Classes
union	_d_u_
	Union for converting a 64-bit floating point number from host byte order to network byte order and vice versa. More...

union	_f_u_
	Union for converting a 32-bit floating point number from host byte order to network byte order and vice versa. More...

class	Action
	Action is an interface that wraps a function that does something. More...

class	ApproximateOrbitPropagationAlgorithm
	OrbitPropagationAlgorithm is a stage that propagates an orbit over a specified time period. More...

class	Attitude
	An Attitude is an immutable object that represents the orientation of a 3D point. More...

class	CalibrationAlgorithm
	The CalibrationAlgorithm is an interface for algorithms that calibrate our orientation to the reference orientation. More...

class	CalibrationPipelineExecutor
	CalibrationPipelineExecutor is the pipeline executor for the calibration pipeline. More...

class	Camera
	A Camera is a mutable object that represents a Camera. More...

struct	Component
	Represents a connected component in an image. More...

struct	DataFile
	Represents a complete serialized data file. More...

struct	DataFileHeader
	Represents the header of a data file used in the serialization process. More...

struct	DateTime
	DateTime represents a date and time. More...

class	DistanceDeterminationAlgorithm
	The DistanceDeterminationAlgorithm class houses the Distance Determination Algorithm. More...

class	DistancePipelineExecutor
	DistancePipelineExecutor is the pipeline executor for the distance determination pipeline. More...

struct	EarthSphericalVec3
	Represents an Earth-centric Spherical Vector with time information. More...

struct	Edge
	Represents a 2D edge in an image. More...

class	EdgeDetectionAlgorithm
	The EdgeDetection Algorithm class houses the Edge Detection Algorithm. More...

class	EllipticDistanceDeterminationAlgorithm
	The DistanceDeterminationAlgorithm class houses the Distance Determination Algorithm. More...

class	EulerAngles
	An EulerAngle is a mutable Object representing Euler Angles of a 3D point. More...

class	FeatureDetectionVectorGenerationAlgorithm
	FeatureDetectionVectorGenerationAlgorithm figures out the distance vector of the satellite relative to earth by identifying features on earth. More...

struct	Image
	Represents an image. More...

class	IterativeSphericalDistanceDeterminationAlgorithm
	The IterativeSphericalDistanceDeterminationAlgorithm is a variation of the SphericalDistanceDeterminationAlgorithm algorithm in that it runs it repeatedly to use all the points given to it. More...

struct	LocationRecord
	Represents a single spatial data point with position and timestamp. More...

class	LoCEdgeDetectionAlgorithm
	The LoGEdgeDetection Algorithm class houses the Edge Detection Algorithm. More...

class	LOSTCalibrationAlgorithm
	The LostCalibrationAlgorithm class houses the calibration algorithm that uses the orientation information from LOST to calibrate the camera's local orientation with the reference orientation (i.e. More...

class	LOSTVectorGenerationAlgorithm
	The LOSTVectorGenerationAlgorithm class houses the a Vector Assembly Algorithm that calculates the position of the satellite using orientation information determined from LOST. More...

class	Mat3
	A Mat3 is a mutable object that represents a 3x3 Matrix. More...

struct	OrbitParams
	OrbitParams defines the orbital parameters of a given orbit. More...

class	OrbitPipelineExecutor
	OrbitPipelineExecutor is the pipeline executor for the orbit determination pipeline. More...

class	OrbitPropagationAlgorithm
	The OrbitPropagationAlgorithm is an algorithm that propagates an orbit over a specified time period. More...

class	Pipeline
	Pipeline is composite Stage (i.e. More...

class	PipelineExecutor
	PipelineExecutor is an interface for classes that execute complex pipelines. More...

class	Quaternion
	A Quaternion is a mutable object that represents a Quaternion. More...

class	SimpleEdgeDetectionAlgorithm
	The SimpleEdgeDetection Algorithm class houses the Edge Detection Algorithm. More...

class	SphericalDistanceDeterminationAlgorithm
	The DistanceDeterminationAlgorithm class houses the Distance Determination Algorithm. More...

class	Stage
	A Stage is a data structure that wraps a function, and taking in parameter Input and returning Output. More...

struct	Vec2
	A Vec2 is an immutable object that represents a 2D Vector. More...

class	Vec3
	A Vec3 is a mutable object that represents a 3D Vector. More...

class	VectorGenerationAlgorithm
	The VectorGenerationAlgorithm class houses the Vector Assembly Algorithm. More...

Typedefs
typedef __float128	PreciseDecimal
	Alias for very precise floating point numbers.

typedef std::vector< Vec2 >	Points
	The output for Edge Detection Algorithms (edge.hpp/cpp).

typedef Vec3	PositionVector
	The output for Vector Assembly Algorithms (vectorize.hpp).

typedef std::vector< Edge >	Edges
	A collection of Edges.

typedef std::vector< Component >	Components
	A collection of Image Pixels.

typedef std::vector< LocationRecord >	LocationRecords
	A collection of Location Records.

typedef struct OrbitParams	OrbitParams
	The output for Orbit Trajectory Calculation Algorithms.

typedef std::pair< std::function< Vec3(int)>, std::function< Vec3(int)> >	KinematicPrediction
	The output for Kinematic Profile Completion.

typedef Pipeline< std::pair< EulerAngles, EulerAngles >, Quaternion >	CalibrationPipeline
	Pipeline for Calibration.

typedef Pipeline< Image, PositionVector >	DistancePipeline
	Pipeline for Distance Determination.

typedef Pipeline< LocationRecords, LocationRecords >	OrbitPipeline
	Pipeline for Orbital Determination.

Functions
int	main (int argc, char **argv)
	This is where the program starts.

