LOST starting point. More...

Classes
class	AttitudeEstimationAlgorithm
	An attitude estimation algorithm estimates the orientation of the camera based on identified stars. More...

class	DavenportQAlgorithm
	A slow but reliable attitude estimation algorithm. More...

class	TriadAlgorithm
	A fast attitude estimator which only takes into account information from two stars. More...

class	QuestAlgorithm
	A faster and just as accurate attitude estimator as the Davenport Q algorithm. More...

struct	Vec2
	A two dimensional vector with decimaling point components. More...

class	Vec3
	Three dimensional vector with decimaling point components. More...

class	Mat3
	3x3 vector with decimaling point components More...

class	EulerAngles
	A "human-readable" way to represent a 3d rotation or orientation. More...

class	Quaternion
	A quaternion is a common way to represent a 3d rotation. More...

class	Attitude
	The attitude (orientation) of a spacecraft. More...

class	Camera
	A full description of a camera. Enough information to reconstruct the camera matrix and then some. More...

struct	CentroidParams

struct	IWCoGParams

class	CentroidAlgorithm
	An algorithm that detects the (x,y) coordinates of bright points in an image, called "centroids". More...

class	DummyCentroidAlgorithm
	A centroid algorithm for debugging that returns random centroids. More...

class	CenterOfGravityAlgorithm
	A simple, fast, and pretty decent centroid algorithm. More...

class	IterativeWeightedCenterOfGravityAlgorithm
	A more complicated centroid algorithm which doesn't perform much better than CenterOfGravityAlgorithm. More...

struct	KVectorPair

class	KVectorIndex
	A data structure enabling constant-time range queries into fixed numerical data. More...

class	PairDistanceKVectorDatabase
	A database storing distances between pairs of stars. More...

class	MultiDatabase

class	MultiDatabaseEntry

class	GeneratedStar
	A star used in simulated image generation. Contains extra data about how to simulate the star. More...

class	CentroidComparison
	The result of comparing actual and expected centroids Used for debugging and benchmarking. More...

class	UserSpecifiedOutputStream
	An output stream which might be a file or stdout. More...

class	Image
	An 8-bit grayscale 2d image. More...

class	PipelineOptions
	The command line options passed when running a pipeline. More...

class	PipelineInput
	Represents the input and expected outputs of a pipeline run. More...

class	GeneratedPipelineInput
	A pipeline input which is generated (fake image). More...

class	PngPipelineInput
	A pipeline input created by reading a PNG from a file on disk. More...

struct	PipelineOutput
	The result of running a pipeline. More...

struct	StarIdComparison
	The result of comparing an actual star identification with the true star idenification, used for testing and benchmarking. More...

class	Pipeline
	A set of algorithms that describes all or part of the star-tracking "pipeline". More...

class	DatabaseOptions
	Commannd line options when using the `database` command. More...

class	SerializeContext

class	DeserializeContext

class	IRUnidentifiedCentroid
	unidentified centroid used in IdentifyRemainingStarsPairDistance The "angles" through here are "triangular angles". More...

class	PairDistanceInvolvingIterator
	Given a list of star pairs, finds all those pairs which involve a certain star. More...

class	StarIdAlgorithm
	A star idenification algorithm. More...

class	DummyStarIdAlgorithm
	A star-id algorithm that returns random results. For debugging. More...

class	GeometricVotingStarIdAlgorithm
	A star-id algorithm based on assigning votes for each centroid-catalog pair then choosing the highest voted catalog stars. More...

class	PyramidStarIdAlgorithm
	The "de facto" star-id algorithm used in many real-world missions. More...

class	CatalogStar
	A star from the Bright Star Catalog. More...

class	Star
	A "centroid" detected in an image. More...

class	StarIdentifier
	Records that a certain Star (detected in the image) corresponds to a certain CatalogStar. More...

Typedefs
typedef std::vector< MultiDatabaseEntry >	MultiDatabaseDescriptor

typedef CentroidAlgorithm (	CentroidAlgorithmFactory) ()

typedef StarIdAlgorithm (	StarIdAlgorithmFactory) ()

typedef AttitudeEstimationAlgorithm (	AttitudeEstimationAlgorithmFactory) ()

typedef PipelineInputList(*	PipelineInputFactory) ()

typedef void(*	PipelineComparator) (std::ostream &os, const PipelineInputList &, const std::vector< PipelineOutput > &, const PipelineOptions &)

typedef std::vector< std::unique_ptr< PipelineInput > >	PipelineInputList

typedef std::vector< CatalogStar >	Catalog

typedef std::vector< Star >	Stars

typedef std::vector< StarIdentifier >	StarIdentifiers

Functions
decimal	QuestCharPoly (decimal x, decimal a, decimal b, decimal c, decimal d, decimal s)
	Characteristic polynomial of the quest K-matrix. More...

decimal	QuestCharPolyPrime (decimal x, decimal a, decimal b, decimal c)
	Derivitive of the characteristic polynomial of the quest K-matrix. More...

decimal	QuestEigenvalueEstimator (decimal guess, decimal a, decimal b, decimal c, decimal d, decimal s)
	Approximates roots of a real function using the Newton-Raphson algorithm. More...

Quaternion	SphericalToQuaternion (decimal ra, decimal dec, decimal roll)
	Return a quaternion that 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). More...

Vec3	SphericalToSpatial (decimal ra, decimal de)
	Convert from right ascension & declination to a 3d point on the unit sphere. More...

void	SpatialToSpherical (const Vec3 &vec, decimal ra, decimal de)
	Convert from a 3d point on the unit sphere to right ascension & declination. More...

decimal	RadToDeg (decimal rad)

decimal	DegToRad (decimal deg)

decimal	RadToArcSec (decimal rad)

decimal	ArcSecToRad (decimal arcSec)

decimal	DecimalModulo (decimal x, decimal mod)
	Given a decimal, find it "modulo" another decimal, in the true mathematical sense (not remainder). More...

