Module: pixelLineConverter

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.

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.

Return

void

Parameters

  • configData: The configuration data associated with the ephemeris model

  • moduleID: The module identification integer

void CrossInit_pixelLineConverter(PixelLineConvertData *configData, int64_t moduleID)

This method subscribes to the camera and circle messages

Return

void

Parameters

  • configData: The configuration data associated with the ephemeris model

  • moduleID: The module identification integer

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.

Return

void

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

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

This resets the module to original states.

Return

void

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

struct PixelLineConvertData
#include <pixelLineConverter.h>

The configuration structure for the pixelLine Converter module.

Public Members

char opNavOutMsgName[MAX_STAT_MSG_LENGTH]

[-] The name of the output navigation message for relative position

char cameraConfigMsgName[MAX_STAT_MSG_LENGTH]

The name of the camera config message.

char attInMsgName[MAX_STAT_MSG_LENGTH]

The name of the attitude message.

char circlesInMsgName[MAX_STAT_MSG_LENGTH]

The name of the circles message.

int32_t planetTarget

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

int32_t stateOutMsgID

[-] The ID associated with the outgoing message

int32_t attInMsgID

[-] The ID associated with the outgoing message

int32_t circlesInMsgID

[-] The ID associated with the incoming circle message

int32_t cameraConfigMsgID

[-] The ID associated with the incoming camera config message

BSKLogger *bskLogger

BSK Logging.