Module: pixelLineConverter

Executive Summary

Converter that takes a image processing message and camera information and outputs a relative position to the object.

The module PDF Description contains further information on this module’s function, how to run it, as well as testing.

Message Connection Descriptions

The following table lists all the module input and output messages. The module msg connection is set by the user from python. The msg type contains a link to the message structure definition, while the description provides information on what this message is used for.

Figure 1: pixelLineConverter() Module I/O Illustration

Module I/O Messages

Msg Variable Name	Msg Type	Description
opNavOutMsg	OpNavMsgPayload	optical navigation output message
cameraConfigInMsg	CameraConfigMsgPayload	camera config input message
attInMsg	NavAttMsgPayload	attitude input message
circlesInMsg	OpNavCirclesMsgPayload	circles input message

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Functions

void SelfInit_pixelLineConverter(PixelLineConvertData *configData, int64_t moduleID)

This method transforms pixel, line, and diameter data into heading data for orbit determination or heading determination.

Parameters:

• configData – The configuration data associated with the ephemeris model

• moduleID – The module identification integer

Returns:

void

void Update_pixelLineConverter(PixelLineConvertData *configData, uint64_t callTime, int64_t moduleID)

This method reads in the camera and circle messages and extracts navigation data from them. It outputs the heading (norm and direction) to the celestial body identified in the inertial frame. It provides the heading to the most robust circle identified by the image processing algorithm.

Parameters:

• configData – The configuration data associated with the ephemeris model

• callTime – The clock time at which the function was called (nanoseconds)

• moduleID – The module identification integer

Returns:

void

void Reset_pixelLineConverter(PixelLineConvertData *configData, uint64_t callTime, int64_t moduleID)

This resets the module to original states.

Parameters:

• configData – The configuration data associated with the ephemeris model

• callTime – The clock time at which the function was called (nanoseconds)

• moduleID – The module identification integer

Returns:

void

struct PixelLineConvertData

#include <pixelLineConverter.h>

The configuration structure for the pixelLine Converter module.

Public Members

OpNavMsg_C opNavOutMsg

[-] output navigation message for relative position

CameraConfigMsg_C cameraConfigInMsg

camera config input message

NavAttMsg_C attInMsg

attitude input message

OpNavCirclesMsg_C circlesInMsg

circles input message

int32_t planetTarget

The planet targeted (None = 0, Earth = 1, Mars = 2, Jupiter = 3 are allowed)

BSKLogger *bskLogger

BSK Logging.