Yesterday we started working on translating the position of a lake in pixel on the camera to the x-y position of the lake with respect to the rover. Instead of the usual approach of using the camera position and goniometrics to derive the coordinates, we decided to create a lookup table to transform the camera output to coordinates. Below is a picture of what the camera sees with a grid superimposed on top. The nodes of the grid have certain pixel coordinates, and corresponding "real world coordinates". Using this data we created a lookup table and fitted parabolic functions in matlab to describe the camera's field of view for each "real world coordinate". By transforming the lookup tables into parabolic functions we avoid using vast amounts of memory for storage.
Below are the surface plots with on x and y the camera output in pixels and in z the corresponding distance in x & y in mm.
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