diff --git a/CovarianceAnalysisParameters.m b/CovarianceAnalysisParameters.m
new file mode 100644
index 0000000000000000000000000000000000000000..3c31b036b214aabfa784a99a48866a18121ad01c
--- /dev/null
+++ b/CovarianceAnalysisParameters.m
@@ -0,0 +1,105 @@
+function [pars, units] = CovarianceAnalysisParameters(pars, units)
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+%
+% [pars, units] = New_MMX_CovarianceAnalysisParameters(pars, units)
+%
+% This function adds some units and parameters useful to the covariance
+% analysis
+%
+% Inputs:
+% pars Structure which contains parameters
+% units Structure with units
+%
+% Outputs:
+% pars.ObsNoise Observations noises standard deviation
+% pars.ObsNoise.range Standard deviation of the relative distance measure
+% pars.ObsNoise.range_rate Standard deviation of the relative velocity measure
+% pars.ObsNoise.lidar Standard deviation of the lidar measure
+% pars.ObsNoise.camera Standard deviation of the camera measure
+% pars.interval Seconds between observations
+% pars.Clm Vector with all the Clm coefficients
+% pars.Slm Vector with all the Slm coefficients
+% pars.nCoeff Number of the harmonics coefficients
+% pars.P0 A-priori covariance
+% pars.sigma PN diffusion coefficient
+%
+% units.Dim Vector of normalizing units [sfVec, sfVec, ones(pars.nCoeff,1)]
+% units.CovDim Matrix of normalizing units
+%
+% Author: STAG Team
+% Date: Jun 2021
+%
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+%% Parameters
+
+% Observation noise
+pars.ObsNoise.range = 5e-3/units.lsf; % [km]
+pars.ObsNoise.range_rate= 5e-7/units.vsf; % [km/s]
+pars.ObsNoise.lidar = 1e-2/units.lsf; % [km]
+
+cam.f = 15; %[mm]
+cam.nPixX = 3296; %[n. pixel]
+cam.nPixY = 2472; %[n. pixel]
+cam.Res = 100;
+cam.SixeX = 36; %[mm]
+cam.SixeY = 24; %[mm]
+cam.pixARx = 1;
+cam.pixARy = 1;
+pars.camera_intrinsic = IntrinsicParameters(cam);
+pars.FOV = deg2rad(45);
+pixels = 2048;
+
+pars.ObsNoise.camera = pars.FOV/pixels; % [rad/pixel]
+pars.ObsNoise.pixel = 1; % [n. pixel]
+
+
+% Useful to adimensionalize the observables
+units.Observations = [units.lsf; units.vsf; units.lsf; units.vsf; units.lsf; units.vsf; units.lsf; 1; 1];
+
+% Matrix of the observation noise
+pars.R = zeros(9,9);
+pars.R(1,1) = pars.ObsNoise.range^2;
+pars.R(2,2) = pars.ObsNoise.range_rate^2;
+pars.R(3,3) = pars.ObsNoise.range^2;
+pars.R(4,4) = pars.ObsNoise.range_rate^2;
+pars.R(5,5) = pars.ObsNoise.range^2;
+pars.R(6,6) = pars.ObsNoise.range_rate^2;
+pars.R(7,7) = pars.ObsNoise.lidar^2;
+pars.R(8,8) = pars.ObsNoise.camera^2;
+pars.R(9,9) = pars.ObsNoise.camera^2;
+
+% Seconds between observation
+pars.interval_Range = 3600; % s
+pars.interval_Range_rate = 600; % s
+pars.interval_lidar = 100; % s
+pars.interval_camera = 3600; % s
+
+
+pars.cutoffLIDAR = 200; % km
+pars.elevation = 80; % deg
+
+% Gravitational harmonics' parameters
+pars.I2 = [pars.IPhx_bar; pars.IPhy_bar; pars.IPhz_bar];
+
+% Measurements biases
+bias = [0; 0; 0]...
+ ./[units.lsf; units.vsf; units.lsf];
+pars.bias = bias;
+
+% Unit vector and parameters number useful for later use
+pars.nCoeff = size(pars.I2,1);
+pars.nBias = size(bias,1);
+units.Dim = [units.sfVec; units.lsf; units.vsf; 1; units.tsf;...
+ 1; units.tsf; 1; units.tsf; ones(pars.nCoeff,1); units.lsf; units.vsf;...
+ units.lsf];
+units.CovDim = (repmat(units.Dim, 1, length(units.Dim)).*...
