Pinhole camera model.
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List of all members.
Public Member Functions |
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| PinholeCamera (void) |
| | Constructor.
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| void | Initialize (double f, double wX, double wY, double gain) |
| | Initialize the camera physical parameters.
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| void | InitializeNoise (double sigmaXY, double sigmaI, double sigmaFS, int fSAtEnd) |
| | Initialize the camera noise model.
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| ml_matrix | Update (ml_matrix u, ml_matrix intensity, ml_matrix bUToCamera) |
| | Update the camera measurement from unit vectors.
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| ml_matrix | GetPixelOutput (void) |
| | Get the pixel intensity output.
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| ml_matrix | GetStars (void) |
| | Get the star matrix output.
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| ml_matrix | UpdateFromPosition (ml_matrix rT, ml_matrix r, ml_matrix intensity, ml_matrix q_eci_to_body, ml_matrix q_body_to_camera) |
| | Update the camera measurement from unit vectors.
|
Detailed Description
Pinhole camera model. Explicitly models star camera mueasurements with position and intensity noise parameters as well as false stars.
Member Function Documentation
| void PinholeCamera::Initialize |
( |
double |
f, |
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|
double |
wX, |
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double |
wY, |
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double |
gain |
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) |
| |
- Parameters:
-
| f | Pixel conversion factor |
| wX | Width of sensing element in X |
| wY | Width of sensing element in Y |
| gain | Camera gain |
| void PinholeCamera::InitializeNoise |
( |
double |
sigmaXY, |
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|
double |
sigmaI, |
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double |
sigmaFS, |
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int |
fSAtEnd |
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) |
| |
- Parameters:
-
| sigmaXY | Position noise 1 sigma |
| sigmaI | Intensity noise 1 sigma |
| sigmaFS | False star noise 1 sigmas |
| fSAtEnd | Flag, 1 if false stars are at the end of the measurements |
| ml_matrix PinholeCamera::Update |
( |
ml_matrix |
u, |
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ml_matrix |
intensity, |
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ml_matrix |
bUToCamera |
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) |
| |
Keeps only those vectors within the imaging chip limits. Applies the camera gain to get the measured intensity. Noise is not yet modeled. See also u_to_pix.
- Parameters:
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| u | Star unit vectors |
| intensity | Star intensity |
| bUToCamera | Rotation to imager frame |
- Returns:
- Pixels. Each column is an xy pair corresponding to a star id
| ml_matrix PinholeCamera::GetPixelOutput |
( |
void |
) |
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| ml_matrix PinholeCamera::GetStars |
( |
void |
) |
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| ml_matrix PinholeCamera::UpdateFromPosition |
( |
ml_matrix |
rT, |
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ml_matrix |
r, |
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ml_matrix |
intensity, |
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|
ml_matrix |
q_eci_to_body, |
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|
ml_matrix |
q_body_to_camera |
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) |
| |
Keeps only those vectors within the imaging chip limits. Applies the camera gain to get the measured intensity. Noise is not yet modeled. See also u_to_pix.
- Parameters:
-
| r | Position of camera in ECI |
| rT | Position of target in ECI |
| intensity | Target illumination |
| q_eci_to_body | Quaternion from eci to body |
| q_body_to_camera | Quaternion from body to camera |
- Returns:
- Pixels. Each column is an xy pair corresponding to a star id
