Convert between distorted focal plane and detector coordinates. More...

#include <CameraFocalPlaneMap.h>

Inheritance diagram for Isis::CameraFocalPlaneMap:

Collaboration diagram for Isis::CameraFocalPlaneMap:

Public Types
enum	FocalPlaneXDependencyType { Sample = 1, Line = 2 }
	Focal plane x dependency indicates whether the x value of the focal plane coordinate maps to a sample or a line. More...

Public Member Functions
	CameraFocalPlaneMap (Camera *parent, const int naifIkCode)
	Construct mapping between detectors and focal plane x/y.

	CameraFocalPlaneMap (const int naifIkCode)
	Construct mapping between detectors and focal plane x/y.

	CameraFocalPlaneMap (Camera *parent, Affine &affine)
	Added new method to allow programmer to pass in affine coefficients.

virtual	~CameraFocalPlaneMap ()
	Destructor.

virtual bool	SetDetector (const double sample, const double line)
	Compute distorted focal plane coordinate from detector position (sampel,line)

virtual bool	SetFocalPlane (const double dx, const double dy)
	Compute detector position (sample,line) from focal plane coordinates.

double	FocalPlaneX () const
	Return distorted focal plane x.

double	FocalPlaneY () const
	Return distorted focal plane y.

double	DetectorSample () const
	Return detector sample.

double	DetectorLine () const
	Return detector line.

double	CenteredDetectorSample () const
	Return centered detector sample.

double	CenteredDetectorLine () const
	Return centered detector line.

void	SetDetectorOrigin (const double sample, const double line)
	Set the detector origin.

double	DetectorLineOrigin () const
	Return detector line origin.

double	DetectorSampleOrigin () const
	Return detector sample origin.

void	SetDetectorOffset (const double sampleOffset, const double lineOffset)
	Set the detector offset.

double	DetectorLineOffset () const
	Return detector line offset.

double	DetectorSampleOffset () const
	Return detector sample offset.

void	SetTransL (const QVector< double > transL)
	Set the affine coefficients for converting destorted (x,y) to a detector Line.

void	SetTransS (const QVector< double > transS)
	Set the affine coefficients for converting destorted (x,y) to a detector Sample.

void	SetTransX (const QVector< double > transX)
	Set the affine coefficients for converting detector (sample,line) to a distorted X.

void	SetTransY (const QVector< double > transY)
	Set the affine coefficients for converting detector (sample,line) to a distorted Y.

const double *	TransL () const
	Return the affine coefficients for converting distorted (x,y) to a detector Line.

const double *	TransS () const
	Return the affine coefficients for converting distorted (x,y) to a detector Sample.

const double *	TransX () const
	Return the affine coefficients for converting detector (sample,line) to a distorted X.

const double *	TransY () const
	Return the affine coefficients for converting detector (sample,line) to distorted Y.

int	FocalPlaneXDependency ()
	Return the focal plane x dependency variable.

double	SignMostSigX ()
	Return the sign of the p_transx coefficient with the greatest magnitude.

double	SignMostSigY ()
	Return the sign of the p_transy coefficient with the greatest magnitude.

Protected Member Functions
void	ComputeCentered ()
	Convenience method to center detector origin (use when inheriting)

void	ComputeUncentered ()
	Convenience method to center detector origin (use when inheriting)

Protected Attributes
Camera *	p_camera

double	p_detectorLineOrigin

double	p_detectorSampleOrigin

double	p_focalPlaneX
	x value of focal plane coordinate

double	p_focalPlaneY
	y value of focal plane coordinate

double	p_detectorLine
	line value of the detector

double	p_detectorSample
	sample value of the detector

double	p_centeredDetectorSample

double	p_centeredDetectorLine

double	p_detectorLineOffset

double	p_detectorSampleOffset

double	p_transx [3]

double	p_transy [3]

double	p_itranss [3]

double	p_itransl [3]

Private Member Functions
void	Init (Camera *parent, const int naifIkCode)
	Initialize the focal plane map to its default state.

Detailed Description

Convert between distorted focal plane and detector coordinates.