+ repmat(units.Dim', length(units.Dim), 1));
+
+
+% A-priori covariance
+pars.P0 = diag(([.3*ones(3,1); .3e-3*ones(3,1);...
+ 1e-1; 1e-4; 1e-5; 1e-7; 3e-1; 1e-3; 3e-1; 1e-3; 1e-2*ones(pars.nCoeff,1);...
+ 1; 1e-3; 1]./units.Dim).^2);
+
+end
\ No newline at end of file
diff --git a/Observations_Generation.m b/Observations_Generation.m
index 114a8af4f0c4ebb3e86fd8e8efaa129e2210cec4..708b8df21bcf4d8954f867a42c9b6740f6628845 100644
--- a/Observations_Generation.m
+++ b/Observations_Generation.m
@@ -25,32 +25,30 @@ clc
% Time of the analysis
- data = '2026-03-16 13:00:00 (UTC)';
+ data = '2026-03-21 00:00:00 (UTC)';
data = cspice_str2et(data);
-
+ Ndays = 1;
+ t = Ndays*86400;
+ date_end = data+t;
+
% Model parameters
- [par, units] = MMX_DefineNewModelParametersAndUnits;
+ [pars, units] = MMX_DefineNewModelParametersAndUnits;
% Covariance analysis parameters
- par.et0 = data;
- [par, units] = New_MMX_CovarianceAnalysisParameters(par, units);
+ pars.et0 = data;
+ [pars, units] = CovarianceAnalysisParameters(pars, units);
+
- cam.f = 15; %[mm]
- cam.nPixX = 3296; %[n. pixel]
- cam.nPixY = 2472; %[n. pixel]
- cam.Res = 100;
- cam.SixeX = 36; %[mm]
- cam.SixeY = 24; %[mm]
- cam.pixARx = 1;
- cam.pixARy = 1;
- par.camera_intrinsic = IntrinsicParameters(cam);
- par.FOV = deg2rad(30);
-
- % Positin of my target bodies at that date
+% Positin of my target bodies at that date
Sun = cspice_spkezr('10', data, 'J2000', 'none', 'MARS');
MMX = cspice_spkezr('-34', data, 'J2000', 'none', 'MARS');
Phobos = cspice_spkezr('-401', data, 'J2000', 'none', 'MARS');
Phi = deg2rad(0);
- [Y_LOS, Y_pix] = visible_features(MMX, Phobos, Sun, Phi,...
- 'Principal_Phobos_Ogni5.mat', par, units);
+% [Y_LOS, Y_pix] = visible_features(MMX, Phobos, Sun, Phi,...
+% 'Principal_Phobos_Ogni10.mat', par, units);
+
+ file_features = 'Principal_Phobos_Ogni2.mat';
+ YObs = Observations_with_features(data, date_end, file_features, pars, units);
+
+% Plotfeatures_Pic(YObs(685).Features, pars)
diff --git a/Observations_with_features.m b/Observations_with_features.m
index ed31bb5dbc41839e570f29c830ddf4897228be6c..a72a4cbbdc1143e96d264d15990aa01e2fc3ada6 100644
--- a/Observations_with_features.m
+++ b/Observations_with_features.m
@@ -1,4 +1,4 @@
-function YObs_Full = Observations_with_features(date0, date_end, pars, units)
+function YObs = Observations_with_features(date0, date_end, file_features, pars, units)
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%
% dx = Mars_Phobos_Circular_FullState(t,x,pars)
@@ -35,7 +35,6 @@ function YObs_Full = Observations_with_features(date0, date_end, pars, units)
sigma_range = pars.ObsNoise.range*units.lsf;
sigma_range_rate = pars.ObsNoise.range_rate*units.vsf;
sigma_lidar = pars.ObsNoise.lidar*units.lsf;
- sigma_cam = pars.ObsNoise.camera;
%% Observations
@@ -43,7 +42,7 @@ function YObs_Full = Observations_with_features(date0, date_end, pars, units)
et0 = date0;
et_end = date_end;
- YObs_Full = [];
+ YObs = [];
min_interval = min([interval_Range; interval_Range_rate; interval_lidar; interval_camera]);
@@ -53,33 +52,6 @@ function YObs_Full = Observations_with_features(date0, date_end, pars, units)
got_it = 0;
-%--------------------------------------------------------------------------
-% CAMERA OBSERVABLE
-%--------------------------------------------------------------------------
-
-
-% Check if Phobos is in light or not
- Phobos = cspice_spkezr('-401', i, 'J2000', 'none', 'SUN');
- MMX = cspice_spkezr('-34', i, 'J2000', 'none', 'SUN');
- R_PS = -Phobos(1:3)/norm(Phobos(1:3));
- R_MMXP = (MMX(1:3) - Phobos(1:3))/norm(MMX(1:3) - Phobos(1:3));
-
-% Is Mars between Phobos and the Sun?
