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AP_HAL_Linux: Fix OpticalFlow crop calculation

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'left' value should be the lateral edges size
This commit is contained in:
Ricardo de Almeida Gonzaga 2015-12-23 15:19:25 -02:00 committed by Lucas De Marchi
parent 9123ef9f38
commit cbb313ec2c
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_HAL_Linux/OpticalFlow_Onboard.cpp
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@ -79,9 +79,9 @@ void OpticalFlow_Onboard::init(AP_HAL::OpticalFlow::Gyro_Cb get_gyro)
crop_width = HAL_OPTFLOW_ONBOARD_CROP_WIDTH;
crop_height = HAL_OPTFLOW_ONBOARD_CROP_HEIGHT;
top = 0;
/* make the image square by cropping in the center */
left = (HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH -
HAL_OPTFLOW_ONBOARD_OUTPUT_HEIGHT) / 2;
/* make the image square by cropping to YxY, removing the lateral edges */
left = (HAL_OPTFLOW_ONBOARD_SENSOR_WIDTH -
HAL_OPTFLOW_ONBOARD_SENSOR_HEIGHT) / 2;
_format = V4L2_PIX_FMT_NV12;
if (device_path == NULL ||