This base class is used to convert between distorted focal plane coordinates (x/y) in millimeters and detector coordinates in pixels. The class expects to find a set of coefficients in the naif instrument (or instrument addendum) kernel that describe the transform from detector to focal plane and vice versa. The transform from detector to focal plane is:

x = transx[0] + sample * transx[1] + line * transx[2];
y = transy[0] + sample * transy[1] + line * transy[2];
where, transx and transy are the coefficients from the naif kernel.
The should be in the form of:
INSxxxxxx_TRANSX = ( a, b, c)
INSxxxxxx_TRANSY = ( d, e, f)
where, xxxxxx is the NAIF instrument id code.

Likewise, the inverse transform is:

samp = itranss[0] + x * itranss[1] + y * itranss[2];
line = itransl[0] + x * itransl[1] + y * itransl[2];
where, itranss and itranss are the coefficients from the naif kernel.
The should be in the form of:
INSxxxxxx_ITRANSS = ( a, b, c)
INSxxxxxx_ITRANSL = ( d, e, f)
where, xxxxxx is the NAIF instrument id code.

Author: 2005-02-05 Jeff Anderson

See Also: Camera

History:

2007-02-13 Debbie A. Cook - Added methods SignMostSigX() and SignMostSigY()

2011-05-25 Janet Barrett and Steven Lambright - Spice::GetDouble is no longer static.

2012-07-06 Debbie A. Cook, Updated Spice members to be more compliant with Isis coding standards. References #972.

2012-11-21 Jeannie Backer - Added accesssor methods: TransX(), TransY(), TransS(), and TransL(). These are tested by application hideal2pds since no unitTest exists. Fixed indentation of history entries, order of includes, moved method implementations to cpp, and fixed control statement padding to be more compliant with Isis standards. Added documentation to member variables.References #678.

2014-03-27 Jeff Anderson - Added constructor which takes an Affine transform instead of only reading from NAIF kernels to obtain the transform. This is required for non-NAIF instruments such as Aerial photos.

Definition at line 100 of file CameraFocalPlaneMap.h.

Member Enumeration Documentation

enum Isis::CameraFocalPlaneMap::FocalPlaneXDependencyType

Focal plane x dependency indicates whether the x value of the focal plane coordinate maps to a sample or a line.

Enumerator
Sample	The x value of the focal plane maps to a sample.
Line	The x value of the focal plane maps to a line.

Definition at line 138 of file CameraFocalPlaneMap.h.

Constructor & Destructor Documentation

Isis::CameraFocalPlaneMap::CameraFocalPlaneMap	(	Camera *	parent,
		const int	naifIkCode
	)

Construct mapping between detectors and focal plane x/y.

Parameters

parent	parent camera that will use this map
naifIkCode	code of the naif instrument for reading coefficients

Definition at line 41 of file CameraFocalPlaneMap.cpp.

References Init().

Isis::CameraFocalPlaneMap::CameraFocalPlaneMap ( const int naifIkCode )

Construct mapping between detectors and focal plane x/y.

Parameters

naifIkCode code of the naif instrument for reading coefficients

Definition at line 51 of file CameraFocalPlaneMap.cpp.

References Init().

Isis::CameraFocalPlaneMap::CameraFocalPlaneMap	(	Camera *	parent,
		Affine &	affine
	)

Added new method to allow programmer to pass in affine coefficients.

Author: janderson (3/25/2014)

Parameters

parent	Parent camera
affine	Affine transform containing the coefficients for both transforms to (samp,line) to (x,y) and reverse

Definition at line 65 of file CameraFocalPlaneMap.cpp.

References Isis::Affine::Coefficients(), Isis::Affine::InverseCoefficients(), and Isis::Camera::SetFocalPlaneMap().

Isis::CameraFocalPlaneMap::~CameraFocalPlaneMap ( )

virtual

Destructor.

Definition at line 98 of file CameraFocalPlaneMap.cpp.

Member Function Documentation

double Isis::CameraFocalPlaneMap::CenteredDetectorLine ( ) const

Return centered detector line.

Definition at line 283 of file CameraFocalPlaneMap.cpp.

double Isis::CameraFocalPlaneMap::CenteredDetectorSample ( ) const

Return centered detector sample.

