Demonstrate camera pointing. The default 10 deg FOV camera is used.

Uses echo and pause to step through different cases.

Since version 8.
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See also AutoPoint, PointCameraModel, DrawPatch, QLVLH, AddAxes, VOrbit
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Contents

%--------------------------------------------------------------------------
%   Copyright (c) 2009 Princeton Satellite Systems, Inc.
%   All rights reserved.
%--------------------------------------------------------------------------

global PSS_NO_INTERACTIVE_DEMOS

echo on

Use DrawPatch for example objects

%-----------------------------------
DrawPatch;
echo off
set(gca,'projection','perspective');
set(gca,'PlotBoxAspectRatio',[1 1 1]);
aMax = max(axis);
axis(aMax*[-1 1 -1 1 -1 1]);
view(3);
if PSS_NO_INTERACTIVE_DEMOS
  pause(1)
else
  pause
end

echo on

%% Use DrawPatch for example objects
%-----------------------------------
DrawPatch;
echo off

Point at green object from above (looking down along r)

%---------------------------------------------------------
set(gcf,'name','Pointing from above')

% Specify rECI in km and radius in m
%------------------------------------
gTarget      = [];
gTarget.rECI = [6;0;0]/1000;
gTarget.radius = 2;

% Use AutoPoint to locate and orient the camera
%-----------------------------------------------
[qCamera,rCamera,distance] = AutoPoint( 'above', [], gTarget );

% Use PointCameraModel with the default camera model to get the Matlab axes
% camera properties including "up" and view angle.
%--------------------------------------------------------------------------
[position,target,up,angle] = PointCameraModel([],rCamera,qCamera,distance);

% Set the computed camera properties on the current axis
%--------------------------------------------------------
set(gca,'cameraPosition',position);
set(gca,'cameraTarget',target);
set(gca,'cameraUpVector',up);
set(gca,'cameraViewAngle',angle);
echo off
if PSS_NO_INTERACTIVE_DEMOS
  pause(1)
else
  pause
end

% Reset axes
camlookat(gca)

echo on

%% Point at green object from above (looking down along r)
%---------------------------------------------------------
set(gcf,'name','Pointing from above')

% Specify rECI in km and radius in m
%------------------------------------
gTarget      = [];
gTarget.rECI = [6;0;0]/1000;
gTarget.radius = 2;

% Use AutoPoint to locate and orient the camera
%-----------------------------------------------
[qCamera,rCamera,distance] = AutoPoint( 'above', [], gTarget );

% Use PointCameraModel with the default camera model to get the Matlab axes 
% camera properties including "up" and view angle.
%--------------------------------------------------------------------------
[position,target,up,angle] = PointCameraModel([],rCamera,qCamera,distance);

% Set the computed camera properties on the current axis
%--------------------------------------------------------
set(gca,'cameraPosition',position);
set(gca,'cameraTarget',target);
set(gca,'cameraUpVector',up);
set(gca,'cameraViewAngle',angle);
echo off

LVLH pointing

%---------------
set(gcf,'name','Pointing in LVLH frame')
gTarget.rECI = [6;0;0]/1000;
gTarget.vECI = [0;VOrbit(6);0]/1000;
[qCamera,rCamera,distance] = AutoPoint( 'lvlh', [], gTarget );
[position,target,up,angle] = PointCameraModel([],rCamera,qCamera,distance);
set(gca,'cameraPosition',position);
set(gca,'cameraTarget',target);
set(gca,'cameraUpVector',up);
set(gca,'cameraViewAngle',angle);
% Add a set of LVLH axes to verify camera orientation
%-----------------------------------------------------
qLVLH = QLVLH(gTarget.rECI,gTarget.vECI);
hA = AddAxes( 10, [], qLVLH,  gcf );
echo off
if PSS_NO_INTERACTIVE_DEMOS
  pause(1)
else
  pause
end

