PairedKeyPointsMsgPayload

struct PairedKeyPointsMsgPayload

Optical Navigation measurement message containing the matched key points between two images.

This message is output by the optical flow module and contains the key points shared between the two image that were processed, as well as the attitudes, validity, time tags, the camera ID, and the number of points detected.

Public Members

bool valid

— Quality of measurement

int64_t cameraID

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

uint64_t timeTag_firstImage

—[ns] Current vehicle time-tag associated with first image

uint64_t timeTag_secondImage

—[ns] Current vehicle time-tag associated with second image

double keyPoints_firstImage[2 * MAX_KEY_POINTS]

— [-] Paired features in first image

double keyPoints_secondImage[2 * MAX_KEY_POINTS]

— [-] Paired features in second image

double sigma_BN_firstImage[3]

— [-] Spacecraft body frame attitude associated with first image

double sigma_BN_secondImage[3]

— [-] Spacecraft body frame attitude associated with second image

double sigma_TN_firstImage[3]

— [-] Target frame wrt inertial at time of first image

double sigma_TN_secondImage[3]

— [-] Target frame wrt inertial at time of second image

int keyPointsFound

— [-] Number of paired features