Mat3	QuaternionToDCM (const Quaternion &quat)
	Convert a quaternion to a rotation matrix (Direction Cosine Matrix) More...

Quaternion	DCMToQuaternion (const Mat3 &dcm)
	Convert a rotation matrix (Direction Cosine Matrix) to a quaternion representing the same rotation. More...

void	SerializeVec3 (SerializeContext *ser, const Vec3 &vec)
	Serialize a Vec3 to buffer. Takes up space according to SerializeLengthVec3. More...

Vec3	DeserializeVec3 (DeserializeContext *des)

decimal	Angle (const Vec3 &vec1, const Vec3 &vec2)
	Calculate the inner angle, in radians, between two vectors. More...

decimal	AngleUnit (const Vec3 &vec1, const Vec3 &vec2)
	Calculate the inner angle, in radians, between two /unit/ vectors. More...

decimal	Distance (const Vec2 &, const Vec2 &)

decimal	Distance (const Vec3 &, const Vec3 &)

decimal	FovToFocalLength (decimal xFov, decimal xResolution)

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

int	BadThreshold (unsigned char *image, int imageWidth, int imageHeight)

int	OtsusThreshold (unsigned char *image, int imageWidth, int imageHeight)

int	BasicThreshold (unsigned char *image, int imageWidth, int imageHeight)

int	BasicThresholdOnePass (unsigned char *image, int imageWidth, int imageHeight)

void	CogHelper (CentroidParams p, long i, unsigned char image, int imageWidth, int imageHeight)

void	IWCoGHelper (IWCoGParams p, long i, unsigned char image, int imageWidth, int imageHeight, std::vector< int > *starIndices)

bool	isFlagSet (uint32_t dbFlags, uint32_t flag)

bool	CompareKVectorPairs (const KVectorPair &p1, const KVectorPair &p2)

void	SerializeKVectorIndex (SerializeContext *ser, const std::vector< decimal > &values, decimal min, decimal max, long numBins)
	K-vector index layout. More...

std::vector< KVectorPair >	CatalogToPairDistances (const Catalog &catalog, decimal minDistance, decimal maxDistance)
	pair K-vector database layout. More...

void	SerializePairDistanceKVector (SerializeContext *ser, const Catalog &catalog, decimal minDistance, decimal maxDistance, long numBins)
	Serialize a pair-distance KVector into buffer. More...

decimal	Clamp (decimal num, decimal low, decimal high)
	Return the value in the range [low,high] which is closest to num. More...

void	SerializeMultiDatabase (SerializeContext *ser, const MultiDatabaseDescriptor &dbs, uint32_t flags)

std::vector< CatalogStar >	BscParse (std::string tsvPath)
	Parse the bright star catalog from the TSV file on disk. More...

const Catalog &	CatalogRead ()
	Read and parse the full catalog from disk. If called multiple times, will re-use the first result. More...

unsigned char *	SurfaceToGrayscaleImage (cairo_surface_t *cairoSurface)
	Convert a colored Cairo image surface into a row-major array of grayscale pixels. More...

cairo_surface_t *	GrayscaleImageToSurface (const unsigned char *image, const int width, const int height)

void	SurfacePlot (std::string description, cairo_surface_t cairoSurface, const Stars &stars, const StarIdentifiers starIds, const Catalog catalog, const Attitude attitude, double red, double green, double blue, double alpha, bool rawStarIndexes=false)
	Plot information about an image onto the image using Cairo. More...

SerializeContext	serFromDbValues (const DatabaseOptions &values)

MultiDatabaseDescriptor	GenerateDatabases (const Catalog &, const DatabaseOptions &values)
	Appropriately create descriptors for all requested databases according to command-line options. More...

std::ostream &	operator<< (std::ostream &os, const Camera &camera)
	Print information about the camera in machine and human-readable form. More...

decimal	FocalLengthFromOptions (const PipelineOptions &values, int xResolution)
	Calculate the focal length, in pixels, based on the given command line options. More...

PipelineInputList	GetPngPipelineInput (const PipelineOptions &values)
	Create a PngPipelineInput using command line options. More...

PipelineInputList	GetGeneratedPipelineInput (const PipelineOptions &values)
	Create a GeneratedPipelineInput based on the command line options in `values` More...

PipelineInputList	GetPipelineInput (const PipelineOptions &values)
	Come up with a list of pipeline inputs based on command line options. More...

Pipeline	SetPipeline (const PipelineOptions &values)
	Create a pipeline from command line options. More...

CentroidComparison	CentroidsCompare (decimal threshold, const Stars &expected, const Stars &actual)
	Compare expected and actual centroids. More...

CentroidComparison	CentroidComparisonsCombine (std::vector< CentroidComparison > comparisons)

StarIdComparison	StarIdsCompare (const StarIdentifiers &expected, const StarIdentifiers &actual, const Catalog &expectedCatalog, const Catalog &actualCatalog, decimal centroidThreshold, const Stars &expectedStars, const Stars &inputStars)
	Compare expected and actual star identifications. More...

void	PipelineComparatorPlotCentroidIndices (std::ostream &os, const PipelineInputList &expected, const std::vector< PipelineOutput > &actual, const PipelineOptions &)
	Plot an annotated image where centroids are annotated with their centroid index. More...

void	PipelineComparison (const PipelineInputList &expected, const std::vector< PipelineOutput > &actual, const PipelineOptions &values)
	Print or otherwise analyze the results of (perhaps multiple) runs of a star tracking pipeline. More...

void	InspectCatalog ()

bool	atobool (const char *cstr)
	Convert string to boolean. More...

template<typename T >
void	SwapEndianness (unsigned char *buffer)
	Unconditionally swap the endianness of a value (uses sizeof T). More...

