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Optical flow: compute velociy from corrected flow data for logging (#920)

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This is really useful when debugging optical flow data
This commit is contained in:
Mathieu Bresciani
2020-10-26 13:27:52 +01:00
committed by GitHub
parent 9126282c03
commit dd3ffc4192
4 changed files with 44 additions and 0 deletions
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EKF/estimator_interface.h
+5
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@@ -91,6 +91,11 @@ public:
virtual void getFlowInnov(float flow_innov[2]) const = 0;
virtual void getFlowInnovVar(float flow_innov_var[2]) const = 0;
virtual void getFlowInnovRatio(float &flow_innov_ratio) const = 0;
virtual Vector2f getFlowVelBody() const = 0;
virtual Vector2f getFlowVelNE() const = 0;
virtual Vector2f getFlowCompensated() const = 0;
virtual Vector2f getFlowUncompensated() const = 0;
virtual Vector3f getFlowGyro() const = 0;
virtual void getHeadingInnov(float &heading_innov) const = 0;
virtual void getHeadingInnovVar(float &heading_innov_var) const = 0;