Optic-flow and velocityH
The calculation of the optic-flow assumes at the moment a yaw-pitch-roll convention. However, it is not clearly stated in the code that it is the case. Moreover, the velocity should be given with a pandas Series maintaining the convention used.
I suggest:
- Adapt optic flow so that it uses the convention
- Enforce rxyz convention
- Use homogenous transform routine to get angular velocity
- Write test for different convention