Revision history [back]

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

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.

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