template<typename T >
void	SwapEndiannessIfNecessary (unsigned char buffer, SerializeContext ser)
	Swap the endianness of a value if necessary. More...

template<>
void	SwapEndiannessIfNecessary< decimal > (unsigned char buffer, SerializeContext ser)

template<typename T >
void	DeserializePadding (DeserializeContext *des)
	Move the cursor forward past any padding that would appear before a value of type T. More...

template<typename T >
T	DeserializePrimitive (DeserializeContext *des)

template<typename T >
const T *	DeserializeArray (DeserializeContext *des, long arrLength)
	return an array of items as a pointer. Will point into the buffer (mmap style). More...

template<typename T >
void	SerializePadding (SerializeContext *ser)

template<typename T >
void	SerializePrimitive (SerializeContext *ser, const T &val)

std::vector< int16_t >	IdentifyThirdStar (const PairDistanceKVectorDatabase &db, const Catalog &catalog, int16_t catalogIndex1, int16_t catalogIndex2, decimal distance1, decimal distance2, decimal tolerance)
	Given two already-identified centroids, and the distance from each to an as-yet unidentified third centroid, return a list of candidate catalog stars that could be the third centroid. More...

int	IdentifyRemainingStarsPairDistance (StarIdentifiers *identifiers, const Stars &stars, const PairDistanceKVectorDatabase &db, const Catalog &catalog, const Camera &camera, decimal tolerance)
	Given some identified stars, attempt to identify the rest. More...

std::vector< int16_t >	ConsumeInvolvingIterator (PairDistanceInvolvingIterator it)

std::unordered_multimap< int16_t, int16_t >	PairDistanceQueryToMap (const int16_t pairs, const int16_t end)
	Given the result of a pair-distance kvector query, build a hashmultimap of stars to other stars that appeared with it in the query. More...

std::vector< std::vector< IRUnidentifiedCentroid * >::iterator >	FindUnidentifiedCentroidsInRange (std::vector< IRUnidentifiedCentroid * > *centroids, const Star &star, const Camera &camera, decimal minDistance, decimal maxDistance)
	Return all the unidentified centroids within the requested distance bounds from `star` More...

void	AddToAllUnidentifiedCentroids (const StarIdentifier &starId, const Stars &stars, std::vector< IRUnidentifiedCentroid * > aboveThresholdCentroids, std::vector< IRUnidentifiedCentroid > *belowThresholdCentroids, decimal minDistance, decimal maxDistance, decimal angleFrom90Threshold, const Camera &camera)
	Given a list of unidentified centroids not yet at the soft threshold, and a list of unidentified centroids already below the soft threshold, appropriately add the given centroid to all the unidentified centroids still above the threshold, and perhaps move them to the below threshold list. More...

IRUnidentifiedCentroid *	SelectNextUnidentifiedCentroid (std::vector< IRUnidentifiedCentroid * > aboveThresholdCentroids, std::vector< IRUnidentifiedCentroid > *belowThresholdCentroids)

bool	CatalogStarMagnitudeCompare (const CatalogStar &a, const CatalogStar &b)

Catalog	NarrowCatalog (const Catalog &, int maxMagnitude, int maxStars, decimal minSeparation)
	Remove unwanted stars from an unfiltered catalog. More...

Catalog::const_iterator	FindNamedStar (const Catalog &catalog, int name)
	Return a pointer to the star with the given name, or NULL if not found. More...

void	SerializeCatalogStar (SerializeContext *ser, const CatalogStar &catalogStar, bool inclMagnitude, bool inclName)
	Serialize a CatalogStar into a byte buffer. More...

CatalogStar	DeserializeCatalogStar (DeserializeContext *des, bool inclMagnitude, bool inclName)
	Deserialize a catalog star. More...

void	SerializeCatalog (SerializeContext *ser, const Catalog &catalog, bool inclMagnitude, bool inclName)
	Serialize the catalog to `buffer`. More...

Catalog	DeserializeCatalog (DeserializeContext des, bool inclMagnitudeReturn, bool *inclNameReturn)
	Deserialize a catalog. More...

decimal	MagToBrightness (int magnitude)
	returns some relative brightness measure, which is proportional to the total number of photons received from a star. More...

Variables
const Mat3	kIdentityMat3
	3x3 identity matrix More...

decimal	iWCoGMinChange = DECIMAL(0.0002)

const int32_t	kCatalogMagicValue = 0xF9A283BC

const int	kMaxBrightness = 255

const char	kNoDefaultArgument = 0

const decimal	kAngleFrom90SoftThreshold = DECIMAL_M_PI_4

Detailed Description

LOST starting point.

Helpers to serialize and deserialize arbitrary data types to disk.

Reads in CLI arguments/flags and starts the appropriate pipelines

The serialization and deserialization helpers here assume that (a) integers and decimal point numbers are stored in the same format on the source and target systems except for endianness, and (b) the target system requires no greater than n-byte alignment for n-byte values (eg, an int32_t only needs 4-byte alignment, not 8-byte), and (c) the database itself will be aligned at a multiple of the largest size of any value stored within (because we only align values relative to the start of the database, so everything breaks if the database itself is misaligned).

Generally, the "bulk" of any database will not be explicitly deserialized into a data structure in memory, but instead will just effectively memory-mapped, by just storing a pointer to a certain offset into the database. The serialization functions in this file can still be used to create such a "bulk" section, but deserialization must be handled manually.

Typedef Documentation

◆ AttitudeEstimationAlgorithmFactory

typedef AttitudeEstimationAlgorithm *(* lost::AttitudeEstimationAlgorithmFactory)()

Definition at line 270 of file io.cpp.

◆ Catalog

typedef std::vector<CatalogStar> lost::Catalog

Definition at line 100 of file star-utils.hpp.

◆ CentroidAlgorithmFactory

typedef CentroidAlgorithm*(* lost::CentroidAlgorithmFactory) ()

Definition at line 268 of file io.cpp.

