As one of the most well-known programmer Q&A websites, Stack Overflow (i.e., SO) is serving tens of thousands of developers every day. Previous work has shown that many developers reuse the code snippets on SO when they find an answer (from SO) that functionally matches the programming problem they encounter in their development activities. To study how programmers reuse code on SO during project development, we conduct a comprehensive empirical study. First, to capture the development activities of programmers, we collect 342,148 modified code snippets in commits from 793 open-source Java projects, and these modified code can reflect the programming problems encountered during development. We also collect the code snippets from 1,355,617 posts on SO. Then, we employ CCFinder to detect the code clone between the modified code from commits and the code from SO, and further analyze the code reuse when programmer solves a programming problem during development. We count the code reuse ratios of the modified code snippets in the commits of each project in different years, the results show that the average code reuse ratio is 6.32%, and the maximum is 8.38%. The code reuse ratio in project commits has increased year by year, and the proportion of code reuse in the newly established project is higher than that of old projects. We also find that some projects reuse the code snippets from many years ago. Additionally, we find that experienced developers seem to be more likely to reuse the knowledge on SO. Moreover, we find that the code reuse ratio in bug-related commits (6.67%) is slightly higher than that of in non-bug-related commits (6.59%). Furthermore, we also find that the code reuse ratio (14.44%) in Java class files that have undergone multiple modifications is more than double the overall code reuse ratio (6.32%).