mirror of https://github.com/ArduPilot/ardupilot
AP_HAL_Linux: Flow_PX4: follow coding style
- Replace tabs with spaces - Sort headers - Fix curly braces placement - Use pragma once
This commit is contained in:
Lucas De Marchi
Andrew Tridgell
parent
0476e698af
commit
db5f49f49f
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@ -2,8 +2,8 @@
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*
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* Copyright (C) 2013 PX4 Development Team. All rights reserved.
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* Author: Petri Tanskanen <tpetri@inf.ethz.ch>
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* Lorenz Meier <lm@inf.ethz.ch>
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* Samuel Zihlmann <samuezih@ee.ethz.ch>
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* Lorenz Meier <lm@inf.ethz.ch>
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* Samuel Zihlmann <samuezih@ee.ethz.ch>
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*
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* Modified to fit the APM framework by:
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* Julien BERAUD <julien.beraud@parrot.com>
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@ -38,12 +38,13 @@
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****************************************************************************/
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
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#include <stdlib.h>
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#include <stdio.h>
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#include <stdbool.h>
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#include <math.h>
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#include "Flow_PX4.h"
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#include <math.h>
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#include <stdbool.h>
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#include <stdio.h>
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#include <stdlib.h>
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extern const AP_HAL::HAL& hal;
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using namespace Linux;
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@ -171,8 +172,7 @@ static inline uint32_t compute_subpixel(uint8_t *image1, uint8_t *image2,
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memset(acc, 0, window_size * sizeof(uint32_t));
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for (i = 0; i < window_size; i++)
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{
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for (i = 0; i < window_size; i++) {
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for (j = 0; j < window_size; j++) {
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/* the 8 s values are from following positions for each pixel (X):
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* + - + - + - +
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@ -251,15 +251,12 @@ uint8_t Flow_PX4::compute_flow(uint8_t *image1, uint8_t *image2,
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/* iterate over all patterns
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*/
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for (j = _pixlo; j < _pixhi; j += _pixstep)
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{
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for (i = _pixlo; i < _pixhi; i += _pixstep)
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{
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for (j = _pixlo; j < _pixhi; j += _pixstep) {
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for (i = _pixlo; i < _pixhi; i += _pixstep) {
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/* test pixel if it is suitable for flow tracking */
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uint32_t diff = compute_diff(image1, i, j, (uint16_t) _bytesperline,
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_search_size);
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if (diff < _bottom_flow_feature_threshold)
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{
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if (diff < _bottom_flow_feature_threshold) {
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continue;
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}
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@ -268,16 +265,13 @@ uint8_t Flow_PX4::compute_flow(uint8_t *image1, uint8_t *image2,
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int8_t sumy = 0;
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int8_t ii, jj;
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for (jj = winmin; jj <= winmax; jj++)
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{
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for (ii = winmin; ii <= winmax; ii++)
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{
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for (jj = winmin; jj <= winmax; jj++) {
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for (ii = winmin; ii <= winmax; ii++) {
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uint32_t temp_dist = compute_sad(image1, image2, i, j,
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i + ii, j + jj,
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(uint16_t) _bytesperline,
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(uint16_t)_bytesperline,
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2 * _search_size);
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if (temp_dist < dist)
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{
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if (temp_dist < dist) {
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sumx = ii;
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sumy = jj;
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dist = temp_dist;
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@ -286,9 +280,8 @@ uint8_t Flow_PX4::compute_flow(uint8_t *image1, uint8_t *image2,
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}
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/* acceptance SAD distance threshhold */
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if (dist < _bottom_flow_value_threshold)
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{
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meanflowx += (float) sumx;
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if (dist < _bottom_flow_value_threshold) {
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meanflowx += (float)sumx;
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meanflowy += (float) sumy;
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compute_subpixel(image1, image2, i, j, i + sumx, j + sumy,
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@ -296,10 +289,8 @@ uint8_t Flow_PX4::compute_flow(uint8_t *image1, uint8_t *image2,
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2 * _search_size);
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uint32_t mindist = dist; // best SAD until now
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uint8_t mindir = 8; // direction 8 for no direction
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for(uint8_t k = 0; k < 2 * _search_size; k++)
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{
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if (acc[k] < mindist)
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{
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for (uint8_t k = 0; k < 2 * _search_size; k++) {
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if (acc[k] < mindist) {
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// SAD becomes better in direction k
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mindist = acc[k];
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mindir = k;
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@ -314,8 +305,7 @@ uint8_t Flow_PX4::compute_flow(uint8_t *image1, uint8_t *image2,
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}
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/* evaluate flow calculation */
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if (meancount > _num_blocks*_num_blocks/2)
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{
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if (meancount > _num_blocks * _num_blocks / 2) {
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meanflowx /= meancount;
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meanflowy /= meancount;
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@ -323,8 +313,7 @@ uint8_t Flow_PX4::compute_flow(uint8_t *image1, uint8_t *image2,
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uint32_t meancount_x = 0;
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uint32_t meancount_y = 0;
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for (uint16_t h = 0; h < meancount; h++)
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{
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for (uint16_t h = 0; h < meancount; h++) {
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float subdirx = 0.0f;
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if (subdirs[h] == 0 || subdirs[h] == 1 || subdirs[h] == 7) {
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subdirx = 0.5f;
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@ -351,9 +340,7 @@ uint8_t Flow_PX4::compute_flow(uint8_t *image1, uint8_t *image2,
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*pixel_flow_x = histflowx;
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*pixel_flow_y = histflowy;
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}
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else
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{
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} else {
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*pixel_flow_x = 0.0f;
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*pixel_flow_y = 0.0f;
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return 0;
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@ -12,8 +12,7 @@
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef __FLOW_PX4_H__
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#define __FLOW_PX4_H__
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#pragma once
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#include "AP_HAL_Linux.h"
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@ -36,4 +35,3 @@ private:
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uint16_t _pixstep;
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uint8_t _num_blocks;
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};
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#endif
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