camera Class Reference

Uses OpenGL to create synthetic camera images. More...

#include <camera.h>

Inherits dsim_model.

Public Member Functions
	camera (dsim_model_setup *setup)
	Constructor.
virtual	~camera ()
	Destructor.
void	initialize_data ()
	Initialize outlets, parameters, inputs and outputs. More...
void	initialization_complete ()
	Finish initialization.
void	initialize_timestep ()
	Computation done prior to numerical integration.

Protected Attributes
ml_matrix	star_unit_vector
	Star unit vector.
Model Parameters
dsim_variable	bodyTocamera_dsim
	Transformation matrix from body to camera.
dsim_variable	positioncamera_dsim
	Position of the camera in the parent craft's coordinate frame.
dsim_variable	cameraNumberOfPixels_dsim
	Number of pixels in x and y directions (1x2 matrix) in the sensor.
dsim_variable	cameraFocalLength_dsim
	Lens focal length.
dsim_variable	cameraPixelSize_dsim
	x and y size in mm of each pixel (1x2 matrix)
Outlets
dsim_variable	observer_dsim
dsim_variable	positionBody_dsim
	Planet positions.
dsim_variable	velocityBody_dsim
	Planet velocities.
dsim_variable	planetIndex_dsim
	SPICE planet index.
dsim_variable	radiusBody_dsim
	Planet radius.
dsim_variable	acceleration_dsim
	Gravitational acceleration.
dsim_variable	angularRateVector_dsim
	Angular rate vector.
dsim_variable	rotationMatrixPlanet_dsim
	Body rotation matrix.
Outputs
dsim_variable	cameraFrame_dsim
Inputs
dsim_variable	parent_position_dsim
dsim_variable	parent_quaternion_dsim
	Parent craft quaternion.

Detailed Description

Uses OpenGL to create synthetic camera images.

Models a visual sensor attached to a spacecraft. The sensor has its own position expressed within the coordinate system of the parent craft as well as its own orientation expressed as a transformation matrix from the spacecraft body to the camera's orientation. This model creates a synthetic image and outputs a PGM (gray scale) camera frame.

This model generates a lot of data and can slow down a simulation considerably.

Member Function Documentation

initialize_data()

void camera::initialize_data

(

)

Initialize outlets, parameters, inputs and outputs.

Camera frame

References acceleration_dsim, angularRateVector_dsim, bodyTocamera_dsim, cameraFocalLength_dsim, cameraFrame_dsim, cameraNumberOfPixels_dsim, cameraPixelSize_dsim, observer_dsim, planetIndex_dsim, positionBody_dsim, positioncamera_dsim, radiusBody_dsim, rotationMatrixPlanet_dsim, and velocityBody_dsim.

Member Data Documentation

observer_dsim

dsim_variable camera::observer_dsim

protected

Reference center

cameraFrame_dsim

dsim_variable camera::cameraFrame_dsim

protected

Camera frame - PGM formatted image data

parent_position_dsim

dsim_variable camera::parent_position_dsim

protected

Parent craft position

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The documentation for this class was generated from the following files:

• camera.h
• camera.cc