So I decided to manually compensate errors in optical flow to local position estimate.
To do that, I need to transform flow int x, y in body frame to NED frame as shown here.
the rotation matrix _R being updated every att update as here
and by subscribing the optical flow orb message, I can get int_x and int_y and put it into
My question is, in order to transform, simply multiply them would work?
matrix::Vector3f flow_ned = flowint * _R;