CalibrationOptions	ParseCalibrationOptions (int argc, char **argv)
	Parses the calibration options from the command line to run the calibration algorithm.

DistanceOptions	ParseDistanceOptions (int argc, char **argv)
	Parses the distance options from the command line to run the distance determination algorithm.

OrbitOptions	ParseOrbitOptions (int argc, char **argv)
	Parses the orbit options from the command line to run the orbit determination algorithm.

Quaternion	SphericalToQuaternion (decimal ra, decimal dec, decimal roll)
	Converts Euler Angles into a quaternion.

Vec3	SphericalToSpatial (const decimal ra, const decimal de)
	Converts spherical direction to a unit vector on the unit sphere.

void	SpatialToSpherical (const Vec3 &vec, decimal &ra, decimal &de)
	Converts a unit vector on the unit sphere to a spherical direction.

decimal	RadToArcSec (decimal rad)
	Calculates the approximate value for the inverse secant of an angle.

decimal	ArcSecToRad (decimal arcSec)
	Calculates an angle from an inverse secant value.

Vec2	midpoint (const Vec2 &vec1, const Vec2 &vec2)
	Finds the midpoint between two different vectors.

Vec3	midpoint (const Vec3 &vec1, const Vec3 &vec2)
	Finds the midpoint between two different vectors.

Vec3	midpoint (const Vec3 &vec1, const Vec3 &vec2, const Vec3 &vec3)
	Finds the midpoint between three different vectors.

decimal	Angle (const Vec3 &vec1, const Vec3 &vec2)
	Determines the angle between two different vectors.

decimal	AngleUnit (const Vec3 &vec1, const Vec3 &vec2)
	Determines the angle between two different vectors.

decimal	Distance (const Vec2 &v1, const Vec2 &v2)
	Determines the Distance between two vectors.

decimal	Distance (const Vec3 &v1, const Vec3 &v2)
	Determines the Distance between two vectors.

Mat3	QuaternionToDCM (const Quaternion &quat)
	Creates a Direction Cosine Matrix (DCM) off of a Quaternion.

Quaternion	DCMToQuaternion (const Mat3 &dcm)
	Creates a Quaternion based on a Direction Cosine Matrix (rotation matrix)

int64_t	SerializeLengthVec3 ()
	Computes the size, in bytes, that a Vec3 object will take up.

void	SerializeVec3 (const Vec3 &vec, unsigned char *buffer)
	Serializes a Vec3 into a buffer.

Vec3	DeserializeVec3 (const unsigned char *buffer)
	Deserializes a Vec3 from a buffer.

Quaternion	SphericalToQuaternion (EulerAngles angles)
	Converts Euler Angles into a quaternion.

constexpr decimal	RadToDeg (decimal rad)
	Converts an angle in radians to degrees.

constexpr decimal	DegToRad (decimal deg)
	Converts an angle in degrees to radians.

decimal	FovToFocalLength (decimal xFov, decimal xResolution)
	Provides the focal length of a camera for given parameters.

decimal	FocalLengthToFov (decimal focalLength, decimal xResolution, decimal pixelSize)
	Provides the FOV of a camera for given parameters.

DateTime	getUTCTime ()
	Obtains the current UTC time in unix/epoch seconds.

DateTime	getUT1Time ()
	Obtains the current UT1 time in unix/epoch seconds.

decimal	getJulianDateTime (DateTime &time)
	Obtains the current Julian date in decimal format.

decimal	getCurrentJulianDateTime ()
	Obtains the current Julian date in decimal format.

decimal	getJulianDateTime (std::time_t epochs)
	Obtains the Julian date from the given epochs in seconds.

decimal	getGreenwichMeanSiderealTime (DateTime &time)
	Obtains the Greenwich Mean Sidereal Time in decimal format.

decimal	getCurrentGreenwichMeanSiderealTime ()
	Obtians the current Greenwich Mean Sidereal Time in decimal format.

decimal	getGreenwichMeanSiderealTime (std::time_t epochs)
	Obtains the Greenwich Mean Sidereal Time in decimal format from the given epochs.

uint16_t	htons (uint16_t v)
	Converts a 16-bit integer from host byte order to network byte order.

uint16_t	ntohs (uint16_t v)
	Converts a 16-bit integer from network byte order to host byte order.

uint32_t	htonl (uint32_t v)
	Converts a 32-bit integer from host byte order to network byte order.

uint32_t	ntohl (uint32_t v)
	Converts a 32-bit integer from network byte order to host byte order.

uint64_t	htonl (uint64_t v)
	Converts a 64-bit integer from host byte order to network byte order.

uint64_t	ntohl (uint64_t v)
	Converts a 64-bit integer from network byte order to host byte order.

float	htonf (float v)
	Converts a float from network byte order to host byte order.

float	ntohf (float v)
	Converts a float from network byte order to host byte order.

double	ntohd (double v)
	Converts a double from network byte order to host byte order.

double	htond (double v)
	Converts a double from host byte order to network byte order.

decimal	htondec (decimal v)
	Converts a decimal from host byte order to network byte order.

decimal	ntohdec (decimal v)
	Converts a decimal from network byte order to host byte order.

uint32_t	calculateCRC32 (const void *data, size_t length)
	Calculates the CRC32 checksum for a given data buffer.

void	hton (DataFileHeader &header)
	Converts a DataFileHeader from host to network byte order.

void	ntoh (DataFileHeader &header)
	Converts a DataFileHeader from network to host byte order.

void	write (std::ostream &stream, const decimal &value)
	Writes a decimal value to the given output stream in network byte order.

void	read (std::istream &stream, decimal &value)
	Reads a decimal value from the given input stream.

void	write (std::ostream &stream, const uint64_t &value)
	Writes a 64-bit unsigned integer to the given output stream in network byte order.

void	read (std::istream &stream, uint64_t &value)
	Reads a 64-bit unsigned integer from the given input stream.

void	write (std::ostream &stream, const uint32_t &value)
	Writes a 32-bit unsigned integer to the given output stream in network byte order.

void	read (std::istream &stream, uint32_t &value)
	Reads a 32-bit unsigned integer from the given input stream in network byte order.

void	write (std::ostream &stream, const Quaternion &quat)
	Serializes an Quaternion to the given output stream.

void	read (std::istream &stream, Quaternion &quat)
	Reads Quaternion data from an input stream.

void	write (std::ostream &stream, const Vec3 &v)
	Serializes a Vec3 object to the given output stream.

void	read (std::istream &stream, Vec3 &v)
	Reads a Vec3 object from the given input stream.

void	write (std::ostream &stream, const LocationRecord &record)
	Serializes a LocationRecord object to the given output stream.

void	read (std::istream &stream, LocationRecord &record)
	Reads data from the input stream into a LocationRecord object.

void	serializeDataFile (const DataFile &data, std::ostream &stream)
	Serializes a DataFile object to an output stream.

DataFile	deserializeDataFile (std::istream &stream)
	Deserializes a DataFile object from an input stream.

DataFile	deserializeDataFile (std::istream &stream, const std::string &path)
	Deserializes a DataFile object from an input stream.

bool	isValidMagicNumber (const char magic[4])
	Validates the magic number in the header.

DataFileHeader	readHeader (std::istream &stream)
	Reads only the header of a DataFile from an input stream.

bool	LabelPresent (int label, int *adjacentLabels, int size)
	Checks if a label is present in the list of adjacent labels.

void	UpdateComponent (Component &component, uint64_t index, Vec2 &pixel)
	Updates the component with the given pixel.

int	NWayEquivalenceAdd (const Image &image, uint64_t index, int &L, int adjacentLabels[4], int size, std::unordered_map< int, Component > &components, std::unordered_map< int, int > &equivalencies)
	Adds a pixel to some component, creating a new component if necessary.

Components	ConnectedComponentsAlgorithm (const Image &image, std::function< bool(uint64_t, const Image &)> Criteria)
	Computes the groups of components within the image.

EarthSphericalVec3	GetEarthCoordinates (Vec3 &celestialVector, decimal gmst)
	Obtains a celestial vector within Earth's Rotating Frame, in longitude/lattitude/altitude.

unsigned char	strtouc (const std::string &str)
	Converts a string to an unsigned char.

size_t	strtosize (const std::string &str)

decimal	strtodecimal (const std::string &str)
	Converts a string to a decimal.

EulerAngles	strtoea (const std::string &str)
	Converts a string to euler angles.

bool	strtobool (const std::string &str)
	Converts the string to a bool.

Image	strtoimage (const std::string &str)
	Converts a string to an image.

DataFile	strtodf (const std::string &str)

LocationRecords	strtolr (const std::string &str)
	Converts a string to a vector of location records.

std::unique_ptr< CalibrationPipelineExecutor >	CreateCalibrationPipelineExecutor (CalibrationOptions &&options)
	Creates a CalibrationPipelineExecutor.

std::unique_ptr< DistancePipelineExecutor >	CreateDistancePipelineExecutor (DistanceOptions &&options)
	Creates a DistancePipelineExecutor.

std::unique_ptr< CalibrationAlgorithm >	ProvideCalibrationAlgorithm (CalibrationOptions &&options)
	Provides a CalibrationAlgorithm.

std::unique_ptr< EdgeDetectionAlgorithm >	ProvideEdgeDetectionAlgorithm (DistanceOptions &&options)
	Provides an EdgeDetectionAlgorithm.

std::unique_ptr< DistanceDeterminationAlgorithm >	ProvideDistanceDeterminationAlgorithm (DistanceOptions &&options)
	Provides a DistanceDeterminationAlgorithm.

std::unique_ptr< VectorGenerationAlgorithm >	ProvideVectorGenerationAlgorithm (DistanceOptions &&options)
	Provides a VectorGenerationAlgorithm.

Variables
const char	kNoDefaultArgument = 0
	For macro processing.

const Mat3	kIdentityMat3
	3x3 identity matrix

Typedef Documentation

◆ CalibrationPipeline

typedef Pipeline<std::pair<EulerAngles, EulerAngles>, Quaternion> found::CalibrationPipeline

Pipeline for Calibration.

◆ Components

typedef std::vector<Component> found::Components

A collection of Image Pixels.

◆ DistancePipeline

typedef Pipeline<Image, PositionVector> found::DistancePipeline

Pipeline for Distance Determination.

◆ Edges

typedef std::vector<Edge> found::Edges

A collection of Edges.

◆ KinematicPrediction

typedef std::pair<std::function<Vec3(int)>,std::function<Vec3(int)> > found::KinematicPrediction

The output for Kinematic Profile Completion.

Currently set to two functions that will tell you the position and velocity of the satellite at any given time

◆ LocationRecords

typedef std::vector<LocationRecord> found::LocationRecords

A collection of Location Records.

◆ OrbitParams

typedef struct OrbitParams found::OrbitParams

The output for Orbit Trajectory Calculation Algorithms.

Currently set to a struct that holds the orbit equations.

◆ OrbitPipeline

typedef Pipeline<LocationRecords, LocationRecords> found::OrbitPipeline

Pipeline for Orbital Determination.

◆ Points

typedef std::vector<Vec2> found::Points

The output for Edge Detection Algorithms (edge.hpp/cpp).