- check3 = cspice_occult('-401','POINT',' ',...
- '499','ELLIPSOID','IAU_MARS','none','SUN',i);
-
- if (dot(R_MMXP,R_PS)>0)&&(check3>=0)&&(rem(round(i-et0),interval_camera)==0)
-
- Y = visible_features(i, pars.file_features, pars, units);
-
-
-
- got_it = 1;
- else
- Y = [NaN; NaN];
- end
-
-
%--------------------------------------------------------------------------
% LIDAR OBSERVABLES WRT PHOBOS SURFACE
%--------------------------------------------------------------------------
@@ -197,6 +169,37 @@ function YObs_Full = Observations_with_features(date0, date_end, pars, units)
end
+%--------------------------------------------------------------------------
+% CAMERA OBSERVABLE
+%--------------------------------------------------------------------------
+
+
+% Check if Phobos is in light or not
+ Phobos = cspice_spkezr('-401', i, 'J2000', 'none', 'SUN');
+ MMX = cspice_spkezr('-34', i, 'J2000', 'none', 'SUN');
+ R_PS = -Phobos(1:3)/norm(Phobos(1:3));
+ R_MMXP = (MMX(1:3) - Phobos(1:3))/norm(MMX(1:3) - Phobos(1:3));
+
+% Is Mars between Phobos and the Sun?
+ check3 = cspice_occult('-401','POINT',' ',...
+ '499','ELLIPSOID','IAU_MARS','none','SUN',i);
+
+ if (dot(R_MMXP,R_PS)>0)&&(check3>=0)&&(rem(round(i-et0),interval_camera)==0)
+
+ Sun = cspice_spkezr('10', i, 'J2000', 'none', 'MARS');
+ MMX = cspice_spkezr('-34', i, 'J2000', 'none', 'MARS');
+ Phobos = cspice_spkezr('-401', i, 'J2000', 'none', 'MARS');
+ Phi = deg2rad(0);
+
+ [~, Y_pix] = visible_features(MMX, Phobos, Sun, Phi,...
+ file_features, pars, units);
+ got_it = 1;
+
+ else
+ Y_LOS = [];
+ Y_pix = [];
+ end
+
%--------------------------------------------------------------------------
% NEW LINE SETUP
@@ -204,70 +207,17 @@ function YObs_Full = Observations_with_features(date0, date_end, pars, units)
if (got_it == 1)
- YObs_Full = [YObs_Full, [i-et0; R_Cam; R_dot_Cam; R_Gold; R_dot_Gold; R_Mad; R_dot_Mad; Lidar; Y]];
+ Obs.t = i-et0;
+ DSN = [R_Cam; R_dot_Cam; R_Gold; R_dot_Gold; R_Mad; R_dot_Mad];
+ if sum(~isnan(DSN))>0
+ Obs.DSN = [R_Cam; R_dot_Cam; R_Gold; R_dot_Gold; R_Mad; R_dot_Mad];
+ else
+ Obs.DSN = [];
+ end
+ Obs.Lidar = Lidar;
+ Obs.Features= Y_pix;
+ YObs = [YObs; Obs];
end
end
-% fclose(fileID);
-
-%% Plot of the data
-
-set(0,'DefaultTextInterpreter','latex');
-set(0,'DefaultAxesFontSize', 16);
-
-% Observables
-
-DSN_Cam = [];
-DSN_GS = [];
-DSN_Mad = [];
-
-for i = 1:size(YObs_Full,2)
-
- DSN_Cam = [DSN_Cam, [YObs_Full(1,i); YObs_Full(2:3,i)]];
- DSN_GS = [DSN_GS, [YObs_Full(1,i); YObs_Full(4:5,i)]];
- DSN_Mad = [DSN_Mad, [YObs_Full(1,i); YObs_Full(6:7,i)]];
-
-end
-
-
-figure()
-
-subplot(2,1,1)
-plot(DSN_Cam(1,:)/3600,DSN_Cam(2,:),'*','Color','b')
