Paparazzi UAS  v5.10_stable-5-g83a0da5-dirty
Paparazzi is a free software Unmanned Aircraft System.
 All Data Structures Namespaces Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
size_divergence.h File Reference

Calculate divergence from flow vectors by looking at line sizes beteween the points. More...

#include "lib/vision/image.h"
+ Include dependency graph for size_divergence.h:
+ This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Functions

float get_size_divergence (struct flow_t *vectors, int count, int n_samples)
 Get divergence from optical flow vectors based on line sizes between corners. More...
 
float get_mean (float *numbers, int n_elements)
 Get the sample mean of a vector of floats. More...
 

Detailed Description

Calculate divergence from flow vectors by looking at line sizes beteween the points.

Uses optical flow vectors as determined with a corner tracker and Lucas Kanade to estimate divergence.

Definition in file size_divergence.h.

Function Documentation

float get_mean ( float *  numbers,
int  n_elements 
)

Get the sample mean of a vector of floats.

Parameters
[in]numbersVector of numbers
[in]n_elementsNumber of elements
Returns
mean

Definition at line 136 of file size_divergence.c.

Referenced by get_size_divergence().

+ Here is the caller graph for this function:

float get_size_divergence ( struct flow_t vectors,
int  count,
int  n_samples 
)

Get divergence from optical flow vectors based on line sizes between corners.

Parameters
[in]vectorsThe optical flow vectors
[in]countThe number of optical flow vectors
[in]n_samplesThe number of line segments that will be taken into account. 0 means all line segments will be considered.
Returns
divergence

Definition at line 44 of file size_divergence.c.

References flow_t::flow_x, flow_t::flow_y, get_mean(), NO_DIV, flow_t::pos, point_t::x, and point_t::y.

Referenced by calc_fast9_lukas_kanade().

+ Here is the call graph for this function:

+ Here is the caller graph for this function: