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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>
14 lines
891 B
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14 lines
891 B
Plaintext
uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample # the timestamp of the raw data (microseconds)
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float32[2] vel_body # velocity obtained from gyro-compensated and distance-scaled optical flow raw measurements in body frame(m/s)
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float32[2] vel_ne # same as vel_body but in local frame (m/s)
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float32[2] flow_uncompensated_integral # integrated optical flow measurement (rad)
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float32[2] flow_compensated_integral # integrated optical flow measurement compensated for angular motion (rad)
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float32[3] gyro_rate # gyro measurement synchronized with flow measurements (rad/s)
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float32[3] gyro_rate_integral # gyro measurement integrated to flow rate and synchronized with flow measurements (rad)
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# TOPICS estimator_optical_flow_vel vehicle_optical_flow_vel
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