-grid on; hold on;
-plot(DSN_GS(1,:)/3600,DSN_GS(2,:),'*','Color','r')
-plot(DSN_Mad(1,:)/3600,DSN_Mad(2,:),'*','Color','g')
-ylabel('Range [km]');
-xlabel('Time [hour]')
-legend('Camberra','GoldStone','Madrid')
-
-subplot(2,1,2)
-plot(DSN_Cam(1,:)/3600,DSN_Cam(3,:),'*','Color','b')
-grid on; hold on;
-plot(DSN_GS(1,:)/3600,DSN_GS(3,:),'*','Color','r')
-plot(DSN_Mad(1,:)/3600,DSN_Mad(3,:),'*','Color','g')
-ylabel('Range Rate [km/s]');
-xlabel('Time [hour]')
-legend('Camberra','GoldStone','Madrid')
-
-figure()
-plot(YObs_Full(1,:)/3600,YObs_Full(8,:),'*')
-grid on; hold on;
-ylabel('Lidar [km]');
-xlabel('Time [hour]')
-
-figure()
-subplot(2,1,1)
-plot(YObs_Full(1,:)/3600,YObs_Full(9,:),'*')
-grid on; hold on;
-ylabel('Cam1 [rad]');
-xlabel('Time [hour]')
-
-subplot(2,1,2)
-plot(YObs_Full(1,:)/3600,YObs_Full(10,:),'*')
-grid on; hold on;
-ylabel('Cam2 [rad]');
-xlabel('Time [hour]')
-
-
end
\ No newline at end of file
diff --git a/PlotGeometryAndLight.m b/PlotGeometryAndLight.m
new file mode 100644
index 0000000000000000000000000000000000000000..2fd3a9b566a02968e3676e4874767fc7c107127a
--- /dev/null
+++ b/PlotGeometryAndLight.m
@@ -0,0 +1,43 @@
+function PlotGeometryAndLight(points, point_in_light, visible, r_sb_Ph, r_PhSun, pars, units)
+
+
+% Rotation matrix from Phobos to the camera lens
+ i_feat = r_sb_Ph/norm(r_sb_Ph);
+ v = [0; 0; 1];
+ j = cross(v, i_feat)/norm(cross(v, i_feat));
+ k = cross(i_feat, j)/norm(cross(i_feat, j));
+
+ T = [i_feat, j, k]';
+
+% In the CV world si usa questa convenzione, l'asse Z della camera è
+% quello che esce dal piatto
+ R_bCam2CV = [0, 0, 1; 0, 1, 0; -1, 0, 0];
+ R_CV = R_bCam2CV*T;
+
+
+ figure()
+ grid on
+ axis equal
+ hold on
+ plot3(points(1,:), points(2,:), points(3,:),'.','Color','b')
+ plot3(point_in_light(1,:), point_in_light(2,:), point_in_light(3,:), 'x','Color','g')
+ if ~isempty(visible)
+ plot3(visible(1,:), visible(2,:), visible(3,:), 'o','Color','r')
+ for n = 1:size(visible,2)
+ r_sf = r_sb_Ph - visible(:,n);
+ LOS = -r_sf/norm(r_sf);
+ quiver3(r_sb_Ph(1),r_sb_Ph(2),r_sb_Ph(3),LOS(1)*units.lsf,LOS(2)*units.lsf,LOS(3)*units.lsf);
+ end
+ end
+ xlabel('X','FontSize',16,'Interpreter','latex')
+ ylabel('Y','FontSize',16,'Interpreter','latex')
+ zlabel('Z','FontSize',16,'Interpreter','latex')
+ quiver3(-2*r_PhSun(1)*units.lsf,-2*r_PhSun(2)*units.lsf,-2*r_PhSun(3)*units.lsf,...
+ r_PhSun(1)*units.lsf,r_PhSun(2)*units.lsf,r_PhSun(3)*units.lsf,'LineWidth',1.5,'Color','g')
+ plot3(-2*r_PhSun(1)*units.lsf,-2*r_PhSun(2)*units.lsf,-2*r_PhSun(3)*units.lsf, '*','Color','g','MarkerSize',20)
+ quiver3(r_sb_Ph(1),r_sb_Ph(2),r_sb_Ph(3),...