Definition at line 277 of file CameraFocalPlaneMap.cpp.

void Isis::CameraFocalPlaneMap::ComputeCentered ( )

protected

Convenience method to center detector origin (use when inheriting)

Definition at line 400 of file CameraFocalPlaneMap.cpp.

References p_detectorLine, and p_detectorSample.

Referenced by SetDetector().

void Isis::CameraFocalPlaneMap::ComputeUncentered ( )

protected

Convenience method to center detector origin (use when inheriting)

Definition at line 407 of file CameraFocalPlaneMap.cpp.

References p_detectorLine, and p_detectorSample.

Referenced by SetFocalPlane().

double Isis::CameraFocalPlaneMap::DetectorLine ( ) const

Return detector line.

Definition at line 271 of file CameraFocalPlaneMap.cpp.

References p_detectorLine.

Referenced by Isis::ControlPoint::ComputeResiduals(), Isis::PushFrameCameraGroundMap::FindDistance(), Isis::Camera::RawFocalPlanetoImage(), Isis::LoMediumDistortionMap::SetDistortion(), Isis::LoMediumDistortionMap::SetFocalPlane(), Isis::Camera::SetRightAscensionDeclination(), Isis::LineScanCameraSkyMap::SetSky(), and Isis::LoMediumDistortionMap::SetUndistortedFocalPlane().

double Isis::CameraFocalPlaneMap::DetectorLineOffset ( ) const

Return detector line offset.

Definition at line 332 of file CameraFocalPlaneMap.cpp.

Referenced by Isis::VariableLineScanCameraDetectorMap::SetParent(), Isis::LineScanCameraDetectorMap::SetParent(), and Isis::LineScanCameraSkyMap::SetSky().

double Isis::CameraFocalPlaneMap::DetectorLineOrigin ( ) const

Return detector line origin.

Definition at line 304 of file CameraFocalPlaneMap.cpp.

Referenced by Isis::ReseauDistortionMap::SetFocalPlane(), and Isis::ReseauDistortionMap::SetUndistortedFocalPlane().

double Isis::CameraFocalPlaneMap::DetectorSample ( ) const

Return detector sample.

Definition at line 265 of file CameraFocalPlaneMap.cpp.

References p_detectorSample.

Referenced by Isis::ControlPoint::ComputeResiduals(), Isis::PushFrameCameraGroundMap::FindDistance(), Isis::Camera::RawFocalPlanetoImage(), Isis::LoMediumDistortionMap::SetDistortion(), Isis::LoMediumDistortionMap::SetFocalPlane(), Isis::Camera::SetRightAscensionDeclination(), and Isis::LoMediumDistortionMap::SetUndistortedFocalPlane().

double Isis::CameraFocalPlaneMap::DetectorSampleOffset ( ) const

Return detector sample offset.

Definition at line 338 of file CameraFocalPlaneMap.cpp.

double Isis::CameraFocalPlaneMap::DetectorSampleOrigin ( ) const

Return detector sample origin.

Definition at line 310 of file CameraFocalPlaneMap.cpp.

Referenced by Isis::ReseauDistortionMap::SetFocalPlane(), and Isis::ReseauDistortionMap::SetUndistortedFocalPlane().

double Isis::CameraFocalPlaneMap::FocalPlaneX ( ) const

Return distorted focal plane x.

Definition at line 253 of file CameraFocalPlaneMap.cpp.

References p_focalPlaneX.

Referenced by Isis::LoMediumDistortionMap::SetFocalPlane(), Isis::Camera::SetImage(), and Isis::LoMediumDistortionMap::SetUndistortedFocalPlane().

int Isis::CameraFocalPlaneMap::FocalPlaneXDependency ( )

Return the focal plane x dependency variable.

This method returns the image variable (sample or line) on which the focal plane x depends.

Returns: dependency variable

Definition at line 198 of file CameraFocalPlaneMap.cpp.

References Line, and Sample.

double Isis::CameraFocalPlaneMap::FocalPlaneY ( ) const

Return distorted focal plane y.

Definition at line 259 of file CameraFocalPlaneMap.cpp.

References p_focalPlaneY.

Referenced by Isis::LoMediumDistortionMap::SetFocalPlane(), Isis::Camera::SetImage(), and Isis::LoMediumDistortionMap::SetUndistortedFocalPlane().

void Isis::CameraFocalPlaneMap::Init	(	Camera *	parent,
		const int	naifIkCode
	)

private

Initialize the focal plane map to its default state.

Parameters

parent	Parent camera
naifIkCode	code of the naif instrument for reading coefficients

Definition at line 108 of file CameraFocalPlaneMap.cpp.

References Isis::Spice::getDouble(), Isis::Camera::SetFocalPlaneMap(), and Isis::toString().

Referenced by CameraFocalPlaneMap().

bool Isis::CameraFocalPlaneMap::SetDetector	(	const double	sample,
		const double	line
	)

virtual

Compute distorted focal plane coordinate from detector position (sampel,line)

This method will compute both the distorted focal plane x/y and centered detector position given a detector position

Parameters

sample	undistorted focal plane x in millimeters
line	undistorted focal plane y in millimeters

Returns: conversion was successful

Definition at line 180 of file CameraFocalPlaneMap.cpp.

References ComputeCentered(), p_detectorLine, p_detectorSample, p_focalPlaneX, and p_focalPlaneY.

Referenced by Isis::LoMediumDistortionMap::SetFocalPlane(), Isis::Camera::SetImage(), and Isis::LoMediumDistortionMap::SetUndistortedFocalPlane().

void Isis::CameraFocalPlaneMap::SetDetectorOffset	(	const double	sampleOffset,
		const double	lineOffset
	)

Set the detector offset.

This is used to set the offset between the detector origin and the average location in detector pixels where the image is being viewed. If not set the offset are both 0.0

Parameters

sampleOffset	sample offset in pixels
lineOffset	sample offset in lines

Definition at line 324 of file CameraFocalPlaneMap.cpp.

Referenced by Isis::ApolloPanoramicCamera::ApolloPanoramicCamera(), Isis::Chandrayaan1M3Camera::Chandrayaan1M3Camera(), Isis::CrismCamera::CrismCamera(), Isis::CTXCamera::CTXCamera(), Isis::HiriseCamera::HiriseCamera(), Isis::KaguyaMiCamera::KaguyaMiCamera(), Isis::LroNarrowAngleCamera::LroNarrowAngleCamera(), Isis::MocNarrowAngleCamera::MocNarrowAngleCamera(), Isis::MocWideAngleCamera::MocWideAngleCamera(), Isis::ThemisIrCamera::SetBand(), and Isis::ThemisIrCamera::ThemisIrCamera().

void Isis::CameraFocalPlaneMap::SetDetectorOrigin	(	const double	sample,
		const double	line
	)

Set the detector origin.

This is used to set the origin of the detector. Typically the middle of the detector. For example, a 512x512 dectector would have the origin at (256.5,256.5). If not set both are 0.

Parameters

sample	detector sample at the origin
line	detector line at the origin

Definition at line 297 of file CameraFocalPlaneMap.cpp.

Referenced by Isis::AmicaCamera::AmicaCamera(), Isis::ApolloMetricCamera::ApolloMetricCamera(), Isis::ApolloPanoramicCamera::ApolloPanoramicCamera(), Isis::Chandrayaan1M3Camera::Chandrayaan1M3Camera(), Isis::CrismCamera::CrismCamera(), Isis::CTXCamera::CTXCamera(), Isis::DawnFcCamera::DawnFcCamera(), Isis::HiresCamera::HiresCamera(), Isis::HiriseCamera::HiriseCamera(), Isis::HrscCamera::HrscCamera(), Isis::IdealCamera::IdealCamera(), Isis::IssNACamera::IssNACamera(), Isis::IssWACamera::IssWACamera(), Isis::KaguyaMiCamera::KaguyaMiCamera(), Isis::LoHighCamera::LoHighCamera(), Isis::LoMediumCamera::LoMediumCamera(), Isis::LroNarrowAngleCamera::LroNarrowAngleCamera(), Isis::LwirCamera::LwirCamera(), Isis::MarciCamera::MarciCamera(), Isis::Mariner10Camera::Mariner10Camera(), Isis::MdisCamera::MdisCamera(), Isis::MocNarrowAngleCamera::MocNarrowAngleCamera(), Isis::MocWideAngleCamera::MocWideAngleCamera(), Isis::MsiCamera::MsiCamera(), Isis::NewHorizonsLeisaCamera::NewHorizonsLeisaCamera(), Isis::NewHorizonsLorriCamera::NewHorizonsLorriCamera(), Isis::NewHorizonsMvicFrameCamera::NewHorizonsMvicFrameCamera(), Isis::NewHorizonsMvicTdiCamera::NewHorizonsMvicTdiCamera(), Isis::NirCamera::NirCamera(), Isis::ThemisIrCamera::SetBand(), Isis::LroWideAngleCamera::SetBand(), Isis::SsiCamera::SsiCamera(), Isis::ThemisIrCamera::ThemisIrCamera(), Isis::ThemisVisCamera::ThemisVisCamera(), Isis::UvvisCamera::UvvisCamera(), Isis::VikingCamera::VikingCamera(), and Isis::VoyagerCamera::VoyagerCamera().

bool Isis::CameraFocalPlaneMap::SetFocalPlane	(	const double	dx,
		const double	dy
	)

virtual

Compute detector position (sample,line) from focal plane coordinates.

NOTE: This is detector (sample, line) not necessarily image (sample, line). If the image was reformatted from what was collected the two differ. See the New Horizons LEISA camera for an example (LEISA is a frame camera being treated as a line scan camera).

This method will compute both the centered and normal detector position given a distorted focal plane coordinate.

Parameters

dx	distorted focal plane x in millimeters
dy	distorted focal plane y in millimeters

Returns: conversion was successful

Definition at line 159 of file CameraFocalPlaneMap.cpp.

References ComputeUncentered(), p_focalPlaneX, and p_focalPlaneY.

Referenced by Isis::ControlPoint::ComputeResiduals(), Isis::PushFrameCameraGroundMap::FindDistance(), Isis::Camera::RawFocalPlanetoImage(), Isis::LoMediumDistortionMap::SetDistortion(), Isis::LoMediumDistortionMap::SetFocalPlane(), Isis::Camera::SetRightAscensionDeclination(), Isis::LineScanCameraSkyMap::SetSky(), and Isis::LoMediumDistortionMap::SetUndistortedFocalPlane().

void Isis::CameraFocalPlaneMap::SetTransL ( const QVector< double > transL )

Set the affine coefficients for converting destorted (x,y) to a detector Line.

Definition at line 344 of file CameraFocalPlaneMap.cpp.

Referenced by Isis::NewHorizonsLeisaCamera::SetBand().

void Isis::CameraFocalPlaneMap::SetTransS ( const QVector< double > transS )

Set the affine coefficients for converting destorted (x,y) to a detector Sample.

Definition at line 352 of file CameraFocalPlaneMap.cpp.

Referenced by Isis::NewHorizonsLeisaCamera::SetBand().

void Isis::CameraFocalPlaneMap::SetTransX ( const QVector< double > transX )

Set the affine coefficients for converting detector (sample,line) to a distorted X.

Definition at line 360 of file CameraFocalPlaneMap.cpp.

Referenced by Isis::NewHorizonsLeisaCamera::SetBand().

void Isis::CameraFocalPlaneMap::SetTransY ( const QVector< double > transY )

Set the affine coefficients for converting detector (sample,line) to a distorted Y.

Definition at line 368 of file CameraFocalPlaneMap.cpp.

Referenced by Isis::NewHorizonsLeisaCamera::SetBand().

double Isis::CameraFocalPlaneMap::SignMostSigX ( )

Return the sign of the p_transx coefficient with the greatest magnitude.

This method returns a +1. or -1. based on the sign of the p_transx coefficient with the greatest magnitude. Only p_transx[1] and p_transx[2] are compared since p_transx[0] is used as a constant in the affine transformation.

Returns: sign of most significant coefficient

Definition at line 217 of file CameraFocalPlaneMap.cpp.

double Isis::CameraFocalPlaneMap::SignMostSigY ( )

Return the sign of the p_transy coefficient with the greatest magnitude.

This method returns a +1 or -1 based on the sign of the p_transy coefficient with the greatest magnitude. Only p_transy[1] and p_transy[2] are compared since p_transy[0] is used as a constant in the affine transformation.