Create EX_SIMPLE_IMAGE_STABILIZATION.hpp

Author: lauriebose

EXAMPLES/EX_SIMPLE_IMAGE_STABILIZATION.hpp

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+#include <scamp5.hpp>
+#include <vector>
+#include "MISC/MISC_FUNCS.hpp"
+using namespace SCAMP5_PE;
+
+vs_stopwatch frame_timer;
+vs_stopwatch output_timer;
+vs_stopwatch sum_timer;
+
+const areg_t AREG_image = A;
+const areg_t AREG_vertical_edges = B;
+const areg_t AREG_horizontal_edges = C;
+
+const dreg_t DREG_keyframe_edges = S0;
+const dreg_t DREG_combined_edges = 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();
+
+	VS_GUI_DISPLAY_STYLE(style_plot,R"JSON(
+			{
+				"plot_palette": "plot_4",
+				"plot_palette_groups": 4
+			}
+			)JSON");
+
+    int display_size = 2;
+    vs_handle display_00 = vs_gui_add_display("Stabilized Image",0,0,display_size);
+    vs_handle display_01 = vs_gui_add_display("Captured Image",0,display_size,display_size);
+
+	int alignment_x = 0; int alignment_y = 0;
+	int vel_x = 0; int vel_y = 0;
+
+	int use_inertia = 1;
+	vs_gui_add_switch("use_inertia",1,&use_inertia);
+
+	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)
+	{
+		set_anchor_image = true;
+   });
+
+    int edge_threshold = 12;
+    vs_gui_add_slider("edge_threshold x",0,127,edge_threshold,&edge_threshold);
+
+
+    // Frame Loop
+    while(1)
+    {
+        frame_timer.reset();//reset frame_timer
+
+       	vs_disable_frame_trigger();
+        vs_frame_loop_control();
+
+        //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+        //CAPTURE FRAME
+
+			scamp5_kernel_begin();
+				//A = pixel data of latest frame, F = intermediate result
+				get_image(A,F);
+			scamp5_kernel_end();
+
+		//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+		//COMPUTE HORIZONTAL &  VERTICAL EDGE IMAGES
+
+			scamp5_kernel_begin();
+				//COPY IMAGE TO F AND SHIFT ONE "PIXEL" RIGHT
+				bus(NEWS,AREG_image);
+				bus(F,XW);
+				bus(NEWS,F);
+				bus(F,XW);
+
+				//SAVE THE ABSOLUTE DIFFERENCE BETWEEN THE SHIFTED IMAGE AND ORIGINAL AS THE VERTICAL EDGES RESULT
+				sub(F,F,AREG_image);
+				abs(AREG_vertical_edges,F);
+
+				//COPY IMAGE TO F AND SHIFT ONE "PIXEL" UP
+				bus(NEWS,AREG_image);
+				bus(F,XS);
+				bus(NEWS,F);
+				bus(F,XS);
+
+				//SAVE THE ABSOLUTE DIFFERENCE BETWEEN THE SHIFTED IMAGE AND ORIGINAL AS THE HORIZONTAL EDGES RESULT
+				sub(F,F,AREG_image);
+				abs(AREG_horizontal_edges,F);
+			scamp5_kernel_end();
+
+		//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+		//THRESHOLD AREG EDGE DATA TO BINARY
+
+			scamp5_in(F,edge_threshold);//LOAD THRESHOLD INTO F
+
+			scamp5_kernel_begin();
+				//THRESHOLD AREG_vertical_edges TO BINARY RESULT
+				sub(E,AREG_vertical_edges,F);
+				where(E);
+					//IN PES WHERE AREG_vertical_edges > edge_threshold, FLAG == 1
+					MOV(DREG_vertical_edges,FLAG);
+				all();
+
+				//THRESHOLD AREG_horizontal_edges TO BINARY RESULT
+				sub(E,AREG_horizontal_edges,F);
+				where(E);
+					//IN PES WHERE AREG_horizontal_edges > edge_threshold, FLAG == 1
+					MOV(DREG_horizontal_edges,FLAG);
+				all();
+			scamp5_kernel_end();
+
+		//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+		//COMBINE THRESHOLDED HORIZONTAL & VERTICAL EDGE RESULTS
+
+			scamp5_kernel_begin();
+				MOV(DREG_combined_edges,DREG_vertical_edges);//COPY VERTICAL EDGE RESULT
+				OR(DREG_combined_edges,DREG_horizontal_edges);//OR WITH HORIZONTAL EDGE RESULT
+			scamp5_kernel_end();
+
+
+			int position_threshold = 48;
+			if(abs(alignment_x) > position_threshold || abs(alignment_y) > position_threshold)
+			{
+				set_anchor_image = true;
+			}
+			if(set_anchor_image)
+			{
+				set_anchor_image = false;
