Linear optical flow fit #1332
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Linear optical flow fit #1332
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| * @file paparazzi/sw/ext/ardrone2_vision/cv/opticflow/optic_flow_gdc.c |
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please check that doxygen paths like this are correct....
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could you please try to conform to the paparazzi coding style (i.e. use two spaces for indent)... |
| * @param[out] focus_of_expansion_y* Image y-coordinate of the focus of expansion (contraction). | ||
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| void extract_information_from_parameters(float* parameters_u, float* parameters_v, int im_width, int im_height, float *relative_velocity_x, float *relative_velocity_y, float *relative_velocity_z, float *slope_x, float *slope_y, float *focus_of_expansion_x, float *focus_of_expansion_y) |
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any reason to pass "in" parameters as pointers?
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Seems to me that it would make sense to put quite a few of the variables in a struct instead of passing over 20 arguments.... |
| #define FIT 1 | ||
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| * Analyze a linear flow field, retrieving information such as divergence, surface roughness, focus of expansion, etc. |
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really a lot of arguments, but nicely documented :-)
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Incorporated all comments. |
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Thx, looks much nicer now :-) |
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A function is added that estimates a linear flow fit, which provides information on relative velocities (including divergence / time-to-contact), surface slope, and surface roughness. The relative velocities can be used for velocity control and landing, while the surface slope and roughness can be used for selecting a suitable landing site.