◆ MultiDatabaseDescriptor

typedef std::vector<MultiDatabaseEntry> lost::MultiDatabaseDescriptor

Definition at line 123 of file databases.hpp.

◆ PipelineComparator

typedef void(* lost::PipelineComparator) (std::ostream &os, const PipelineInputList &, const std::vector< PipelineOutput > &, const PipelineOptions &)

Definition at line 1214 of file io.cpp.

◆ PipelineInputFactory

typedef PipelineInputList(* lost::PipelineInputFactory) ()

Definition at line 805 of file io.cpp.

◆ PipelineInputList

typedef std::vector<std::unique_ptr<PipelineInput> > lost::PipelineInputList

Definition at line 162 of file io.hpp.

◆ StarIdAlgorithmFactory

typedef StarIdAlgorithm *(* lost::StarIdAlgorithmFactory)()

Definition at line 269 of file io.cpp.

◆ StarIdentifiers

typedef std::vector<StarIdentifier> lost::StarIdentifiers

Definition at line 102 of file star-utils.hpp.

◆ Stars

typedef std::vector<Star> lost::Stars

Definition at line 101 of file star-utils.hpp.

Function Documentation

◆ AddToAllUnidentifiedCentroids()

void lost::AddToAllUnidentifiedCentroids	(	const StarIdentifier &	starId,
		const Stars &	stars,
		std::vector< IRUnidentifiedCentroid * > *	aboveThresholdCentroids,
		std::vector< IRUnidentifiedCentroid * > *	belowThresholdCentroids,
		decimal	minDistance,
		decimal	maxDistance,
		decimal	angleFrom90Threshold,
		const Camera &	camera
	)

Given a list of unidentified centroids not yet at the soft threshold, and a list of unidentified centroids already below the soft threshold, appropriately add the given centroid to all the unidentified centroids still above the threshold, and perhaps move them to the below threshold list.

Parameters

angleFrom90Threshold Once an IRUnidentifiedCentroid's best angle from 90 goes below this threshold

Definition at line 350 of file star-id.cpp.

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◆ Angle()

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

Calculate the inner angle, in radians, between two vectors.

angle between two vectors, using dot product and magnitude division

Definition at line 470 of file attitude-utils.cpp.

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◆ AngleUnit()

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

Calculate the inner angle, in radians, between two /unit/ vectors.

angle between two vectors, /assuming/ that they are already unit length

Slightly faster than Angle() @warn If the vectors are not already unit vectors, will return the wrong result!

Definition at line 479 of file attitude-utils.cpp.

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◆ ArcSecToRad()

decimal lost::ArcSecToRad ( decimal arcSec )

Definition at line 164 of file attitude-utils.cpp.

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◆ atobool()

bool lost::atobool ( const char * cstr )

Convert string to boolean.

Definition at line 107 of file main.cpp.

◆ BadThreshold()

int lost::BadThreshold	(	unsigned char *	image,
		int	imageWidth,
		int	imageHeight
	)

Definition at line 31 of file centroiders.cpp.

◆ BasicThreshold()

int lost::BasicThreshold	(	unsigned char *	image,
		int	imageWidth,
		int	imageHeight
	)

Definition at line 81 of file centroiders.cpp.

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◆ BasicThresholdOnePass()

int lost::BasicThresholdOnePass	(	unsigned char *	image,
		int	imageWidth,
		int	imageHeight
	)

Definition at line 97 of file centroiders.cpp.

◆ BscParse()

std::vector<CatalogStar> lost::BscParse ( std::string tsvPath )

Parse the bright star catalog from the TSV file on disk.

Definition at line 58 of file io.cpp.

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◆ CatalogRead()

const Catalog & lost::CatalogRead ( )

Read and parse the full catalog from disk. If called multiple times, will re-use the first result.

Definition at line 99 of file io.cpp.

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◆ CatalogStarMagnitudeCompare()

bool lost::CatalogStarMagnitudeCompare	(	const CatalogStar &	a,
		const CatalogStar &	b
	)

Definition at line 13 of file star-utils.cpp.

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◆ CatalogToPairDistances()

std::vector<KVectorPair> lost::CatalogToPairDistances	(	const Catalog &	catalog,
		decimal	minDistance,
		decimal	maxDistance
	)

pair K-vector database layout.

The kvector appears before the bulk pair data because it contains the number of pairs, which is necessary to read the bulk pair data.

| size (bytes)             | name         | description                                                 |
|--------------------------+--------------+-------------------------------------------------------------|
| sizeof kvectorIndex      | kVectorIndex | Serialized KVector index                                    |
| 2*sizeof(int16)*numPairs | pairs        | Bulk pair data                                              |

Definition at line 175 of file databases.cpp.

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◆ CentroidComparisonsCombine()

CentroidComparison lost::CentroidComparisonsCombine ( std::vector< CentroidComparison > comparisons )

Definition at line 1114 of file io.cpp.

◆ CentroidsCompare()

CentroidComparison lost::CentroidsCompare	(	decimal	threshold,
		const Stars &	expected,
		const Stars &	actual
	)

Compare expected and actual centroids.

Useful for debugging and benchmarking.

Parameters

threshold The maximum number of pixels apart two centroids can be to be considered the same.

Definition at line 1088 of file io.cpp.

◆ Clamp()

decimal lost::Clamp	(	decimal	num,
		decimal	low,
		decimal	high
	)

Return the value in the range [low,high] which is closest to num.

Definition at line 228 of file databases.cpp.

◆ CogHelper()

void lost::CogHelper	(	CentroidParams *	p,
		long	i,
		unsigned char *	image,
		int	imageWidth,
		int	imageHeight
	)

Definition at line 126 of file centroiders.cpp.

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◆ CompareKVectorPairs()

bool lost::CompareKVectorPairs	(	const KVectorPair &	p1,
		const KVectorPair &	p2
	)

Definition at line 29 of file databases.cpp.

