Richard Wheatley

Did you check each step in the equation? The cos function is returning a negative value for depression_rad. Most calculators will not do that. Try checking that out before continuing.

@exfizik one thing to note is that when using python cosine, it does return negative values and you should check for that. n = cos(depression_rad) look at your example and...

SIFT and SURF are algorithms that must be paid for. I use ORB in opencv and get the same if not slightly quicker results.

Ok, now that the particulars are out of the way... https://github.com/abhinavgupta/SURF/

The comment above is false "One is in STCFG, the other is in STMINTEN. The HAL only provides access to STMINTEN, thus you cannot enable sTimer Compare Interrupts using just...

I do not believe your fix works. I believe it does the opposite. buffer_configure already handles the NULL pointers properly whereas you new function ignores the NULL handling.