Integer overflow

[vargac]

Using helpful functions to obtain realworld and image distances may be dangerous, because of multiplication focal length by realworld distance in cm. For example X * Fxp is getPixX. Both variables are defined 16 bits wide, Fxp = 260 in example, so X should be less than 127 - that's not much.

[vargac]

What about using int32_t datatype? @mrshu I worry I need your help about complexity, as I don't understand it, although I've read some forums/articles. (I have to admit that only superficially read - I was expecting straightforward results)