Figure 7.1 The hub enclosure is a rigid fibre glass enclosure than contains three Black Spot modules as shown.
Figure 7.2 The functional blocks of the Soft Hub.
Soft-Hub design overview
The Soft Hub comprises four major parts (see Figure 7.2). These are the communications system, the pose algorithms, the logging system, and the user interface. The communi- cation system facilitates communications between the Soft Hub and the camera modules in the hub enclosure. In Figure 7.2, pose algorithms refers to all of the classes that relate directly to the problem of pose estimation. These are the classes that are used to produce a pose based on the data from the camera modules. The logging system allows data to be captured and analysed offline. The user interface displays the data available to the system and the output of the pose estimation algorithm. It also allows the user to interact with the system. Finally, logging allows the data from the camera modules and the pose output from the pose estimation algorithm to be written to a M TL B  file.