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◆ ConsumeInvolvingIterator()

std::vector<int16_t> lost::ConsumeInvolvingIterator ( PairDistanceInvolvingIterator it )

Definition at line 244 of file star-id.cpp.

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◆ DCMToQuaternion()

Quaternion lost::DCMToQuaternion ( const Mat3 & dcm )

Convert a rotation matrix (Direction Cosine Matrix) to a quaternion representing the same rotation.

Definition at line 367 of file attitude-utils.cpp.

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◆ DecimalModulo()

decimal lost::DecimalModulo	(	decimal	x,
		decimal	mod
	)

Given a decimal, find it "modulo" another decimal, in the true mathematical sense (not remainder).

Always returns something in [0,mod) Eg -0.8 mod 0.6 = 0.4

Definition at line 168 of file attitude-utils.cpp.

◆ DegToRad()

decimal lost::DegToRad ( decimal deg )

Definition at line 156 of file attitude-utils.cpp.

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◆ DeserializeArray()

template<typename T >

const T* lost::DeserializeArray	(	DeserializeContext *	des,
		long	arrLength
	)

return an array of items as a pointer. Will point into the buffer (mmap style).

Definition at line 105 of file serialize-helpers.hpp.

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◆ DeserializeCatalog()

Catalog lost::DeserializeCatalog	(	DeserializeContext *	des,
		bool *	inclMagnitudeReturn,
		bool *	inclNameReturn
	)

Deserialize a catalog.

Parameters

[out] inclMagnitudeReturn,inclNameReturn Will store whether inclMagnitude and inclNameReturn were set in the corresponding SerializeCatalog() call.

Definition at line 123 of file star-utils.cpp.

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◆ DeserializeCatalogStar()

CatalogStar lost::DeserializeCatalogStar	(	DeserializeContext *	des,
		bool	inclMagnitude,
		bool	inclName
	)

Deserialize a catalog star.

@warn The inclMagnitude and inclName parameters must be the same as passed to SerializeCatalogStar()

See also: SerializeCatalogStar

Definition at line 86 of file star-utils.cpp.

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◆ DeserializePadding()

template<typename T >

void lost::DeserializePadding ( DeserializeContext * des )

Move the cursor forward past any padding that would appear before a value of type T.

Definition at line 91 of file serialize-helpers.hpp.

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◆ DeserializePrimitive()

template<typename T >

T lost::DeserializePrimitive ( DeserializeContext * des )

Definition at line 96 of file serialize-helpers.hpp.

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◆ DeserializeVec3()

Vec3 lost::DeserializeVec3 ( DeserializeContext * des )

Definition at line 460 of file attitude-utils.cpp.

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◆ Distance() [1/2]

decimal lost::Distance	(	const Vec2 &	,
		const Vec2 &
	)

◆ Distance() [2/2]

decimal lost::Distance	(	const Vec3 &	,
		const Vec3 &
	)

◆ FindNamedStar()

Catalog::const_iterator lost::FindNamedStar	(	const Catalog &	catalog,
		int	name
	)

Return a pointer to the star with the given name, or NULL if not found.

Definition at line 54 of file star-utils.cpp.

◆ FindUnidentifiedCentroidsInRange()

std::vector<std::vector<IRUnidentifiedCentroid *>::iterator> lost::FindUnidentifiedCentroidsInRange	(	std::vector< IRUnidentifiedCentroid * > *	centroids,
		const Star &	star,
		const Camera &	camera,
		decimal	minDistance,
		decimal	maxDistance
	)

Return all the unidentified centroids within the requested distance bounds from star

The returned vector has pointers into the vector passed as an argument. Thus, it's important not to modify the centroids argument after calling.

Definition at line 299 of file star-id.cpp.

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◆ FocalLengthFromOptions()

decimal lost::FocalLengthFromOptions	(	const PipelineOptions &	values,
		int	xResolution
	)

Calculate the focal length, in pixels, based on the given command line options.

This function exists because there are two ways to specify how "zoomed-in" the camera is. One way is using just FOV, which is useful when generating false images. Another is a combination of pixel size and focal length, which is useful for physical cameras.

Definition at line 319 of file io.cpp.

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◆ FocalLengthToFov()

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

Definition at line 62 of file camera.cpp.

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◆ FovToFocalLength()

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

Definition at line 58 of file camera.cpp.

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◆ GenerateDatabases()

MultiDatabaseDescriptor lost::GenerateDatabases	(	const Catalog &	,
		const DatabaseOptions &	values
	)

Appropriately create descriptors for all requested databases according to command-line options.

See also: SerializeMultiDatabase

Definition at line 280 of file io.cpp.

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◆ GetGeneratedPipelineInput()

PipelineInputList lost::GetGeneratedPipelineInput ( const PipelineOptions & values )

Create a GeneratedPipelineInput based on the command line options in values

Definition at line 734 of file io.cpp.

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◆ GetPipelineInput()

PipelineInputList lost::GetPipelineInput ( const PipelineOptions & values )

Come up with a list of pipeline inputs based on command line options.

Definition at line 808 of file io.cpp.

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◆ GetPngPipelineInput()

PipelineInputList lost::GetPngPipelineInput ( const PipelineOptions & values )

Create a PngPipelineInput using command line options.

Definition at line 379 of file io.cpp.

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◆ GrayscaleImageToSurface()

cairo_surface_t * lost::GrayscaleImageToSurface	(	const unsigned char *	image,
		const int	width,
		const int	height
	)

Definition at line 156 of file io.cpp.

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◆ IdentifyRemainingStarsPairDistance()

int lost::IdentifyRemainingStarsPairDistance	(	StarIdentifiers *	identifiers,
		const Stars &	stars,
		const PairDistanceKVectorDatabase &	db,
		const Catalog &	catalog,
		const Camera &	camera,
		decimal	tolerance
	)

Given some identified stars, attempt to identify the rest.

