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added float casts to deal with higher subpixel_factor (#1679)

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The bigger subpixel_factor led to problems (overflows) in size_divergence. This code change fixes the most immediate problem. However, the divergence results are still worse than with the old code, e.g., at the time of the commit 9ae722e The reason for that does not seem to lie in the size_divergence code.
This commit is contained in:
guidoAI
2016-05-21 23:30:29 +02:00
committed by Felix Ruess
parent 18fadbde59
commit fee509ce66
1 changed files with 8 additions and 8 deletions
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sw/airborne/modules/computer_vision/opticflow/size_divergence.c
+8 -8
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@@ -67,13 +67,13 @@ float get_size_divergence(struct flow_t *vectors, int count, int n_samples)
for (i = 0; i < count; i++) {
for (j = i + 1; j < count; j++) {
// distance in previous image:
dx = vectors[i].pos.x - vectors[j].pos.x;
dy = vectors[i].pos.y - vectors[j].pos.y;
dx = (float)vectors[i].pos.x - (float)vectors[j].pos.x;
dy = (float)vectors[i].pos.y - (float)vectors[j].pos.y;
distance_1 = sqrt(dx * dx + dy * dy);
// distance in current image:
dx = vectors[i].pos.x + vectors[i].flow_x - vectors[j].pos.x - vectors[j].flow_x;
dy = vectors[i].pos.y + vectors[i].flow_y - vectors[j].pos.y - vectors[j].flow_y;
dx = (float)vectors[i].pos.x + (float)vectors[i].flow_x - (float)vectors[j].pos.x - (float)vectors[j].flow_x;
dy = (float)vectors[i].pos.y + (float)vectors[i].flow_y - (float)vectors[j].pos.y - (float)vectors[j].flow_y;
distance_2 = sqrt(dx * dx + dy * dy);
// calculate divergence for this sample:
@@ -102,13 +102,13 @@ float get_size_divergence(struct flow_t *vectors, int count, int n_samples)
}
// distance in previous image:
dx = vectors[i].pos.x - vectors[j].pos.x;
dy = vectors[i].pos.y - vectors[j].pos.y;
dx = (float)vectors[i].pos.x - (float)vectors[j].pos.x;
dy = (float)vectors[i].pos.y - (float)vectors[j].pos.y;
distance_1 = sqrt(dx * dx + dy * dy);
// distance in current image:
dx = vectors[i].pos.x + vectors[i].flow_x - vectors[j].pos.x - vectors[j].flow_x;
dy = vectors[i].pos.y + vectors[i].flow_y - vectors[j].pos.y - vectors[j].flow_y;
dx = (float)vectors[i].pos.x + (float)vectors[i].flow_x - (float)vectors[j].pos.x - (float)vectors[j].flow_x;
dy = (float)vectors[i].pos.y + (float)vectors[i].flow_y - (float)vectors[j].pos.y - (float)vectors[j].flow_y;
distance_2 = sqrt(dx * dx + dy * dy);
// calculate divergence for this sample: