Class CraterDataLoader

Class Documentation

class CraterDataLoader

Public Static Functions

static std::vector<Crater> LoadCraters(const std::string &filename = "lunar_crater_database_robbins_2018.csv", const std::pair<double, double> *latlims = nullptr, const std::pair<double, double> *longlims = nullptr, const std::pair<double, double> &diamlims = {0.0, 500.0}, const double ellipse_limit = 1.5, const double arc_lims = 0.0)

Load and filter lunar crater records from a Robbins-format crater database CSV.

Used by surface/rover environment models to build a catalog of lunar craters as landmark/feature candidates (e.g. for terrain-relative navigation or crater-detection measurement models). Reads filename from the bundled surface data directory and keeps only craters that pass all of the supplied region/size/shape filters.

Parameters:

  • filename – Name of the crater database CSV file (Robbins 2018 format), resolved relative to the bundled lunar surface data directory.

  • latlims – Optional [min, max] latitude bounds [deg]; craters outside this range are excluded. If nullptr, no latitude filtering is applied.

  • longlims – Optional [min, max] longitude bounds [deg]; craters outside this range are excluded. If nullptr, no longitude filtering is applied.

  • diamlims – [min, max] crater diameter bounds [km]; craters with major-axis diameter outside this range are excluded (default: [0, 500] km).

  • ellipse_limit – Maximum allowed major/minor diameter ratio; craters more elongated than this (i.e. less circular) are excluded (default: 1.5).

  • arc_lims – Minimum required fraction of the crater rim arc that was imaged/ digitized in the source database; craters below this threshold are excluded (default: 0.0, i.e. no filtering).

Returns:

Filtered list of Crater records (lat/lon [deg], major/minor diameters [km], ellipse angle, and database ID).

static void ExtractRobbinsDataset(const std::vector<Crater> &craters, Eigen::VectorXd &lat, Eigen::VectorXd &lon, Eigen::VectorXd &major, Eigen::VectorXd &minor, Eigen::VectorXd &psi, std::vector<std::string> &crater_id, bool radians = true)

Split a list of Crater records into parallel column vectors for vectorized use.

Used to convert the per-crater records returned by LoadCraters into the flat Eigen vector form expected by crater-matching/landmark-based measurement and navigation routines.

Parameters:

  • craters – Crater records to extract, as returned by LoadCraters.

  • lat – Output latitude of each crater [deg, or rad if radians is true].

  • lon – Output longitude of each crater [deg, or rad if radians is true].

  • major – Output major-axis diameter of each crater [km].

  • minor – Output minor-axis diameter of each crater [km].

  • psi – Output ellipse orientation angle of each crater [deg, or rad if radians is true].

  • crater_id – Output database ID string of each crater.

  • radians – If true, lat/lon/psi are converted to radians; otherwise left in degrees (default: true).