Requires a pair distance database to be present. Iterates through the unidentified centroids in an intelligent order, identifying them one by one.

Definition at line 461 of file star-id.cpp.

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◆ IdentifyThirdStar()

std::vector< int16_t > lost::IdentifyThirdStar	(	const PairDistanceKVectorDatabase &	db,
		const Catalog &	catalog,
		int16_t	catalogIndex1,
		int16_t	catalogIndex2,
		decimal	distance1,
		decimal	distance2,
		decimal	tolerance
	)

Given two already-identified centroids, and the distance from each to an as-yet unidentified third centroid, return a list of candidate catalog stars that could be the third centroid.

The order in which the two centroids are passed in /does/ matter wrt spectral-ness. If the first supplied catalog star is a, second is b, and the unidentified is c, then (a crossproduct b) dot c will be positive for all returned c. Intuitively, if the triangle is fairly small on the surface of the sphere, then viewed from the origin, the vertices a, b, and c should be clockwise (then, the cross product of a and b will point mostly towards c, and a little outwards, so that dot product with c captures that positive outward part).

Definition at line 384 of file star-id.cpp.

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◆ InspectCatalog()

void lost::InspectCatalog ( )

◆ isFlagSet()

bool lost::isFlagSet	(	uint32_t	dbFlags,
		uint32_t	flag
	)

inline

Definition at line 19 of file databases.cpp.

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◆ IWCoGHelper()

void lost::IWCoGHelper	(	IWCoGParams *	p,
		long	i,
		unsigned char *	image,
		int	imageWidth,
		int	imageHeight,
		std::vector< int > *	starIndices
	)

Definition at line 214 of file centroiders.cpp.

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◆ MagToBrightness()

decimal lost::MagToBrightness ( int magnitude )

returns some relative brightness measure, which is proportional to the total number of photons received from a star.

As always, the magnitude is actually 100* the usual magnitude

Definition at line 147 of file star-utils.cpp.

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◆ NarrowCatalog()

Catalog lost::NarrowCatalog	(	const Catalog &	,
		int	maxMagnitude,
		int	maxStars,
		decimal	minSeparation
	)

Remove unwanted stars from an unfiltered catalog.

TODO: Don't necessarily remove both stars when they're within minSeparation. Instead, if the brightnesses are different enough, just keep the brightest one!

Parameters

maxMagnitude	Should be 100*(magnitude), just like CatalogStar::magnitude. The narrowed catalog will only contain stars at least as bright as that (i.e., lower magnitude). Pass something like 9999 to not filter based on magnitude.
maxStars	No more than maxStars many stars will be in the narrowed catalog (prefers brightest). Pass something like 99999 to not filter maxStars.
minDistance	Any star which is within minDistance of another star is removed from the catalog. Pass something like -1 to not filter based on minDistance. TODO: In the future, some provision may be made so that instead of being removed, these stars get a special distinguishing mark, so that star-id algorithms can reason about them instead of thinking they are false stars, but no such provision is made yet.

Definition at line 17 of file star-utils.cpp.

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◆ operator<<()

std::ostream & lost::operator<<	(	std::ostream &	os,
		const Camera &	camera
	)

Print information about the camera in machine and human-readable form.

Definition at line 304 of file io.cpp.

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◆ OtsusThreshold()

int lost::OtsusThreshold	(	unsigned char *	image,
		int	imageWidth,
		int	imageHeight
	)

Definition at line 41 of file centroiders.cpp.

◆ PairDistanceQueryToMap()

std::unordered_multimap<int16_t, int16_t> lost::PairDistanceQueryToMap	(	const int16_t *	pairs,
		const int16_t *	end
	)

Given the result of a pair-distance kvector query, build a hashmultimap of stars to other stars that appeared with it in the query.

The resulting map is "symmetrical" in the sense that if a star B is in the map for star A, then star A is also in the map for star B.

Definition at line 259 of file star-id.cpp.

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◆ PipelineComparatorPlotCentroidIndices()

void lost::PipelineComparatorPlotCentroidIndices	(	std::ostream &	os,
		const PipelineInputList &	expected,
		const std::vector< PipelineOutput > &	actual,
		const PipelineOptions &
	)

Plot an annotated image where centroids are annotated with their centroid index.

For debugging. Use whatever stars were input into the star-id algo (so either actual centroids, or inputstars)

Definition at line 1411 of file io.cpp.

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◆ PipelineComparison()

void lost::PipelineComparison	(	const PipelineInputList &	expected,
		const std::vector< PipelineOutput > &	actual,
		const PipelineOptions &	values
	)

Print or otherwise analyze the results of (perhaps multiple) runs of a star tracking pipeline.

Uses the command line options in values to determine which analyses to run. Examples include plotting an annotated output image to a png file, comparing the actual and expected centroids, etc

Definition at line 1703 of file io.cpp.

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◆ QuaternionToDCM()

Mat3 lost::QuaternionToDCM ( const Quaternion & quat )

Convert a quaternion to a rotation matrix (Direction Cosine Matrix)

Definition at line 355 of file attitude-utils.cpp.

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◆ QuestCharPoly()

decimal lost::QuestCharPoly	(	decimal	x,
		decimal	a,
		decimal	b,
		decimal	c,
		decimal	d,
		decimal	s
	)

Characteristic polynomial of the quest K-matrix.

See also: equation 19b of https://arc.aiaa.org/doi/pdf/10.2514/1.62549

Definition at line 163 of file attitude-estimators.cpp.

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◆ QuestCharPolyPrime()

decimal lost::QuestCharPolyPrime	(	decimal	x,
		decimal	a,
		decimal	b,
		decimal	c
	)

Derivitive of the characteristic polynomial of the quest K-matrix.

Definition at line 168 of file attitude-estimators.cpp.

