OpNavCOBMsgPayload

struct OpNavCOBMsgPayload

Center of brightness optical navigation measurement message.

This message is output by the center of brightness module and contains the center of brightness of the image that was input, as well as the validity of the image processing process, the camera ID, and the number of pixels found during the computation.

Public Members

uint64_t timeTag

—[ns] Current vehicle time-tag associated with measurements

bool valid

— Quality of measurement

int64_t cameraID

— [-] ID of the camera that took the image

double centerOfBrightness[2]

— [-] Center x, y of bright pixels

int32_t pixelsFound

— [-] Number of bright pixels found in the image

double rollingAverageBrightness

[-] brightness computed over rolling average