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optical flow sensor pipeline overhaul

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- all sources of optical flow publish sensor_optical_flow
 - sensor_optical_flow is aggregated by the sensors module, aligned with integrated gyro, and published as vehicle_optical_flow

Co-authored-by: alexklimaj <alex@arkelectron.com>
This commit is contained in:
Daniel Agar
2022-06-20 20:56:56 -04:00
co-authored by alexklimaj
parent 32544452f0
commit d5839e2dd5
49 changed files with 1415 additions and 634 deletions
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msg/vehicle_optical_flow.msg
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# Optical flow in XYZ body frame in SI units.
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample
uint32 device_id # unique device ID for the sensor that does not change between power cycles
float32[2] pixel_flow # (radians) accumulated optical flow in radians where a positive value is produced by a RH rotation about the body axis
float32[3] delta_angle # (radians) accumulated gyro radians where a positive value is produced by a RH rotation about the body axis. (NAN if unavailable)
float32 distance_m # (meters) Distance to the center of the flow field (NAN if unavailable)
uint32 integration_timespan_us # (microseconds) accumulation timespan in microseconds
uint8 quality # Average of quality of accumulated frames, 0: bad quality, 255: maximum quality
float32 max_flow_rate # (radians/s) Magnitude of maximum angular which the optical flow sensor can measure reliably
float32 min_ground_distance # (meters) Minimum distance from ground at which the optical flow sensor operates reliably
float32 max_ground_distance # (meters) Maximum distance from ground at which the optical flow sensor operates reliably