Convert between undistorted focal plane and ground coordinates. More...

#include <CameraGroundMap.h>

Inheritance diagram for Isis::CameraGroundMap:

Collaboration diagram for Isis::CameraGroundMap:

Public Types
enum	PartialType { WRT_Latitude, WRT_Longitude, WRT_Radius }

Public Member Functions
	CameraGroundMap (Camera *parent)

virtual	~CameraGroundMap ()
	Destructor.

virtual bool	SetFocalPlane (const double ux, const double uy, const double uz)
	Compute ground position from focal plane coordinate.

virtual bool	SetGround (const Latitude &lat, const Longitude &lon)
	Compute undistorted focal plane coordinate from ground position.

virtual bool	SetGround (const SurfacePoint &surfacePoint)
	Compute undistorted focal plane coordinate from ground position that includes a local radius.

virtual bool	GetXY (const SurfacePoint &spoint, double cudx, double cudy)
	Compute undistorted focal plane coordinate from ground position using current Spice from SetImage call.

virtual bool	GetXY (const double lat, const double lon, const double radius, double cudx, double cudy)
	Compute undistorted focal plane coordinate from ground position using current Spice from SetImage call.

virtual bool	GetdXYdPosition (const SpicePosition::PartialType varType, int coefIndex, double cudx, double cudy)
	Compute derivative w/r to position of focal plane coordinate from ground position using current Spice from SetImage call.

virtual bool	GetdXYdOrientation (const SpiceRotation::PartialType varType, int coefIndex, double cudx, double cudy)
	Compute derivative of focal plane coordinate w/r to orientation from ground position using current Spice from SetImage call.

virtual bool	GetdXYdPoint (std::vector< double > d_lookB, double cudx, double cudy)
	Compute derivative of focal plane coordinate w/r to ground point from ground position using current Spice from SetImage call.

std::vector< double >	PointPartial (SurfacePoint spoint, PartialType wrt)
	Compute derivative with respect to indicated variable of conversion function from lat/lon/rad to rectangular coord.

double	DQuotient (std::vector< double > &look, std::vector< double > &dlook, int index)
	Convenience method for quotient rule applied to look vector.

double	FocalPlaneX () const
	Return undistorted focal plane x.

double	FocalPlaneY () const
	Return undistorted focal plane y.

Protected Attributes
Camera *	p_camera

double	p_focalPlaneX

double	p_focalPlaneY

Private Member Functions
void	LookCtoFocalPlaneXY ()
	Calculate focalplane x/y from lookvector in camera.

Private Attributes
std::vector< double >	p_lookJ
	Look vector in J2000 calculated from ground coordinates in GetXY and used for partials.

Detailed Description

Convert between undistorted focal plane and ground coordinates.

This base class is used to convert between undistorted focal plane coordinates (x/y) in millimeters and ground coordinates lat/lon. This class handles the case of framing cameras.

See Also: Camera

Author: 2005-02-08 Jeff Anderson

History:

2005-11-16 Jeff Anderson Fixed bug in SetGround not setting the proper boolean return value

2007-06-11 Debbie A. Cook - Added overloaded method SetGround that includes a radius argument and the method LookCtoFocalPlaneXY() to handle the common functionality between the SetGround methods

2008-07-14 Steven Lambright Added NaifStatus calls

2009-10-14 Debbie A. Cook Added new virtual method GetXY(lat,lon,radius, lookJ)

2009-11-27 Debbie A. Cook Modified virtual method GetXY(lat,lon,radius,lookJ,cudx,cudy)

2010-03-19 Debbie A. Cook Modified virtual method to return cudx and cudy; added methods GetdXYdPosition, GetdXYdOrientation, GetdXYdPoint, PointPartial, and DQuotient; and added members PartialType (from BundleAdjust) and p_lookJ.

2010-08-05 Debbie A. Cook Added another version of GetXY to support changes from binary control net upgrade

2010-11-22 Debbie A. Cook Moved PointPartial call out of GetdXYdPoint to allow BundleAdjust to avoid multiple calls for every measure. The application must call PointPartial to get the body-fixed look vector derivative prior to calling this method.

2011-02-09 Steven Lambright SetGround now uses the Latitude, Longitude and SurfacePoint classes.

2011-03-18 Debbie A. Cook Added reference to surface point in GetXY

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

2012-10-10 Debbie A. Cook Modified to use new Target class. References Mantis ticket #775 and #1114.

2013-02-22 Debbie A. Cook Fixed LookCtoFocalPlaneXY method to properly handle instruments with a look direction along the negative z axis. Fixes Mantis ticket #1524

2014-04-17 Jeannie Backer - Replaced local variable names with more descriptive names. References #1659.

Definition at line 79 of file CameraGroundMap.h.

Constructor & Destructor Documentation

virtual Isis::CameraGroundMap::~CameraGroundMap ( )

inlinevirtual

Destructor.