Currently set to a vector of 2D points on the image, according to image coordinate systems

◆ PositionVector

typedef Vec3 found::PositionVector

The output for Vector Assembly Algorithms (vectorize.hpp).

Currently set to a 3D Vector that represents the satellite's position relative to Earth's coordinate system.

◆ PreciseDecimal

typedef __float128 found::PreciseDecimal

Alias for very precise floating point numbers.

Function Documentation

◆ Angle()

decimal found::Angle	(	const Vec3 &	vec1,
		const Vec3 &	vec2
	)

Determines the angle between two different vectors.

Parameters

vec1	The first vector
vec2	The second vector

Returns: The angle, in radians, between vec1 and vec2

◆ AngleUnit()

decimal found::AngleUnit	(	const Vec3 &	vec1,
		const Vec3 &	vec2
	)

Determines the angle between two different vectors.

Parameters

vec1	The first vector
vec2	The second vector

Returns: The angle, in radians, between vec1 and vec2

Precondition: The magnitude of vec1 and vec2 are 1

Warning: vec1 and vec2 must have a magnitude of 1

◆ ArcSecToRad()

decimal found::ArcSecToRad ( decimal arcSec )

Calculates an angle from an inverse secant value.

Parameters

arcSec The arcsecant value

Returns: A possible angle value, in radians, corresponding to the arcsecant value arcSec

◆ calculateCRC32()

uint32_t found::calculateCRC32	(	const void *	data,
		size_t	length
	)

Calculates the CRC32 checksum for a given data buffer.

Parameters

data	Pointer to the data buffer.
length	The size of the data buffer in bytes.

Returns: The calculated CRC32 checksum.

◆ ConnectedComponentsAlgorithm()

Components found::ConnectedComponentsAlgorithm	(	const Image &	image,
		std::function< bool(uint64_t, const Image &)>	Criteria
	)

Computes the groups of components within the image.

Parameters

image	The image that defines the possible pixels
Criteria	A function that accepts a pixel index and the image and returns true iff the pixel is part of the component

Returns: Components The components that are part of the image

Note: This function iterates through each pixel in the image, but treats the image as 2D, not 3D. You must program Criteria correctly to handle cases where there are multiple channels (i.e. This algorithm doesn't know how many channels are involved).

◆ CreateCalibrationPipelineExecutor()

std::unique_ptr< CalibrationPipelineExecutor > found::CreateCalibrationPipelineExecutor ( CalibrationOptions && options )

inline

Creates a CalibrationPipelineExecutor.

Parameters

options The options to create the pipeline executor from

Returns: A pointer to a CalibrationPipelineExecutor

◆ CreateDistancePipelineExecutor()

std::unique_ptr< DistancePipelineExecutor > found::CreateDistancePipelineExecutor ( DistanceOptions && options )

inline

Creates a DistancePipelineExecutor.

Parameters

options The options to create the pipeline executor from

Returns: A pointer to a DistancePipelineExecutor

◆ DCMToQuaternion()

Quaternion found::DCMToQuaternion ( const Mat3 & dcm )

Creates a Quaternion based on a Direction Cosine Matrix (rotation matrix)

Parameters

dcm	The matrix holding the direction cosines

Returns: A Quaternion that expresses the rotation defined in dcm

◆ DegToRad()

constexpr decimal found::DegToRad ( decimal deg )

constexpr

Converts an angle in degrees to radians.

Parameters

deg	The degrees of the angle

Returns: The radians of the angle

◆ deserializeDataFile() [1/2]

DataFile found::deserializeDataFile ( std::istream & stream )

Deserializes a DataFile object from an input stream.

Parameters

stream The input stream to read the serialized data from.

Returns: The deserialized DataFile object.

◆ deserializeDataFile() [2/2]

DataFile found::deserializeDataFile	(	std::istream &	stream,
		const std::string &	path
	)

Deserializes a DataFile object from an input stream.

Parameters

stream	The input stream to read the serialized data from.
path	The path to associate the resulting struct with

Returns: The deserialized DataFile object, with the given path.

◆ DeserializeVec3()

Vec3 found::DeserializeVec3 ( const unsigned char * buffer )

Deserializes a Vec3 from a buffer.

Parameters

buffer The buffer to obtain the vector from. This parameter should point to the location of the Vec3 within the buffer.

Returns: A Vec3 representing the Vec3 stored in the buffer

Precondition: buffer points to a valid location storing a Vec3

Warning: Returns nonsense if buffer does not point to a valid location that stores a Vec3

◆ Distance() [1/2]

decimal found::Distance	(	const Vec2 &	v1,
		const Vec2 &	v2
	)

Determines the Distance between two vectors.

Parameters

v1	The first vector
v2	The second vector

Returns: The distance between v1 and v2

◆ Distance() [2/2]

decimal found::Distance	(	const Vec3 &	v1,
		const Vec3 &	v2
	)

Determines the Distance between two vectors.

Parameters

v1	The first vector
v2	The second vector

Returns: The distance between v1 and v2

◆ FocalLengthToFov()

decimal found::FocalLengthToFov	(	decimal	focalLength,
		decimal	xResolution,
		decimal	pixelSize
	)

Provides the FOV of a camera for given parameters.

Parameters

focalLength	The focal length
xResolution	The horizontal resolution
pixelSize	The size of a pixel in a Camera

Returns: The FOV of a camera with a given focalLength, xResolution, and pixelSize

◆ FovToFocalLength()

decimal found::FovToFocalLength	(	decimal	xFov,
		decimal	xResolution
	)

Provides the focal length of a camera for given parameters.

