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px4flow velocity calcuation

asked 2017-07-27 01:12:35 -0600

b-sriram
105 ●24 ●27 ●33

Hi,

I have a px4flow smart camera sensor, and use the px4flow_node to read the sensor output.

The topic /px4flow/optflow has a message type:

Header header

float32 ground_distance  # distance to ground in meters
int16   flow_x           # x-component of optical flow in pixels
int16   flow_y           # y-component of optical flow in pixels
float32 velocity_x       # x-component of scaled optical flow in m/s
float32 velocity_y       # y-component of scaled optical flow in m/s
uint8   quality          # quality of optical flow estimate

But when I see the output I only have values for flow_x and flow_y. I am only using it for a 2D robot so assuming I always know the ground distance, can someone please tell me how to calculate the x and y velocities using the flow_x and flow_y values?

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1 Answer

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answered 2020-06-09 15:59:01 -0600

ashwinvk94
16 ●1 ●1

updated 2020-06-11 06:15:21 -0600

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

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/6c8c...