PinholeCamera Class Reference

#include <sc_pinhole_camera.h>

Public Member Functions
	PinholeCamera (void)
	Constructor.
void	Initialize (double f, double wX, double wY, double gain)
	Initialize the camera physical parameters. More...
void	InitializeNoise (double sigmaXY, double sigmaI, double sigmaFS, int fSAtEnd)
	Initialize the camera noise model. More...
ml_matrix	Update (ml_matrix u, ml_matrix intensity, ml_matrix bUToCamera)
	Update the camera measurement from unit vectors. More...
ml_matrix	GetPixelOutput (void)
	Get the pixel intensity output, (1,m). More...
ml_matrix	GetStars (void)
	Get the star matrix output, (1,m). More...
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. More...

Detailed Description

Pinhole camera model. Explicitly models star camera measurements with position and intensity noise parameters

as well as false stars.

Member Function Documentation

Initialize()

void PinholeCamera::Initialize	(	double	f,
		double	wX,
		double	wY,
		double	gain
	)

Initialize the camera physical parameters.

The units of f, wX, and wY should be consistent, i.e. mm or pixels.

Parameters

f	Scaled focal length
wX	Width of sensing element in X
wY	Width of sensing element in Y
gain	Camera gain

InitializeNoise()

void PinholeCamera::InitializeNoise	(	double	sigmaXY,
		double	sigmaI,
		double	sigmaFS,
		int	fSAtEnd
	)

Initialize the camera noise model.

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

Update()

ml_matrix PinholeCamera::Update	(	ml_matrix	u,
		ml_matrix	intensity,
		ml_matrix	bUToCamera
	)

Update the camera measurement from unit vectors.

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

u	Star unit vectors (3,n)
intensity	Star intensity (1,n)
bUToCamera	Rotation to imager frame (3,3)

Returns

Pixels, (2,m). Each column is an xy pair corresponding to a star id. The centroids are referenced to the center of the imager, i.e. from the camera boresight.

References u_to_pix().

Referenced by UpdateFromPosition().

GetPixelOutput()

ml_matrix PinholeCamera::GetPixelOutput

(

void

)

Get the pixel intensity output, (1,m).

Returns

Intensity (1,m)

GetStars()

ml_matrix PinholeCamera::GetStars

(

void

)

Get the star matrix output, (1,m).

This is the index of the stars seen from the unit vectors passed to Update().

Returns

Star IDs (1,m)

UpdateFromPosition()

ml_matrix PinholeCamera::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.

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

References Update().