the ability to turn AGC off. Kinda will need the ability to restore
AGC settings back to user specified ones in the future... but, this will
do for now.

Added the ability to turn AEC off. Objectively this function probably
won't be used. But, in low light situations it can help.

Added get_fb() to allow you to get the last image snapshot returned.

There was some old exposure function in the code that was getting
optimized out. So, I deleted the used methods that didn't have any code
in them and commented out the only method that did.
2016-04-27 21:53:06 -04:00
Kwabena W. Agyeman
7a01a9bede Final Imlib Cleanup
Finished going through imlib.c.
-> Histeq uses fb_alloc now and has hook for RGB histeq when reserve YUV
LUT is added (coming soon in next PR).

Cleanuped py_helper.c/h
-> No functional changes. Just added some header info.

Finished going through py_image.c
* 1 - Finished general code cleanup and updating everything to using new
library functions. In particular, I updated the remaining find_*
functions with the new roi clipping code when they accept rois.
* 2 - Made blob stuff return a list when nothing is found so you don't
have to do an if on the returned value anymore.
* 3 - img subscr is more powerful now allowing image reading and
writing. I updated this because I had to use it to find a previous bug
with socket.send() for the WINC driver.
* 4 - Renamed find_eyes to find_eye. Because it just finds one eye.
* 5 - Other than that just general code cleanup to make functions look
consistent.

And yes, changes have been test. Face tracking, eye tracking, keypoints,
etc. all work still.

Future things todo before release:
1 - Change all LAB stuff to YUV.
2 - Add in reverse YUV->RGB LUT and update functions like Mode() to use
this so they don't generate messed up outputs, also histeq() too.
3 - Add any remaining sensor control functions like agc control.
2016-04-25 21:55:49 -04:00