DirectionOfMotionMsgPayload

struct DirectionOfMotionMsgPayload

Optical Navigation measurement message containing the matched key points between two images.

This message is output by the optical flow module and contains the key points shared between the two image that were processed, as well as the attitudes, validity, time tags, the camera ID, and the number of points detected.

Public Members

bool valid

— Quality of measurement

uint64_t cameraID

— Camera who’s motion is in question

uint64_t timeOfDirectionEstimate

— time of the direction of motion computation

double v_C_hat[3]

— [-] Camera direction of motion

double covar_C[3 * 3]

— [-] Unvertainty in direction of motion