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.
Now you can find circles with your OpenMV Cam! The alrogithm can eek out
about 7 FPS on a 160x120 image which is quite impressive given how
computationally expensive circle finding is...
For easy line following mainly. In non-robust mode the line is computed
using least squares. In robust mode the line is computed using the
Theil-Sen median of slopes method. We do not use the Siegel Median of
Medians operation because it costs more CPU time... but, more
importantly there's no way to improve the centroid estimate so even if
the slope is more robust the line will be drawn in the wrong place.
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.
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.
* 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.
Everything except the DAC script works. That has to be fixed. Anyway, we
have a ton of example for launch. So, hopefully, comments about how to
do stuff should be limited.
That said, the PYB module is in a poor state still. Stuff kinda works and
kinda doesn't from it.
One day... There won't be any fires to put out on this project and I can
stop working so hard.
Moved feature detection scripts into their own folders and added explict
frame_skip value per Ibrahim's request.
Finished working on snapshot and video recording scripts for next
release.
... From CMUcam4 work I learned that people will just want examples that
do "X" thing. So, in general, our examples should include a simple
script showing off a feature and then a more complex script that does "X"
where "X" is some app that a person would want. For example, we'll get
reuqests for face tracking with servos, and movement detection with
servos. So, instead of answering this question a million times with an
example script we'll just have examples for all kinds of things people
will want.
Gotta automate dealing with help support at the end of the day...