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Add an amplitude limiting filter for the variable qual #78

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Add an amplitude limiting filter for the variable qual #78

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6 changes: 5 additions & 1 deletion src/modules/flow/flow.c
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Original file line number Diff line number Diff line change
Expand Up @@ -404,6 +404,8 @@ uint8_t compute_flow(uint8_t *image1, uint8_t *image2, float x_rate, float y_rat
const uint16_t hist_size = 2*(winmax-winmin+1)+1;

/* variables */
uint8_t qualValue=255;
uint8_t qualThreshold=15;
uint16_t pixLo = SEARCH_SIZE + 1;
uint16_t pixHi = FRAME_SIZE - (SEARCH_SIZE + 1) - TILE_SIZE;
uint16_t pixStep = (pixHi - pixLo) / NUM_BLOCKS + 1;
Expand Down Expand Up @@ -744,6 +746,8 @@ uint8_t compute_flow(uint8_t *image1, uint8_t *image2, float x_rate, float y_rat

/* calc quality */
uint8_t qual = (uint8_t)(meancount * 255 / (NUM_BLOCKS*NUM_BLOCKS));

if (qual-qualValue > qualThreshold || qualValue-qual > qualThreshold){
qualValue=qual;
}
return qual;
}