Calibration.estimate_attitude

giant.calibration.calibration_class:

Calibration.estimate_attitude()

This method estimates an updated attitude for each image based on the identified stars in the image.

For each turned on image in the camera attribute this method provides the attitude estimation routines with the matched_catalogue_unit_vectors_inertial, and the camera frame unit vectors corresponding to the matched_extracted_image_points. The estimate() method of the attitude estimation class is then called, and the resulting solved for rotation is stored as the rotation_inertial_to_camera attribute for each image. Finally, the updated attitude information is used to update the following:

• matched_catalogue_unit_vectors_camera

• matched_catalogue_image_points

• queried_catalogue_image_points

• unmatched_catalogue_image_points

The unit vectors in the camera frame for the matched image points are determined using the pixels_to_unit() method of the camera model.

For a more thorough description of the attitude estimation routine see the stellar_opnav.estimators documentation.

When attitude estimation is successful for an image (that is it was attempted and didn’t error), then the OpNavImage.pointing_post_fit flag is updated to True. When attitude estimation isn’t successful for an image (it wasn’t attempted due to a lack of stars or it failed) the the OpNavImage.pointing_post_fit is set to False

Warning

This method overwrites the attitude information in the rotation_inertial_to_camera attribute and does not save old information anywhere. If you want this information saved be sure to store it yourself for each image.