Parameters

xFov	The horizontal field of view
xResolution	The horizontal resolution

Returns: The focal length of a camera with a given xFov and xResolution

◆ getCurrentGreenwichMeanSiderealTime()

decimal found::getCurrentGreenwichMeanSiderealTime ( )

Obtians the current Greenwich Mean Sidereal Time in decimal format.

Returns: The current Greenwich Mean Sidereal Time in degrees

◆ getCurrentJulianDateTime()

decimal found::getCurrentJulianDateTime ( )

Obtains the current Julian date in decimal format.

Returns: The current Julian date

◆ GetEarthCoordinates()

EarthSphericalVec3 found::GetEarthCoordinates	(	Vec3 &	celestialVector,
		decimal	gmst
	)

Obtains a celestial vector within Earth's Rotating Frame, in longitude/lattitude/altitude.

Parameters

celestialVector	The celestial vector to convert
gmst	The current GMST value, in degrees

Returns: An EarthSphericalVec3 describing celestialVector within Earth's Rotating Frame at time GMST

Precondition: celestialVector must be in the frame of the celestial coordinate system NOT the camera coordinate system

◆ getGreenwichMeanSiderealTime() [1/2]

decimal found::getGreenwichMeanSiderealTime ( DateTime & time )

Obtains the Greenwich Mean Sidereal Time in decimal format.

Parameters

time	The DateTime to convert

Returns: The Greenwich Mean Sidereal Time corresponding to time, in degrees

Precondition: The time must be in UT1

◆ getGreenwichMeanSiderealTime() [2/2]

decimal found::getGreenwichMeanSiderealTime ( std::time_t epochs )

Obtains the Greenwich Mean Sidereal Time in decimal format from the given epochs.

Parameters

epochs The epochs in seconds

Returns: The Greenwich Mean Sidereal Time corresponding to the given epochs in degrees

◆ getJulianDateTime() [1/2]

decimal found::getJulianDateTime ( DateTime & time )

Obtains the current Julian date in decimal format.

Parameters

time	The DateTime to convert

Returns: The Julian date corresponding to time

◆ getJulianDateTime() [2/2]

decimal found::getJulianDateTime ( std::time_t epochs )

Obtains the Julian date from the given epochs in seconds.

Parameters

epochs The epochs in seconds

Returns: The Julian date corresponding to the given epochs

◆ getUT1Time()

DateTime found::getUT1Time ( )

Obtains the current UT1 time in unix/epoch seconds.

Returns: The current UT1 time

◆ getUTCTime()

DateTime found::getUTCTime ( )

Obtains the current UTC time in unix/epoch seconds.

Returns: The current UTC Time

◆ hton()

void found::hton ( DataFileHeader & header )

Converts a DataFileHeader from host to network byte order.

Parameters

header The header to convert.

Postcondition: header's fields are in network byte order.

◆ htond()

double found::htond ( double v )

inline

Converts a double from host byte order to network byte order.

Parameters

v	The double value to convert.

Returns: The converted double value in network byte order.

◆ htondec()

decimal found::htondec ( decimal v )

inline

Converts a decimal from host byte order to network byte order.

Parameters

v	The decimal value to convert.

Returns: The converted decimal value in network byte order.

◆ htonf()

float found::htonf ( float v )

inline

Converts a float from network byte order to host byte order.

Parameters

v	The float value to convert.

Returns: The converted float value in host byte order.

◆ htonl() [1/2]

uint32_t found::htonl ( uint32_t v )

inline

Converts a 32-bit integer from host byte order to network byte order.

Parameters

v	The integer to convert

Returns: The integer in network byte order.

◆ htonl() [2/2]

uint64_t found::htonl ( uint64_t v )

inline

Converts a 64-bit integer from host byte order to network byte order.

Parameters

v	The integer to convert

Returns: The integer in network byte order.

◆ htons()

uint16_t found::htons ( uint16_t v )

inline

Converts a 16-bit integer from host byte order to network byte order.

Parameters

v	The integer to convert

Returns: The integer in network byte order.

◆ isValidMagicNumber()

bool found::isValidMagicNumber ( const char magic[4] )

Validates the magic number in the header.

Parameters

magic The magic number to validate

Returns: true iff magic == "FOUN"

◆ LabelPresent()

bool found::LabelPresent	(	int	label,
		int *	adjacentLabels,
		int	size
	)

inline

Checks if a label is present in the list of adjacent labels.

Parameters

label	The label to check
adjacentLabels	The list of adjacent labels
size	The size of the list

Returns: true iff label is in adjacentLabels

◆ main()

int found::main	(	int	argc,
		char **	argv
	)

This is where the program starts.

Parameters

argc	The number of arguments passed into the command line
argv	The arguments passed into the command line

Returns: An integer indicating success (0) iff the program executes successfully

Note: The method itself uses command line arguments to generate an Options object that represents all the algorithms we want to run and their parameters

◆ midpoint() [1/3]

Vec2 found::midpoint	(	const Vec2 &	vec1,
		const Vec2 &	vec2
	)

Finds the midpoint between two different vectors.

Parameters

vec1	The first vector
vec2	The second vector

Returns: The midpoint vector

◆ midpoint() [2/3]

Vec3 found::midpoint	(	const Vec3 &	vec1,
		const Vec3 &	vec2
	)

Finds the midpoint between two different vectors.

Parameters

vec1	The first vector
vec2	The second vector

Returns: The midpoint vector

◆ midpoint() [3/3]

Vec3 found::midpoint	(	const Vec3 &	vec1,
		const Vec3 &	vec2,
		const Vec3 &	vec3
	)

Finds the midpoint between three different vectors.

Parameters

vec1	The first vector
vec2	The second vector
vec3	The third vector

Returns: The midpoint vector

◆ ntoh()

void found::ntoh ( DataFileHeader & header )

Converts a DataFileHeader from network to host byte order.

