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Update EX_SIMPLE_IMAGE_STABILIZATION.hpp
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@lauriebose
lauriebose committed Jan 17, 2025
1 parent 9b77de6 commit 2b3eaaf
Showing 1 changed file with 40 additions and 34 deletions.
74 changes: 40 additions & 34 deletions EXAMPLES/EX_SIMPLE_IMAGE_STABILIZATION.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -16,8 +16,6 @@ const dreg_t DREG_current_edge_image = S1;
const dreg_t DREG_vertical_edges = S2;
const dreg_t DREG_horizontal_edges = S3;

void threshold_F_into_S6_for_frame_blending(areg_t reg,vs_handle display, int frame_blend_window = 16);

int main()
{
vs_init();
Expand All @@ -40,21 +38,22 @@ int main()
//Varibles used to keep track of alignment "velocity", allows more robust alignment under motion by estimating the new alignment each frame using this "velocity"
int alignment_vel_x = 0; int alignment_vel_y = 0;

//Toggle if we should make use of the velocity for producing an initial estimated alignment each frame
int use_velocity = 1;
vs_gui_add_switch("use_velocity",1,&use_velocity);

bool set_anchor_image = false;
auto gui_btn_set_anchor_image = vs_gui_add_button("set_anchor_image");
vs_on_gui_update(gui_btn_set_anchor_image,[&](int32_t new_value)
bool set_key_frame = false;
auto gui_btn_set_key_frame = vs_gui_add_button("set_key_frame");
vs_on_gui_update(gui_btn_set_key_frame,[&](int32_t new_value)
{
set_anchor_image = true;
set_key_frame = true;
});

int edge_threshold = 12;
vs_gui_add_slider("edge_threshold x",0,127,edge_threshold,&edge_threshold);

int alignment_strength = 0;
int minimum_alignment_strength = 2000;
int minimum_alignment_strength = 1500;//When the alignment strength falls below this value, a new key-frame is taken the the alignment reset
vs_gui_add_slider("minimum_alignment_strength",0,4000,minimum_alignment_strength,&minimum_alignment_strength);

int show_current_edge_image = 1;
Expand All @@ -68,12 +67,10 @@ int main()
vs_disable_frame_trigger();
vs_frame_loop_control();

if(alignment_strength < minimum_alignment_strength)
{
set_anchor_image = true;
vs_post_text("insufficient edges");
}
alignment_strength = 0;
//Refresh key-frame edge image to prevent it decaying
scamp5_kernel_begin();
REFRESH(DREG_keyframe_edge_image);
scamp5_kernel_end();

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//CAPTURE FRAME
Expand All @@ -87,7 +84,7 @@ int main()
//COMPUTE HORIZONTAL & VERTICAL EDGE IMAGES

scamp5_kernel_begin();
//COPY IMAGE TO F AND SHIFT ONE "PIXEL" RIGHT
//COPY IMAGE TO F AND SHIFT RIGHT
bus(NEWS,AREG_image);
bus(F,XW);
bus(NEWS,F);
Expand All @@ -97,7 +94,7 @@ int main()
sub(F,F,AREG_image);
abs(AREG_vertical_edges,F);

//COPY IMAGE TO F AND SHIFT ONE "PIXEL" UP
//COPY IMAGE TO F AND SHIFT UP
bus(NEWS,AREG_image);
bus(F,XS);
bus(NEWS,F);
Expand All @@ -109,7 +106,7 @@ int main()
scamp5_kernel_end();

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//THRESHOLD AREG EDGE DATA TO BINARY
//THRESHOLD AREG HORIZONTAL & VERTICAL EDGE DATA TO BINARY

scamp5_in(F,edge_threshold);//LOAD THRESHOLD INTO F

Expand All @@ -133,25 +130,35 @@ int main()
//COMBINE THRESHOLDED HORIZONTAL & VERTICAL EDGE RESULTS

scamp5_kernel_begin();
MOV(DREG_current_edge_image,DREG_vertical_edges);//COPY VERTICAL EDGE RESULT
OR(DREG_current_edge_image,DREG_horizontal_edges);//OR WITH HORIZONTAL EDGE RESULT
MOV(DREG_current_edge_image,DREG_vertical_edges);//copy vertical edges
OR(DREG_current_edge_image,DREG_horizontal_edges);//Perform OR with horizontal edges
scamp5_kernel_end();

if(set_anchor_image)
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//UPDATE KEY-FRAME IF BUTTON PRESSED OR ALIGNMENT IS POOR STRENGTH

//If "strength" of alignment between key-frame and current image falls below threshold, the key-frame should be updated and alignment reset
if(alignment_strength < minimum_alignment_strength)
{
set_key_frame = true;
vs_post_text("insufficient edges");
}

if(set_key_frame)
{
set_anchor_image = false;
alignment_x = 0;
alignment_y = 0;
alignment_vel_x = 0;
alignment_vel_y = 0;
set_key_frame = false;

//Replace key-frame with current edge image
scamp5_kernel_begin();
MOV(DREG_keyframe_edge_image,DREG_current_edge_image);
scamp5_kernel_end();

//Reset alignment and velocity variable
alignment_x = 0;
alignment_y = 0;
alignment_vel_x = 0;
alignment_vel_y = 0;
}
scamp5_kernel_begin();
REFRESH(DREG_keyframe_edge_image);
scamp5_kernel_end();

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//ESTIMATE THE NEW ALIGNMENT USING "VELOCITY" INFOMATION
Expand All @@ -167,6 +174,8 @@ int main()
//This code applies various shifts to the captured edge image
//It uses global summation to test the alignment strength between the edge image and key-frame resulting from each shift

alignment_strength = 0;//Reset alignment strength

//Copy the latest edge frame and shift it according to the current alignment
//This should roughly align it to the edge key-frame, allowing us to search for a better alignment by only shifting up/down/left/right 1 pixel
scamp5_kernel_begin();
Expand Down Expand Up @@ -278,17 +287,14 @@ int main()

output_timer.reset();
{
// scamp5_output_image(S6,display_01);


scamp5_kernel_begin();
MOV(S6,DREG_current_edge_image);
MOV(S6,DREG_current_edge_image); //Copy the latest edge image
scamp5_kernel_end();
scamp5_shift(S6,alignment_x+1,alignment_y);
scamp5_shift(S6,alignment_x+1,alignment_y); //Shift the copy according to the current estimated alignment
scamp5_kernel_begin();
OR(S5,DREG_keyframe_edge_image,S6);
OR(S5,DREG_keyframe_edge_image,S6); //Combine the shifted copy and the key-frame to show the edges of both at once
scamp5_kernel_end();
scamp5_output_image(S6,display_00);
scamp5_output_image(S5,display_00);

if(show_current_edge_image)
{
Expand Down

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