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.

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:

convert 64sq_253_46.png -depth 8 64sq_253_46.gray

Status

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