Parameters

header The header to convert.

Postcondition: header's fields are in host byte order.

◆ ntohd()

double found::ntohd ( double v )

inline

Converts a double from network byte order to host byte order.

Parameters

v	The double value to convert.

Returns: The converted double value in host byte order.

◆ ntohdec()

decimal found::ntohdec ( decimal v )

inline

Converts a decimal from network byte order to host byte order.

Parameters

v	The decimal value to convert.

Returns: The converted decimal value in host byte order.

◆ ntohf()

float found::ntohf ( float v )

inline

Converts a float from network byte order to host byte order.

Parameters

v	The float value to convert.

Returns: The converted float value in host byte order.

◆ ntohl() [1/2]

uint32_t found::ntohl ( uint32_t v )

inline

Converts a 32-bit integer from network byte order to host byte order.

Parameters

v	The integer to convert

Returns: The integer in host byte order.

◆ ntohl() [2/2]

uint64_t found::ntohl ( uint64_t v )

inline

Converts a 64-bit integer from network byte order to host byte order.

Parameters

v	The integer to convert

Returns: The integer in host byte order.

◆ ntohs()

uint16_t found::ntohs ( uint16_t v )

inline

Converts a 16-bit integer from network byte order to host byte order.

Parameters

v	The integer to convert

Returns: The integer in host byte order.

◆ NWayEquivalenceAdd()

int found::NWayEquivalenceAdd	(	const Image &	image,
		uint64_t	index,
		int &	L,
		int	adjacentLabels[4],
		int	size,
		std::unordered_map< int, Component > &	components,
		std::unordered_map< int, int > &	equivalencies
	)

inline

Adds a pixel to some component, creating a new component if necessary.

Parameters

image	The image to which the pixel belongs
index	The index of the pixel
L	The current label
adjacentLabels	The labels of the adjacent components
size	The number of adjacent labels
components	The components that are part of the image
equivalencies	The labels that are equivalent to each other

Returns: The label of the component point that was added

Updates components with the new pixel as appropriate

◆ ParseCalibrationOptions()

CalibrationOptions found::ParseCalibrationOptions	(	int	argc,
		char **	argv
	)

Parses the calibration options from the command line to run the calibration algorithm.

Parameters

argc	The number of command-line arguments
argv	The command line arguments

Returns: CalibrationOptions The options for the calibration algorithm as extracted on the command line

◆ ParseDistanceOptions()

DistanceOptions found::ParseDistanceOptions	(	int	argc,
		char **	argv
	)

Parses the distance options from the command line to run the distance determination algorithm.

Parameters

argc	The number of command-line arguments
argv	The command line arguments

Returns: DistanceOptions The options for the distance determination algorithm as extracted on the command line

◆ ParseOrbitOptions()

OrbitOptions found::ParseOrbitOptions	(	int	argc,
		char **	argv
	)

Parses the orbit options from the command line to run the orbit determination algorithm.

Parameters

argc	The number of command-line arguments
argv	The command line arguments

Returns: OrbitOptions The options for the orbit determination algorithm as extracted from the command line

◆ ProvideCalibrationAlgorithm()

std::unique_ptr< CalibrationAlgorithm > found::ProvideCalibrationAlgorithm ( CalibrationOptions && options )

Provides a CalibrationAlgorithm.

Parameters

options The options to derive the calibration algorithm from

Returns: A pointer to the CalibrationAlgorithm

◆ ProvideDistanceDeterminationAlgorithm()

std::unique_ptr< DistanceDeterminationAlgorithm > found::ProvideDistanceDeterminationAlgorithm ( DistanceOptions && options )

Provides a DistanceDeterminationAlgorithm.

Parameters

options The options to derive the distance determination algorithm from

Returns: std::unique_ptr<DistanceDeterminationAlgorithm> The distance determination algorithm

◆ ProvideEdgeDetectionAlgorithm()

std::unique_ptr< EdgeDetectionAlgorithm > found::ProvideEdgeDetectionAlgorithm ( DistanceOptions && options )

Provides an EdgeDetectionAlgorithm.

Parameters

options The options to derive the edge detection algorithm from

Returns: std::unique_ptr<EdgeDetectionAlgorithm> The edge detection algorithm

◆ ProvideVectorGenerationAlgorithm()

std::unique_ptr< VectorGenerationAlgorithm > found::ProvideVectorGenerationAlgorithm ( DistanceOptions && options )

Provides a VectorGenerationAlgorithm.

Parameters

options The options to derive the vector generation algorithm from

Returns: std::unique_ptr<VectorGenerationAlgorithm> The vector generation algorithm

◆ QuaternionToDCM()

Mat3 found::QuaternionToDCM ( const Quaternion & quat )

Creates a Direction Cosine Matrix (DCM) off of a Quaternion.

Parameters

quat	The quaternion to base the DCM off of

Returns: A Matrix holding the direction cosines of a particular attitude (orientation)

Note: A DCM is also a rotation matrix. If B is a DCM, multiplying B by Vector v will result in vector u where u is v rotated to the angles that the direction cosines hold.

◆ RadToArcSec()

decimal found::RadToArcSec ( decimal rad )

Calculates the approximate value for the inverse secant of an angle.

Parameters

rad	The angle, in radians

Returns: The arcsecant of the angle

Precondition: rad is in radians

Warning: rad must be in radians

◆ RadToDeg()

constexpr decimal found::RadToDeg ( decimal rad )

constexpr

Converts an angle in radians to degrees.

Parameters

rad	The rad of the angle

Returns: The degrees of the angle

◆ read() [1/6]

void found::read	(	std::istream &	stream,
		decimal &	value
	)

inline

Reads a decimal value from the given input stream.