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◆ QuestEigenvalueEstimator()

decimal lost::QuestEigenvalueEstimator	(	decimal	guess,
		decimal	a,
		decimal	b,
		decimal	c,
		decimal	d,
		decimal	s
	)

Approximates roots of a real function using the Newton-Raphson algorithm.

See also: https://www.geeksforgeeks.org/program-for-newton-raphson-method/

Definition at line 174 of file attitude-estimators.cpp.

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◆ RadToArcSec()

decimal lost::RadToArcSec ( decimal rad )

Definition at line 160 of file attitude-utils.cpp.

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◆ RadToDeg()

decimal lost::RadToDeg ( decimal rad )

Definition at line 152 of file attitude-utils.cpp.

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◆ SelectNextUnidentifiedCentroid()

IRUnidentifiedCentroid* lost::SelectNextUnidentifiedCentroid	(	std::vector< IRUnidentifiedCentroid * > *	aboveThresholdCentroids,
		std::vector< IRUnidentifiedCentroid * > *	belowThresholdCentroids
	)

Definition at line 429 of file star-id.cpp.

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◆ serFromDbValues()

SerializeContext lost::serFromDbValues ( const DatabaseOptions & values )

Definition at line 276 of file io.cpp.

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◆ SerializeCatalog()

void lost::SerializeCatalog	(	SerializeContext *	ser,
		const Catalog &	catalog,
		bool	inclMagnitude,
		bool	inclName
	)

Serialize the catalog to buffer.

Use SerializeLengthCatalog() to determine how many bytes to allocate in buffer

Parameters

inclMagnitude,inclName See SerializeCatalogStar()

Definition at line 107 of file star-utils.cpp.

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◆ SerializeCatalogStar()

void lost::SerializeCatalogStar	(	SerializeContext *	ser,
		const CatalogStar &	catalogStar,
		bool	inclMagnitude,
		bool	inclName
	)

Serialize a CatalogStar into a byte buffer.

Use SerializeLengthCatalogStar() to determine how many bytes to allocate in buffer

Parameters

inclMagnitude	Whether to include the magnitude of the star.
inclName	Whether to include the (numerical) name of the star.
buffer[out]	Where the serialized star is stored.

Definition at line 70 of file star-utils.cpp.

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◆ SerializeKVectorIndex()

void lost::SerializeKVectorIndex	(	SerializeContext *	ser,
		const std::vector< decimal > &	values,
		decimal	min,
		decimal	max,
		long	numBins
	)

K-vector index layout.

Parameters

values The actual entries the kvector should be referring to, sorted in ascending order.

Precondition: values must be sorted in ascending order!

Parameters

min,max Guaranteed bounds on the entries of values

Todo:: Consider replacing min and max parameters by just calculating the min and max of values?

Parameters

numBins	the number of "bins" the KVector should use. A higher number makes query results "tighter" but takes up more disk space. Usually should be set somewhat smaller than (max-min) divided by the "width" of the typical query.
buffer[out]	index is written here.

Definition at line 64 of file databases.cpp.

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◆ SerializeMultiDatabase()

void lost::SerializeMultiDatabase	(	SerializeContext *	ser,
		const MultiDatabaseDescriptor &	dbs,
		uint32_t	flags
	)

Definition at line 353 of file databases.cpp.

◆ SerializePadding()

template<typename T >

void lost::SerializePadding ( SerializeContext * ser )

Definition at line 114 of file serialize-helpers.hpp.

◆ SerializePairDistanceKVector()

void lost::SerializePairDistanceKVector	(	SerializeContext *	ser,
		const Catalog &	catalog,
		decimal	minDistance,
		decimal	maxDistance,
		long	numBins
	)

Serialize a pair-distance KVector into buffer.

Use SerializeLengthPairDistanceKVector to determine how large the buffer needs to be. See command line documentation for other options.

Definition at line 198 of file databases.cpp.

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◆ SerializePrimitive()

template<typename T >

void lost::SerializePrimitive	(	SerializeContext *	ser,
		const T &	val
	)

Definition at line 121 of file serialize-helpers.hpp.

◆ SerializeVec3()

void lost::SerializeVec3	(	SerializeContext *	ser,
		const Vec3 &	vec
	)

Serialize a Vec3 to buffer. Takes up space according to SerializeLengthVec3.

Definition at line 454 of file attitude-utils.cpp.

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◆ SetPipeline()

Pipeline lost::SetPipeline ( const PipelineOptions & values )

Create a pipeline from command line options.

Definition at line 842 of file io.cpp.

◆ SpatialToSpherical()

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

Convert from a 3d point on the unit sphere to right ascension & declination.

Definition at line 145 of file attitude-utils.cpp.

◆ SphericalToQuaternion()

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

Return a quaternion that 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.

Definition at line 100 of file attitude-utils.cpp.

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◆ SphericalToSpatial()

Vec3 lost::SphericalToSpatial	(	decimal	ra,
		decimal	de
	)

Convert from right ascension & declination to a 3d point on the unit sphere.

returns unit vector

Definition at line 136 of file attitude-utils.cpp.

◆ StarIdsCompare()

StarIdComparison lost::StarIdsCompare	(	const StarIdentifiers &	expected,
		const StarIdentifiers &	actual,
		const Catalog &	expectedCatalog,
		const Catalog &	actualCatalog,
		decimal	centroidThreshold,
		const Stars &	expectedStars,
		const Stars &	inputStars
	)

Compare expected and actual star identifications.

Useful for debugging and benchmarking.

The following description is compatible with, but more actionable than, the definitions in the documentation for StarIdComparison. A star-id is correct if the centroid is the closest centroid to some expected centroid, and the referenced catalog star is the same one as in the expected star-ids for that centroid. Also permissible is if the centroid is not the closest to any expected centroid, but it has the same star-id as another star closer to the closest expected centroid. All other star-ids are incorrect (because they are either identifying false stars, or are incorrect identifications on true stars)

The "total" in the result is just the number of input stars.

