v1.6.0

v1.6.0 adds a Time-of-Flight (tof) module, image.find_displacement() (FFT phase-correlation optical flow), an image pooling API, sensor.set_windowing(), and image.find_template() search options. find_template() now enforces its ROI — read the breaking changes below.

Highlights

  • tof module — Time-of-Flight distance-sensor support.

  • image.find_displacement() — FFT phase-correlation (optical flow).

  • Pooling — midpoint_pool() / mean_pool() and pooled variants.

  • sensor.set_windowing() — sensor windowing / binning, with new low-res framesizes.

  • find_template() — added step / search (SEARCH_EX / SEARCH_DS) / roi options.

  • Breaking: image.find_template() now enforces a valid ROI — see the breaking changes.

New features

  • tof — added a Time-of-Flight module with tof.init() / tof.deinit() / tof.read_frame() / tof.draw_frame() / tof.write_reg() (I2C ToF sensor support).

  • image.find_displacement() — added FFT phase-correlation displacement (with subpixel and quality-of-result), with an optical-flow example.

  • Pooling — added Image.midpoint_pool() / midpoint_pooled() / mean_pool() / mean_pooled().

  • sensor.set_windowing((x, y, w, h)) — sensor windowing/binning, with new sensor.B40x30 / B64x32 / B64x64 framesizes for optical flow.

  • image.find_template() — added step, search (image.SEARCH_EX default / image.SEARCH_DS fast diamond search), and roi keyword arguments.

  • Image.copy_to_fb() — copy an image into the framebuffer (with an optional (x, y) offset) and a copy2fb.py example.

Other changes and improvements

  • find_template() diamond search refines its step more precisely (more accurate, slower); binning auto-enables for framesizes above VGA on the OpenMV 2; auto zoom/scale is disabled at VGA on the OV7725.

Bug fixes

  • Fixed the integral-image and integral-image-square computations (affecting Haar / feature / template-matching accuracy), the 1D/2D FFT and phase-correlation, and in-place pooling resizing the framebuffer.

Hardware and board support

  • Time-of-Flight (ToF) distance sensor over I2C.

  • New low-resolution framesizes (B40x30 / B64x32 / B64x64) for optical flow.

Breaking API changes

User-visible API breaks between v1.5.0 and v1.6.0. Scope: Python C-modules in modules/ and Python libraries in scripts/libraries/.

The breaking change is a behavior change (same API, different result) — re-check affected scripts. Each commit hash links to its diff on GitHub.

image.find_template() enforces its ROI (behavior)

image.find_template() now validates its region of interest and raises (“Region of interest is bigger than image!”) when the ROI is absent/oversized or smaller than the template. Pass a valid roi=(x, y, w, h) that is at least the template size and fits within the image.

Commits: a25e0c162

Migration checklist

Pass a valid roi (≥ template size, within the image) to image.find_template() (the find_template change). All other scripts run unchanged.