correlation_flow

Optical flow calculation using image correlation for no_std rust. This library will compare small grayscale image blocks (limited to 64x64 pixels currently), and detect the phase correlation between them. This potentially enables applications such as: - Create image panoramas by seaming together overlapping images - Detect optical flow translation (for machine vision / robotics) - Image registration - Measure image similarity

Embedded Examples

The examples are designed to be used with J-Link / RTT. We provide a couple different ways to run these: - With probe-run - With the Segger tools

With probe-run installed

• Simply run the example (see below) with a JLink debug probe attached to your PX4FLOW
• If you have problems, edit config to ensure that the probe-run runner is selected

With segger tools installed

• Edit config to select the segger.gdb runner
• In one shell run: ./start_gdb_server_jlink.sh
• In another shell run: JLinkRTTClient
• Then run your choice of examples

PX4FLOW

This example is intended to run on the PX4FLOW hardware. It simply compares two image frames stored in the app binary.

shell script cargo run --release --example px4flow

Image Conversion

We used ImageMagick's convert command to generate raw 8-bit grayscale images from png files using eg: shell script convert 64sq_253_46.png -depth 8 64sq_253_46.gray

Status

• [x] Detects discrete 2D image translation within a static 64x64 grid (maximum +/- 32 pixel movement)
• [x] Example that runs on embedded hardware (PX4FLOW)
• [ ] Support > 64x64 block sizes