size_divergence.c File Reference

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

#include "size_divergence.h"
#include <stdlib.h>
#include "math/pprz_stat.h"

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Macros
#define	NO_DIV   0.0

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...

Detailed Description

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

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

Definition in file size_divergence.c.

Macro Definition Documentation

#define NO_DIV   0.0

Definition at line 37 of file size_divergence.c.

Referenced by get_size_divergence().

Function Documentation

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]	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.

Returns

divergence

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().

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