Closed tuofeichen closed 8 years ago
@tuofeichen IntegratedX is integrated (accumulated) optical flow rate around body X axis (similar to a gyroscope). And yes, this is raw data.
Hi @mhkabir, Sorry so what's the unit of it? Is that a m/s or anything like that ? cuz my understanding is flow rate raw data is something like a pixel/s or something?
Thank you so much!
Best Francis
oh wait I think I got it, this is the radian .... duhh... no wonder I'm confused.
Thanks!
Radians yes. See the i2c integral frame on the PX4Flow page.
pixhawk.org/modules/px4flow
Hey guys, I was a little confused by this message:
~px4flow/raw/optical_flow_rad (mavros_msgs/OpticalFlowRad)
Specifically, is the integratedx the position estimate? or is it the still the velocity estimate? I ran the px4flow_node here http://wiki.ros.org/px4flow_node and it seems to yield reasonable result. However, when I tried to capture and plot the `~px4flow/raw/optical_flow_rad', I can't quite make sense out of the integreatedx and integratedy measurement either way (as position or as velocity).
Also, even though the topic name is quite self-explanatory, I just want to make sure this is the raw pose estimate from the flow sensor ONLY right? not fused with any IMU data or any other velocity/position sources.
Thanks for the clarification!
Best Francis