+ -r_sb_Ph(1)/units.tsf,-r_sb_Ph(2)/units.tsf,-r_sb_Ph(3)/units.tsf,'LineWidth',1.5,'Color','r')
+ plotCamera('location',r_sb_Ph,'orientation',R_CV,'Color','r')
+
+
+end
\ No newline at end of file
diff --git a/Plotfeatures_Pic.m b/Plotfeatures_Pic.m
new file mode 100644
index 0000000000000000000000000000000000000000..1df68378f1ca061ee42648f9791ff3b943c85554
--- /dev/null
+++ b/Plotfeatures_Pic.m
@@ -0,0 +1,15 @@
+function Plotfeatures_Pic(Y_pix, pars)
+
+
+ figure()
+ grid on
+ axis equal
+ hold on
+ plot(Y_pix(1,:), Y_pix(2,:), 'o', 'Color', 'r');
+ xlabel('X','FontSize',16,'Interpreter','latex')
+ ylabel('Y','FontSize',16,'Interpreter','latex')
+ xlim([0, 2*pars.camera_intrinsic(3,1)])
+ ylim([0, 2*pars.camera_intrinsic(3,2)])
+
+
+end
\ No newline at end of file
diff --git a/Principal_Phobos.mat b/Principal_Phobos.mat
new file mode 100644
index 0000000000000000000000000000000000000000..3e89009f630c138978cc5f469dfdc4857d09dd09
Binary files /dev/null and b/Principal_Phobos.mat differ
diff --git a/Principal_Phobos_Ogni10.mat b/Principal_Phobos_Ogni10.mat
new file mode 100644
index 0000000000000000000000000000000000000000..a8896ace10213b7114f2c5ca0fc07a1ae543007d
Binary files /dev/null and b/Principal_Phobos_Ogni10.mat differ
diff --git a/Principal_Phobos_Ogni2.mat b/Principal_Phobos_Ogni2.mat
new file mode 100644
index 0000000000000000000000000000000000000000..ea946a27c869706c7821521cc51122d7f765b8de
Binary files /dev/null and b/Principal_Phobos_Ogni2.mat differ
diff --git a/Principal_Phobos_Ogni5.mat b/Principal_Phobos_Ogni5.mat
new file mode 100644
index 0000000000000000000000000000000000000000..d2c7af1f82046a125f0ba96bedd7205e8bac22e7
Binary files /dev/null and b/Principal_Phobos_Ogni5.mat differ
diff --git a/visible_features.m b/visible_features.m
index b9d58d1fff939dae920f3e6133188ec33eff7dd2..4c437f4a7a6d5fa243a6264358147ad0c5eab602 100644
--- a/visible_features.m
+++ b/visible_features.m
@@ -22,7 +22,12 @@ function [Y_LOS, Y_pix] = visible_features(MMX, Phobos, Sun, Phi, file_features,
% Features defined in the Phobos-fixed reference frame
load(file_features);
R_ini = [0, -1, 0; 1, 0, 0; 0, 0, 1];
- points = R_ini*Point_Cloud';
+ Point_Clooud = R_ini*Point_Cloud';
+ points = zeros(4,size(Point_Clooud,2));
+
+ for n = 1:size(points,2)
+ points(:,n) = [Point_Clooud(:,n); n];
+ end
%% Identification of the features that are in light
@@ -50,14 +55,15 @@ function [Y_LOS, Y_pix] = visible_features(MMX, Phobos, Sun, Phi, file_features,
% If the dot product of the incoming light ray and the feature
% position vector in the Phobos-fixed ref frame is less than zero,
% then it is in light
- if dot(r_PhSun, points(:,n))<0
+ if dot(r_PhSun, points(1:3,n))<0
point_in_light = [points(:,n), point_in_light];
end
end
-%% Between those features, which ones are inside the FOV?
+%% Between those features, which ones are inside the FOV?