+				alignment_x = 0;
+				alignment_y = 0;
+				vel_x = 0;
+				vel_y = 0;
+
+				scamp5_kernel_begin();
+					MOV(DREG_keyframe_edges,DREG_combined_edges);
+				scamp5_kernel_end();
+			}
+			scamp5_kernel_begin();
+				REFRESH(DREG_keyframe_edges);
+			scamp5_kernel_end();
+
+
+        //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+        //IMAGE ALIGNMENT
+		//This code updates the "position" at which the captured image aligns with the stored key-frame
+
+			if(use_inertia)
+			{
+				alignment_x += vel_x;
+				alignment_y += vel_y;
+			}
+
+			//Copy the latest edge frame and shift it to the previous position determined to align with the edge key-frame
+			scamp5_kernel_begin();
+				MOV(S4,S1);
+			scamp5_kernel_end();
+			scamp5_shift(S4,alignment_x,alignment_y);
+
+			//The  directions to shift and test for better alignment (i.e. noshift,left,right,down,up)
+			int test_shift_directions[][5] =
+			{
+			    {0,0},
+				{1,0},
+				{-1, 0},
+				{0,1},
+				{0, -1},
+			};
+
+			//Array to store the global summations for each tested shift
+			int direction_global_sums[5];
+
+			//Test each shift
+			for (int n = 0; n < 5; n++)
+			{
+				int x = test_shift_directions[n][0];
+				int y = test_shift_directions[n][1];
+
+				//Copy the shifted edge frame & apply the test shift to it
+				scamp5_kernel_begin();
+					MOV(S6,S4);
+				scamp5_kernel_end();
+				scamp5_shift(S6,x,y);
+
+				scamp5_in(F,127);
+				scamp5_kernel_begin();
+					bus(D,F);//D = -127
+
+					AND(S5,S6,S0);//S5 == 1 where the edges of S6 & DREG_keyframe_edges overlap
+					WHERE(S5);
+						mov(D,F);//D = 127 in PEs where the edges of
+					ALL();
+				scamp5_kernel_end();
+				direction_global_sums[n] = scamp5_global_sum_64(D);
+			}
+
+			if(direction_global_sums[0] > direction_global_sums[1] &&
+					direction_global_sums[0] > direction_global_sums[2] &&
+					direction_global_sums[0] > direction_global_sums[3] &&
+					direction_global_sums[0] > direction_global_sums[4])
+			{
+
+			}
+			else
+			{
+				if(direction_global_sums[1] < direction_global_sums[2])
+				{
+					alignment_x--;
+					vel_x--;
+				}
+				else
+				{
+					alignment_x++;
+					vel_x++;
+				}
+
+				if(direction_global_sums[3] < direction_global_sums[4])
+				{
+					alignment_y--;
+					vel_y--;
+				}
+				else
+				{
+					alignment_y++;
+					vel_y++;
+				}
+			}
+
+	   //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+	   //OUTPUT
+
+			output_timer.reset();
+			{
+//				scamp5_output_image(S6,display_01);
+
+
+				scamp5_kernel_begin();
+					 MOV(S6,S1);
+				scamp5_kernel_end();
+				scamp5_shift(S6,alignment_x+1,alignment_y);
+				scamp5_kernel_begin();
+					 OR(S5,DREG_keyframe_edges,S6);
+				scamp5_kernel_end();
+				scamp5_output_image(S6,display_00);
+
+				scamp5_output_image(S1,display_01);
+
+
+
+//				scamp5_output_image(DREG_keyframe_edges,display_02);
+			}
+			int image_output_time_microseconds = output_timer.get_usec();//get the time taken for image output
+
+	    //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+		//OUTPUT TEXT INFO
+
+			int frame_time_microseconds = frame_timer.get_usec(); //get the time taken this frame
+			int max_possible_frame_rate = 1000000/frame_time_microseconds; //calculate the possible max FPS
+			int image_output_time_percentage = (image_output_time_microseconds*100)/frame_time_microseconds; //calculate the % of frame time which is used for image output
+			vs_post_text("frame time %d microseconds(%%%d image output), potential FPS ~%d \n",frame_time_microseconds,image_output_time_percentage,max_possible_frame_rate); //display this values on host
+    }
+
+    return 0;
+}
+