Paparazzi UAS
v5.14.0_stable0g3f680d1
Paparazzi is a free software Unmanned Aircraft System.

Calculate divergence from flow vectors by looking at line sizes beteween the points. More...
#include "lib/vision/image.h"
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) 
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.
float get_mean  (  float *  numbers, 
int  n_elements  
) 
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.
[in]  vectors  The optical flow vectors 
[in]  count  The number of optical flow vectors 
[in]  n_samples  The number of line segments that will be taken into account. 0 means all line segments will be considered. 
Definition at line 46 of file size_divergence.c.
References point_t::count, E, flow_t::flow_x, flow_t::flow_y, mean_f(), n_samples, NO_DIV, flow_t::pos, point_t::x, and point_t::y.
Referenced by calc_fast9_lukas_kanade().