Parameters

stream	The stream to read from
value	The value to write into

Postcondition: value is now the decimal value that is at the position where stream is, in host byte order

◆ read() [2/6]

void found::read	(	std::istream &	stream,
		LocationRecord &	record
	)

inline

Reads data from the input stream into a LocationRecord object.

Parameters

stream	The stream to read from
record	The LocationRecord to write into

Postcondition: record has the values that stream held

◆ read() [3/6]

void found::read	(	std::istream &	stream,
		Quaternion &	quat
	)

inline

Reads Quaternion data from an input stream.

Parameters

stream	The stream to read from
quat	The angles to write into

Postcondition: quat has the values that stream held

◆ read() [4/6]

void found::read	(	std::istream &	stream,
		uint32_t &	value
	)

inline

Reads a 32-bit unsigned integer from the given input stream in network byte order.

Parameters

stream	The stream to read from
value	The value to write into

Postcondition: value is now the integer value that is at the position where stream is, in host byte order

◆ read() [5/6]

void found::read	(	std::istream &	stream,
		uint64_t &	value
	)

inline

Reads a 64-bit unsigned integer from the given input stream.

Parameters

stream	The stream to read from
value	The value to write into

Postcondition: value is now the integer value that is at the position where stream is, in host byte order

◆ read() [6/6]

void found::read	(	std::istream &	stream,
		Vec3 &	v
	)

inline

Reads a Vec3 object from the given input stream.

Parameters

stream	The stream to read from
v	The Vec3 to write into

Postcondition: v has the values that stream held

◆ readHeader()

DataFileHeader found::readHeader ( std::istream & stream )

Reads only the header of a DataFile from an input stream.

Parameters

stream The input stream to read the header from.

Returns: The DataFileHeader object containing the header information.

◆ serializeDataFile()

void found::serializeDataFile	(	const DataFile &	data,
		std::ostream &	stream
	)

Serializes a DataFile object to an output stream.

Parameters

data	The DataFile object to serialize.
stream	The output stream to write the serialized data to.

Precondition: The number of positions in the header must match the number of positions in the entry.

◆ SerializeLengthVec3()

int64_t found::SerializeLengthVec3 ( )

Computes the size, in bytes, that a Vec3 object will take up.

Returns: The number of bytes that a Vec3 occupies

◆ SerializeVec3()

void found::SerializeVec3	(	const Vec3 &	vec,
		unsigned char *	buffer
	)

Serializes a Vec3 into a buffer.

Parameters

vec	The vector to serialize.
buffer	The buffer to insert the vector into

Postcondition: The parameter buffer will hold vec after the operation of this function.

Note: A buffer is a very long character array that holds information that the user defines. Serialization of data means inputting certain data into a buffer.

◆ SpatialToSpherical()

void found::SpatialToSpherical	(	const Vec3 &	vec,
		decimal &	ra,
		decimal &	de
	)

Converts a unit vector on the unit sphere to a spherical direction.

Parameters

vec	The vector to convert from
ra	The right ascension that will represent the right ascension of vec
de	The declination that will represent the declination of vec

Postcondition: This function's output are the parameters ra and de, and those parameters are modified after this function runs.

◆ SphericalToQuaternion() [1/2]

Quaternion found::SphericalToQuaternion	(	decimal	ra,
		decimal	dec,
		decimal	roll
	)

Converts Euler Angles into a quaternion.

Parameters

ra	The right ascension of the Euler Angles
dec	The declination of the Euler Angles
roll	The roll of the Euler Angles

Returns: A Quaternion representing this collection of Euler Angles

Note: Returned Quaternion will reorient the coordinate axes so that the x-axis points at the given right ascension and declination, then roll the coordinate axes counterclockwise (i.e., the stars will appear to rotate clockwise). This is an "improper" z-y'-x' Euler rotation.; Rotating a vector with this quaternion is equivalent to a forwards rotation (rotation into the absolute frame)

◆ SphericalToQuaternion() [2/2]

Quaternion found::SphericalToQuaternion ( EulerAngles angles )

inline

Converts Euler Angles into a quaternion.

Parameters

angles The euler angles to convert

Returns: A Quaternion representing this collection of Euler Angles

Note: Returned Quaternion will reorient the coordinate axes so that the x-axis points at the given right ascension and declination, then roll the coordinate axes counterclockwise (i.e., the stars will appear to rotate clockwise). This is an "improper" z-y'-x' Euler rotation.

◆ SphericalToSpatial()

Vec3 found::SphericalToSpatial	(	const decimal	ra,
		const decimal	de
	)

Converts spherical direction to a unit vector on the unit sphere.

Parameters

ra	The right ascension of the direction in question
de	The declination of the direction in question

Returns: A 3D unit vector that represents the vector on the unit sphere corresponding to this direction

◆ strtobool()

bool found::strtobool ( const std::string & str )

inline

Converts the string to a bool.

Parameters

str	The string to convert

Returns: true iff the string represents a true value

◆ strtodecimal()

decimal found::strtodecimal ( const std::string & str )

inline

Converts a string to a decimal.

Parameters

str	The string to convert

Returns: The decimal numeber this string represents

Precondition: The str must actually represent a decimal

◆ strtodf()

DataFile found::strtodf ( const std::string & str )

inline

◆ strtoea()

EulerAngles found::strtoea ( const std::string & str )

inline

Converts a string to euler angles.

Parameters

str	The string to convert

Returns: An EulerAngle corresponding to the string, if the str is valid

Precondition: The string must have 3 decimal values seperated by commas or spaces

◆ strtoimage()

Image found::strtoimage ( const std::string & str )

inline

Converts a string to an image.