+
% Position of MMX wrt Phobos-fixed frame
@@ -65,8 +71,8 @@ function [Y_LOS, Y_pix] = visible_features(MMX, Phobos, Sun, Phi, file_features,
R_sb = norm(r_sb);
r_sb_Ph = RLibration*R2rot*r_sb;
-% Rotation matrix from Phobos to the camera les
- i_feat = r_sb_Ph/R_sb;
+% Rotation matrix from Phobos to the camera lens
+ i_feat = r_sb_Ph/R_sb;
v = [0; 0; 1];
j = cross(v, i_feat)/norm(cross(v, i_feat));
k = cross(i_feat, j)/norm(cross(i_feat, j));
@@ -78,10 +84,6 @@ function [Y_LOS, Y_pix] = visible_features(MMX, Phobos, Sun, Phi, file_features,
R_bCam2CV = [0, 0, 1; 0, 1, 0; -1, 0, 0];
R_CV = R_bCam2CV*T;
-% [M_int, M_ext, PM] = ProjMatrix(r_sb_Ph, pars, units);
-
-
-
visible = [];
Y_LOS = [];
Y_pix = [];
@@ -90,7 +92,7 @@ function [Y_LOS, Y_pix] = visible_features(MMX, Phobos, Sun, Phi, file_features,
I = i_feat;
for n = 1:size(point_in_light,2)
- candidate = point_in_light(:,n);
+ candidate = point_in_light(1:3,n);
r_sf = r_sb_Ph - candidate;
@@ -101,52 +103,25 @@ function [Y_LOS, Y_pix] = visible_features(MMX, Phobos, Sun, Phi, file_features,
angle = acos(dot(I,-i_feat));
- if (angle<pars.FOV)&&(dot(r_sb_Ph, point_in_light(:,n))>0)
+ if (angle<pars.FOV)&&(dot(r_sb_Ph, point_in_light(1:3,n))>0)
visible = [candidate, visible];
LOS_feat = [y_cam'; z_cam'] * r_sf/norm(r_sf) + [random('Normal',0, pars.ObsNoise.camera);...
random('Normal',0, pars.ObsNoise.camera)];
- Y_LOS = [LOS_feat, Y_LOS];
+ Y_LOS = [[LOS_feat; point_in_light(end,n)], Y_LOS];
[~, ~, PM] = ProjMatrix(-r_sb_Ph, pars, units);
pix_feat = PM*[-candidate; 1];
pix_feat = pix_feat./repmat(pix_feat(3),3,1);
- Y_pix = [[ceil(pix_feat(1:2)+ [random('Normal',0, 1); random('Normal',0, 1)]); candidate(end)], Y_pix];
+ Y_pix = [[ceil(pix_feat(1:2)+ [random('Normal',0, pars.ObsNoise.pixel);...
+ random('Normal',0, pars.ObsNoise.pixel)]); point_in_light(end,n)], Y_pix];
end
end
- figure()
- grid on
- axis equal
- hold on
- plot3(points(1,:), points(2,:), points(3,:),'.','Color','b')
- plot3(point_in_light(1,:), point_in_light(2,:), point_in_light(3,:), 'x','Color','g')
- if ~isempty(visible)
- plot3(visible(1,:), visible(2,:), visible(3,:), 'o','Color','r')
- for n = 1:size(visible,2)
- r_sf = r_sb_Ph - visible(:,n);
- LOS = -r_sf/norm(r_sf);
- quiver3(r_sb_Ph(1),r_sb_Ph(2),r_sb_Ph(3),LOS(1)*units.lsf,LOS(2)*units.lsf,LOS(3)*units.lsf);
- end
- end
- xlabel('X','FontSize',16,'Interpreter','latex')
- ylabel('Y','FontSize',16,'Interpreter','latex')
- zlabel('Z','FontSize',16,'Interpreter','latex')
- quiver3(-2*r_PhSun(1)*units.lsf,-2*r_PhSun(2)*units.lsf,-2*r_PhSun(3)*units.lsf,...
- r_PhSun(1)*units.lsf,r_PhSun(2)*units.lsf,r_PhSun(3)*units.lsf,'LineWidth',1.5,'Color','g')
- plot3(-2*r_PhSun(1)*units.lsf,-2*r_PhSun(2)*units.lsf,-2*r_PhSun(3)*units.lsf, '*','Color','g','MarkerSize',20)
- quiver3(r_sb_Ph(1),r_sb_Ph(2),r_sb_Ph(3),...
- -r_sb_Ph(1)/units.tsf,-r_sb_Ph(2)/units.tsf,-r_sb_Ph(3)/units.tsf,'LineWidth',1.5,'Color','r')
- plotCamera('location',r_sb_Ph,'orientation',R_CV,'Color','r')
-
- figure()
- grid on
- axis equal
- hold on
- plot(Y_pix(1,:), Y_pix(2,:), 'o', 'Color', 'r');
- xlabel('X','FontSize',16,'Interpreter','latex')
- ylabel('Y','FontSize',16,'Interpreter','latex')
- xlim([0, 2*pars.camera_intrinsic(3,1)])
- ylim([0, 2*pars.camera_intrinsic(3,2)])
+
+%% Plot of the Resulting sceene
+
+% PlotGeometryAndLight(points, point_in_light, visible, r_sb_Ph, r_PhSun, pars, units);
+% Plotfeatures_Pic(Y_pix, pars);
end
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