/*
 * Copyright (C) 2015 Guido de Croon <guido.de.croon@gmail.com>
 *
 * From:
 * Characterization of Flow Field Divergence for Vertical Landing Control of MAVs
 * by H.W. Ho and G.C.H.E. de Croon (submitted)
 *
 * This file is part of Paparazzi.
 *
 * Paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * Paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Paparazzi; see the file COPYING.  If not, see
 * <http://www.gnu.org/licenses/>.
 */

/**
 * @file modules/computer_vision/opticflow/size_divergence.h
 * @brief 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.
 */

#include "lib/vision/image.h"

#ifndef SIZE_DIVERGENCE
#define SIZE_DIVERGENCE

float get_size_divergence(struct flow_t *vectors, int count, int n_samples);
float get_mean(float *numbers, int n_elements);

#endif


