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in void line_fit, fixed sumx2 by correctly removing 1*1 +2*2 etc until and including (border-1)*(border-1)

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Titus
2017-03-23 15:53:50 +01:00
parent a75b2e82f0
commit db6548ed67
1 changed files with 1 additions and 1 deletions
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sw/airborne/modules/computer_vision/lib/vision/edge_flow.c
+1 -1
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@@ -268,7 +268,7 @@ void line_fit(int32_t *displacement, int32_t *divergence, int32_t *flow, uint32_
// compute fixed sums
int32_t xend = size_int - border_int - 1;
sumX = xend * (xend + 1) / 2 - border_int * (border_int + 1) / 2 + border_int;
sumX2 = xend * (xend + 1) * (2 * xend + 1) / 6;
sumX2 = xend * (xend + 1) * (2 * xend + 1) / 6 - border_int * (border_int + 1) * (2 * border_int + 1) / 6 + border_int*border_int;
xMean = (size_int - 1) / 2;
count = size_int - 2 * border_int;