% Reset axes
camlookat(gca)

echo on

%% LVLH pointing
%---------------
set(gcf,'name','Pointing in LVLH frame')
gTarget.rECI = [6;0;0]/1000;
gTarget.vECI = [0;VOrbit(6);0]/1000;
[qCamera,rCamera,distance] = AutoPoint( 'lvlh', [], gTarget );
[position,target,up,angle] = PointCameraModel([],rCamera,qCamera,distance);
set(gca,'cameraPosition',position);
set(gca,'cameraTarget',target);
set(gca,'cameraUpVector',up);
set(gca,'cameraViewAngle',angle);
% Add a set of LVLH axes to verify camera orientation
%-----------------------------------------------------
qLVLH = QLVLH(gTarget.rECI,gTarget.vECI);
hA = AddAxes( 10, [], qLVLH,  gcf );
echo off

Fixed pointing

%----------------
set(gcf,'name','Orienting a fixed camera')

% Specify the fixed location of the camera
%------------------------------------------
rCamera = 30*[1;1;1];

% Use the origin as the target location
%---------------------------------------
gTarget.rECI = [0;0;0];

% Point the camera
%------------------
[qCamera,rCamera,distance] = AutoPoint( 'fixed', [], gTarget, rCamera/1000 );
[position,target,up,angle] = PointCameraModel([],rCamera,qCamera,distance);

% Set the axes props
%--------------------
set(gca,'cameraPosition',position);
set(gca,'cameraTarget',target);
set(gca,'cameraUpVector',up);
set(gca,'cameraViewAngle',angle);
echo off
if PSS_NO_INTERACTIVE_DEMOS
  pause(1)
else
  pause
end

echo on

%% Fixed pointing
%----------------
set(gcf,'name','Orienting a fixed camera')

% Specify the fixed location of the camera
%------------------------------------------
rCamera = 30*[1;1;1];

% Use the origin as the target location
%---------------------------------------
gTarget.rECI = [0;0;0];

% Point the camera
%------------------
[qCamera,rCamera,distance] = AutoPoint( 'fixed', [], gTarget, rCamera/1000 );
[position,target,up,angle] = PointCameraModel([],rCamera,qCamera,distance);

% Set the axes props
%--------------------
set(gca,'cameraPosition',position);
set(gca,'cameraTarget',target);
set(gca,'cameraUpVector',up);
set(gca,'cameraViewAngle',angle);
echo off

Demonstrate pointing at the center of multiple targets

%--------------------------------------------------------
set(gcf,'name','Pointing at multiple targets')
camera = [];

% Add the positions and sizes of the additional bodies
%------------------------------------------------------
gTarget(2).rECI = [8;4;0]/1000;
gTarget(2).radius = 1.5;
gTarget(3).rECI = [8;-4;0]/1000;
gTarget(3).radius = 1.5;

% Point the camera
%------------------
[qCamera,rCamera,distance] = AutoPoint( 'above', [], gTarget );
[position,target,up,angle] = PointCameraModel([],rCamera,qCamera,distance);
set(gca,'cameraPosition',position);
set(gca,'cameraTarget',target);
set(gca,'cameraUpVector',up);
set(gca,'cameraViewAngle',angle);
echo off

%--------------------------------------

%% Demonstrate pointing at the center of multiple targets
%--------------------------------------------------------
set(gcf,'name','Pointing at multiple targets')
camera = [];

% Add the positions and sizes of the additional bodies
%------------------------------------------------------
gTarget(2).rECI = [8;4;0]/1000;
gTarget(2).radius = 1.5;
gTarget(3).rECI = [8;-4;0]/1000;
gTarget(3).radius = 1.5;

% Point the camera
%------------------
[qCamera,rCamera,distance] = AutoPoint( 'above', [], gTarget );
[position,target,up,angle] = PointCameraModel([],rCamera,qCamera,distance);
set(gca,'cameraPosition',position);
set(gca,'cameraTarget',target);
set(gca,'cameraUpVector',up);
set(gca,'cameraViewAngle',angle);
echo off

%--------------------------------------
% $Date: 2020-06-08 16:21:43 -0400 (Mon, 08 Jun 2020) $
% $Revision: 52690 $

Published with MATLAB® R2019a