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@ -162,7 +162,6 @@ The function performs the following equations |
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* |
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Next it computes the forward DFTs of each source array: |
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.. math:: |
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\mathbf{G}_a = \mathcal{F}\{src_1\}, \; \mathbf{G}_b = \mathcal{F}\{src_2\} |
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where |
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@ -170,18 +169,15 @@ The function performs the following equations |
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* |
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It then computes the cross-power spectrum of each frequency domain array: |
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.. math:: |
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R = \frac{ \mathbf{G}_a \mathbf{G}_b^*}{|\mathbf{G}_a \mathbf{G}_b^*|} |
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* |
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Next the cross-correlation is converted back into the time domain via the inverse DFT: |
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.. math:: |
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r = \mathcal{F}^{-1}\{R\} |
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* |
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Finally, it computes the peak location and computes a 5x5 weighted centroid around the peak to achieve sub-pixel accuracy. |
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.. math:: |
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(\Delta x, \Delta y) = \texttt{weighted_centroid}\{\arg \max_{(x, y)}\{r\}\} |
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