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initial version

real point P (X,Y,Z), image plane projection p (x,y,z), focal-length f, distance-to-scene Z X = xZ / f Y = yZ / f

Divide X and Y by the flow integration time(time between frames for which optical flow was calculated) to get velocity. Based on: Line 435 : https://github.com/PX4/Flow/blob/master/src/modules/flow/main.c

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No.2 Revision

real point P (X,Y,Z), image plane projection p (x,y,z), focal-length f, distance-to-scene Z X = xZ / f Y = yZ / f

Divide X and Y by the flow integration time(time between frames for which optical flow was calculated) to get velocity. Based on: Line 435 : https://github.com/PX4/Flow/blob/master/src/modules/flow/main.con: https://github.com/PX4/Flow/blob/6c8cdb3cc04a5854a7b50e76e267e35507a0a0c4/src/modules/flow/main.c#L434-L438

real point P (X,Y,Z), image plane projection p (x,y,z), focal-length f, distance-to-scene Z X = xZ / f Y = yZ / f

Divide X and Y by the flow integration time(time between frames for which optical flow was calculated) to get velocity. Based on: https://github.com/PX4/Flow/blob/6c8cdb3cc04a5854a7b50e76e267e35507a0a0c4/src/modules/flow/main.c#L434-L438velocity.

Reference: https://github.com/PX4/Flow commit: 6c8cdb3cc04a5854a7b50e76e267e35507a0a0c4 /src/modules/flow/main.c Lines 434-438

click to hide/show revision 4
No.4 Revision

real point P (X,Y,Z), image plane projection p (x,y,z), focal-length f, distance-to-scene Z X = xZ / f Y = yZ / f

Divide X and Y by the flow integration time(time between frames for which optical flow was calculated) to get velocity.velocity. Based on: https://github.com/PX4/Flow/blob/6c8cdb3cc04a5854a7b50e76e267e35507a0a0c4/src/modules/flow/main.c#L434-L438

Reference: https://github.com/PX4/Flow commit: 6c8cdb3cc04a5854a7b50e76e267e35507a0a0c4 /src/modules/flow/main.c Lines 434-438