[detect_window]

paparazzi · Sep 17, 2015 · b65b2cf · b65b2cf
1 parent 8f873a9
commit b65b2cf
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Showing 2 changed files with 16 additions and 13 deletions.
diff --git a/sw/airborne/modules/computer_vision/cv_blob_locator.c b/sw/airborne/modules/computer_vision/cv_blob_locator.c
@@ -95,20 +95,23 @@ bool_t cv_window_func(struct image_t *img) {
   int px = coordinate[0] & 0xFFFe;
   int py = coordinate[1] & 0xFFFe;
 
-  for (int y = 0; y < img->h-1; y++) {
-    Img(px, y)   = 65;
-    Img(px+1, y) = 255;
-  }
-  for (int x = 0; x < img->w-1; x+=2) {
-    Img(x, py)   = 65;
-    Img(x+1, py) = 255;
-  }
+  if (response < 92) {
 
+    for (int y = 0; y < img->h-1; y++) {
+      Img(px, y)   = 65;
+      Img(px+1, y) = 255;
+    }
+    for (int x = 0; x < img->w-1; x+=2) {
+      Img(x, py)   = 65;
+      Img(x+1, py) = 255;
+    }
 
-  uint32_t temp = coordinate[0];
-  temp = temp << 16;
-  temp += coordinate[1];
-  blob_locator = temp;
+    uint32_t temp = coordinate[0];
+    temp = temp << 16;
+    temp += coordinate[1];
+    blob_locator = temp;
+
+  }
 
   return FALSE;
 }

diff --git a/sw/airborne/modules/computer_vision/detect_window.c b/sw/airborne/modules/computer_vision/detect_window.c
@@ -267,7 +267,7 @@ uint16_t get_window_response(uint16_t x, uint16_t y, uint16_t feature_size, uint
       resp = RES;
     }
   } else { //if(MODE == MODE_BRIGHT)
-    if (inner_area > 0) {
+    if (inner_area > 0 && (inner_area / px_inner) > 0) {
       resp = (RES * (whole_area - inner_area) / px_border) / (inner_area / px_inner);
       //printf("%u: %u %u %u %u\n",resp,(RES*RES*(whole_area - inner_area)/px_border), (inner_area/px_inner), px_inner, px_border);
     } else {