Parameters

str	The string to convert

Returns: The image that the string represents

Note: This function uses stb_image.h to load the image

Exceptions

std::runtime_error if the image cannot be loaded

◆ strtolr()

LocationRecords found::strtolr ( const std::string & str )

inline

Converts a string to a vector of location records.

Parameters

str	The string to convert

Returns: The vector of location records that the string represents

Precondition: str must refer to a file, either the Data File, or a space delinated file with the following format on each line: Timestamp(int) PositionX(decimal) PositionY(decimal) PositionZ(decimal)

◆ strtosize()

size_t found::strtosize ( const std::string & str )

inline

◆ strtouc()

unsigned char found::strtouc ( const std::string & str )

inline

Converts a string to an unsigned char.

Parameters

str	The string to convert

Returns: The unsigned char the string represents

Precondition: str represents a number between 0 and 255

◆ UpdateComponent()

void found::UpdateComponent	(	Component &	component,
		uint64_t	index,
		Vec2 &	pixel
	)

inline

Updates the component with the given pixel.

Parameters

component	The component to update
index	The index to add
pixel	The pixel to add

Precondition: Must be called in order of increasing index

◆ write() [1/6]

void found::write	(	std::ostream &	stream,
		const decimal &	value
	)

inline

Writes a decimal value to the given output stream in network byte order.

Parameters

stream	The stream to write into
value	The value to read from

Postcondition: stream has value written into it, in network byte order

◆ write() [2/6]

void found::write	(	std::ostream &	stream,
		const LocationRecord &	record
	)

inline

Serializes a LocationRecord object to the given output stream.

Parameters

stream	The stream to read from
record	The record to write into

Postcondition: record has the values that stream held

◆ write() [3/6]

void found::write	(	std::ostream &	stream,
		const Quaternion &	quat
	)

inline

Serializes an Quaternion to the given output stream.

Parameters

stream	The stream to write into
quat	The angles to read from

Postcondition: stream has all fields of quat written into it, each in network byte order.

◆ write() [4/6]

void found::write	(	std::ostream &	stream,
		const uint32_t &	value
	)

inline

Writes a 32-bit unsigned integer to the given output stream in network byte order.

Parameters

stream	The stream to write into
value	The value to read from

Postcondition: stream has value written into it, in network byte order

◆ write() [5/6]

void found::write	(	std::ostream &	stream,
		const uint64_t &	value
	)

inline

Writes a 64-bit unsigned integer to the given output stream in network byte order.

Parameters

stream	The stream to write into
value	The value to read from

Postcondition: stream has value written into it, in network byte order

◆ write() [6/6]

void found::write	(	std::ostream &	stream,
		const Vec3 &	v
	)

inline

Serializes a Vec3 object to the given output stream.

Parameters

stream	The stream to write into
v	The Vec3 to read from

Postcondition: stream has all fields of v written into it, each in network byte order.

Variable Documentation

◆ kIdentityMat3

const Mat3 found::kIdentityMat3

Initial value:

= {1,0,0,
                            0,1,0,
                            0,0,1}

3x3 identity matrix

◆ kNoDefaultArgument

const char found::kNoDefaultArgument = 0

For macro processing.

Classes

Typedefs

Functions

Variables

Typedef Documentation

◆ CalibrationPipeline

◆ Components

◆ DistancePipeline

◆ Edges

◆ KinematicPrediction

◆ LocationRecords

◆ OrbitParams

◆ OrbitPipeline

◆ Points

◆ PositionVector

◆ PreciseDecimal

Function Documentation

◆ Angle()

◆ AngleUnit()

◆ ArcSecToRad()

◆ calculateCRC32()

◆ ConnectedComponentsAlgorithm()

◆ CreateCalibrationPipelineExecutor()

◆ CreateDistancePipelineExecutor()

◆ DCMToQuaternion()

◆ DegToRad()

◆ deserializeDataFile() [1/2]

◆ deserializeDataFile() [2/2]

◆ DeserializeVec3()

◆ Distance() [1/2]

◆ Distance() [2/2]

◆ FocalLengthToFov()

◆ FovToFocalLength()

◆ getCurrentGreenwichMeanSiderealTime()

◆ getCurrentJulianDateTime()

◆ GetEarthCoordinates()

◆ getGreenwichMeanSiderealTime() [1/2]

◆ getGreenwichMeanSiderealTime() [2/2]

◆ getJulianDateTime() [1/2]

◆ getJulianDateTime() [2/2]

◆ getUT1Time()

◆ getUTCTime()

◆ hton()

◆ htond()

◆ htondec()

◆ htonf()

◆ htonl() [1/2]

◆ htonl() [2/2]

◆ htons()

◆ isValidMagicNumber()

◆ LabelPresent()

◆ main()

◆ midpoint() [1/3]

◆ midpoint() [2/3]

◆ midpoint() [3/3]

◆ ntoh()

◆ ntohd()

◆ ntohdec()

◆ ntohf()

◆ ntohl() [1/2]

◆ ntohl() [2/2]

◆ ntohs()

◆ NWayEquivalenceAdd()

◆ ParseCalibrationOptions()

◆ ParseDistanceOptions()

◆ ParseOrbitOptions()

◆ ProvideCalibrationAlgorithm()

◆ ProvideDistanceDeterminationAlgorithm()

◆ ProvideEdgeDetectionAlgorithm()

◆ ProvideVectorGenerationAlgorithm()

◆ QuaternionToDCM()

◆ RadToArcSec()

◆ RadToDeg()

◆ read() [1/6]

◆ read() [2/6]

◆ read() [3/6]

◆ read() [4/6]

◆ read() [5/6]

◆ read() [6/6]

◆ readHeader()