VehicleOpticalFlow (повідомлення UORB)
Оптичний потік в кадрі тіла XYZ в одиницях SI.
TOPICS: vehicle_opticalflow
Fields
| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
|---|---|---|---|---|
| timestamp | uint64 | time since system start (microseconds) | ||
| timestamp_sample | uint64 | |||
| device_id | uint32 | unique device ID for the sensor that does not change between power cycles | ||
| pixel_flow | float32[2] | (radians) accumulated optical flow in radians where a positive value is produced by a RH rotation about the body axis | ||
| delta_angle | float32[3] | (radians) accumulated gyro radians where a positive value is produced by a RH rotation of the sensor about the body axis. (NAN if unavailable) | ||
| distance_m | float32 | (meters) Distance to the center of the flow field (NAN if unavailable) | ||
| integration_timespan_us | uint32 | (microseconds) accumulation timespan in microseconds | ||
| quality | uint8 | Average of quality of accumulated frames, 0: bad quality, 255: maximum quality | ||
| max_flow_rate | float32 | (radians/s) Magnitude of maximum angular which the optical flow sensor can measure reliably | ||
| min_ground_distance | float32 | (meters) Minimum distance from ground at which the optical flow sensor operates reliably | ||
| max_ground_distance | float32 | (meters) Maximum distance from ground at which the optical flow sensor operates reliably |
Source Message
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c
# Optical flow in XYZ body frame in SI units.
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample
uint32 device_id # unique device ID for the sensor that does not change between power cycles
float32[2] pixel_flow # (radians) accumulated optical flow in radians where a positive value is produced by a RH rotation about the body axis
float32[3] delta_angle # (radians) accumulated gyro radians where a positive value is produced by a RH rotation of the sensor about the body axis. (NAN if unavailable)
float32 distance_m # (meters) Distance to the center of the flow field (NAN if unavailable)
uint32 integration_timespan_us # (microseconds) accumulation timespan in microseconds
uint8 quality # Average of quality of accumulated frames, 0: bad quality, 255: maximum quality
float32 max_flow_rate # (radians/s) Magnitude of maximum angular which the optical flow sensor can measure reliably
float32 min_ground_distance # (meters) Minimum distance from ground at which the optical flow sensor operates reliably
float32 max_ground_distance # (meters) Maximum distance from ground at which the optical flow sensor operates reliably