Definition at line 1133 of file io.cpp.

◆ SurfacePlot()

void lost::SurfacePlot	(	std::string	description,
		cairo_surface_t *	cairoSurface,
		const Stars &	stars,
		const StarIdentifiers *	starIds,
		const Catalog *	catalog,
		const Attitude *	attitude,
		double	red,
		double	green,
		double	blue,
		double	alpha,
		bool	rawStarIndexes = `false`
	)

Plot information about an image onto the image using Cairo.

Puts a box around each centroid, writes the attitude in the top left, etc.

Parameters

red,green,blue	The color to use when annotating the image. 0 represents none of that color, 1 represents that color in full.
alpha	The transparency of annotations. 0 is completely transparent, 1 is completely opaque.
rawStarIndexes	If true, print the catalog index. This is in contrast with the default behavior, which is to print the name of the catalog star.

Definition at line 178 of file io.cpp.

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◆ SurfaceToGrayscaleImage()

unsigned char * lost::SurfaceToGrayscaleImage ( cairo_surface_t * cairoSurface )

Convert a colored Cairo image surface into a row-major array of grayscale pixels.

Result is allocated with new[]

Definition at line 127 of file io.cpp.

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◆ SwapEndianness()

template<typename T >

void lost::SwapEndianness ( unsigned char * buffer )

Unconditionally swap the endianness of a value (uses sizeof T).

Definition at line 64 of file serialize-helpers.hpp.

◆ SwapEndiannessIfNecessary()

template<typename T >

void lost::SwapEndiannessIfNecessary	(	unsigned char *	buffer,
		SerializeContext *	ser
	)

Swap the endianness of a value if necessary.

Uses LOST_DATABASE_{SOURCE,TARGET}_INTEGER_ENDIANNESS to determine to switch all values but decimal which uses LOST_DATABASE_{SOURCE,TARGET}_DECIMAL_ENDIANNESS.

Definition at line 74 of file serialize-helpers.hpp.

◆ SwapEndiannessIfNecessary< decimal >()

template<>

void lost::SwapEndiannessIfNecessary< decimal >	(	unsigned char *	buffer,
		SerializeContext *	ser
	)

inline

Definition at line 83 of file serialize-helpers.hpp.

Variable Documentation

◆ iWCoGMinChange

decimal lost::iWCoGMinChange = DECIMAL(0.0002)

Definition at line 200 of file centroiders.cpp.

◆ kAngleFrom90SoftThreshold

const decimal lost::kAngleFrom90SoftThreshold = DECIMAL_M_PI_4

Definition at line 453 of file star-id.cpp.

◆ kCatalogMagicValue

const int32_t lost::kCatalogMagicValue = 0xF9A283BC

Definition at line 13 of file databases.hpp.

◆ kIdentityMat3

const Mat3 lost::kIdentityMat3

Initial value:

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

3x3 identity matrix

Definition at line 344 of file attitude-utils.cpp.

◆ kMaxBrightness

const int lost::kMaxBrightness = 255

Definition at line 479 of file io.cpp.

◆ kNoDefaultArgument

const char lost::kNoDefaultArgument = 0

Definition at line 32 of file io.hpp.

Classes

Typedefs

Functions

Variables

Detailed Description

Typedef Documentation

◆ AttitudeEstimationAlgorithmFactory

◆ Catalog

◆ CentroidAlgorithmFactory

◆ MultiDatabaseDescriptor

◆ PipelineComparator

◆ PipelineInputFactory

◆ PipelineInputList

◆ StarIdAlgorithmFactory

◆ StarIdentifiers

◆ Stars

Function Documentation

◆ AddToAllUnidentifiedCentroids()

◆ Angle()

◆ AngleUnit()

◆ ArcSecToRad()

◆ atobool()

◆ BadThreshold()

◆ BasicThreshold()

◆ BasicThresholdOnePass()

◆ BscParse()

◆ CatalogRead()

◆ CatalogStarMagnitudeCompare()

◆ CatalogToPairDistances()

◆ CentroidComparisonsCombine()

◆ CentroidsCompare()

◆ Clamp()

◆ CogHelper()

◆ CompareKVectorPairs()

◆ ConsumeInvolvingIterator()

◆ DCMToQuaternion()

◆ DecimalModulo()

◆ DegToRad()

◆ DeserializeArray()

◆ DeserializeCatalog()

◆ DeserializeCatalogStar()

◆ DeserializePadding()

◆ DeserializePrimitive()

◆ DeserializeVec3()

◆ Distance() [1/2]

◆ Distance() [2/2]

◆ FindNamedStar()

◆ FindUnidentifiedCentroidsInRange()

◆ FocalLengthFromOptions()

◆ FocalLengthToFov()

◆ FovToFocalLength()

◆ GenerateDatabases()

◆ GetGeneratedPipelineInput()

◆ GetPipelineInput()

◆ GetPngPipelineInput()

◆ GrayscaleImageToSurface()

◆ IdentifyRemainingStarsPairDistance()

◆ IdentifyThirdStar()

◆ InspectCatalog()

◆ isFlagSet()

◆ IWCoGHelper()

◆ MagToBrightness()

◆ NarrowCatalog()

◆ operator<<()

◆ OtsusThreshold()

◆ PairDistanceQueryToMap()

◆ PipelineComparatorPlotCentroidIndices()

◆ PipelineComparison()

◆ QuaternionToDCM()

◆ QuestCharPoly()

◆ QuestCharPolyPrime()

◆ QuestEigenvalueEstimator()

◆ RadToArcSec()

◆ RadToDeg()

◆ SelectNextUnidentifiedCentroid()

◆ serFromDbValues()

◆ SerializeCatalog()

◆ SerializeCatalogStar()

◆ SerializeKVectorIndex()

◆ SerializeMultiDatabase()