Definition at line 84 of file CameraGroundMap.h.

Member Function Documentation

double Isis::CameraGroundMap::DQuotient	(	std::vector< double > &	look,
		std::vector< double > &	dlook,
		int	index
	)

Convenience method for quotient rule applied to look vector.

This method will compute the derivative of the following function (coordinate x or y) / (coordinate z)

Parameters

look	look vector in camera frame
dlook	derivative of look vector in camera frame
index	vector value to differentiate

Returns: derivative

Definition at line 385 of file CameraGroundMap.cpp.

double Isis::CameraGroundMap::FocalPlaneX ( ) const

inline

Return undistorted focal plane x.

Definition at line 113 of file CameraGroundMap.h.

Referenced by Isis::Camera::RawFocalPlanetoImage().

double Isis::CameraGroundMap::FocalPlaneY ( ) const

inline

Return undistorted focal plane y.

Definition at line 118 of file CameraGroundMap.h.

Referenced by Isis::Camera::RawFocalPlanetoImage().

bool Isis::CameraGroundMap::GetdXYdOrientation	(	const SpiceRotation::PartialType	varType,
		int	coefIndex,
		double *	dx,
		double *	dy
	)

virtual

Compute derivative of focal plane coordinate w/r to orientation from ground position using current Spice from SetImage call.

This method will compute the derivative of the undistorted focal plane coordinate for a ground position with respect to the instrument orientation, using the current Spice settings (time and kernels) without resetting the current point values for lat/lon/radius/x/y.

Parameters

varType	enumerated partial type (definitions in SpicePosition)
coefIndex	coefficient index of fit polynomial
*dx	pointer to partial derivative of undistorted focal plane x
*dy	pointer to partial derivative of undistorted focal plane y

Returns: conversion was successful

Definition at line 280 of file CameraGroundMap.cpp.

References Isis::SpiceRotation::ReferenceVector(), and Isis::SpiceRotation::ToReferencePartial().

Referenced by Isis::BundleAdjust::AddPartials(), and Isis::BundleAdjust::ComputePartials_DC().

bool Isis::CameraGroundMap::GetdXYdPoint	(	std::vector< double >	d_lookB,
		double *	dx,
		double *	dy
	)

virtual

Compute derivative of focal plane coordinate w/r to ground point from ground position using current Spice from SetImage call.

This method will compute the derivative of the undistorted focal plane coordinate for a ground position with respect to lat, lon, or radius, using the current Spice settings (time and kernels) without resetting the current point values for lat/lon/radius/x/y.

Parameters

varType	enumerated partial type (definitions in SpicePosition)
coefIndex	coefficient index of fit polynomial
*dx	pointer to partial derivative of undistorted focal plane x
*dy	pointer to partial derivative of undistorted focal plane y

Returns: conversion was successful

Reimplemented in Isis::RadarGroundMap.

Definition at line 312 of file CameraGroundMap.cpp.

References Isis::SpiceRotation::J2000Vector(), and Isis::SpiceRotation::ReferenceVector().

Referenced by Isis::BundleAdjust::AddPartials(), and Isis::BundleAdjust::ComputePartials_DC().

bool Isis::CameraGroundMap::GetdXYdPosition	(	const SpicePosition::PartialType	varType,
		int	coefIndex,
		double *	dx,
		double *	dy
	)

virtual

Compute derivative w/r to position of focal plane coordinate from ground position using current Spice from SetImage call.

This method will compute the derivative of the undistorted focal plane coordinate for a ground position with respect to a spacecraft position coordinate, using the current Spice settings (time and kernels) without resetting the current point values for lat/lon/radius/x/y.

Parameters

varType	enumerated partial type (definitions in SpicePosition)
coefIndex	coefficient index of fit polynomial
*dx	pointer to partial derivative of undistorted focal plane x
*dy	pointer to partial derivative of undistorted focal plane y

Returns: conversion was successful

Reimplemented in Isis::RadarGroundMap.

Definition at line 243 of file CameraGroundMap.cpp.

References Isis::SpicePosition::CoordinatePartial(), and Isis::SpiceRotation::ReferenceVector().

Referenced by Isis::BundleAdjust::AddPartials(), and Isis::BundleAdjust::ComputePartials_DC().

bool Isis::CameraGroundMap::GetXY	(	const SurfacePoint &	point,
		double *	cudx,
		double *	cudy
	)

virtual

Compute undistorted focal plane coordinate from ground position using current Spice from SetImage call.

This method will compute the undistorted focal plane coordinate for a ground position, using the current Spice settings (time and kernels) without resetting the current point values for lat/lon/radius/p_pB/x/y. The class value for p_look is set by this method.

Parameters

point

Returns: conversion was successful

Reimplemented in Isis::RadarGroundMap.

Definition at line 146 of file CameraGroundMap.cpp.

References Isis::Displacement::kilometers(), Isis::PI(), and Isis::SpiceRotation::ReferenceVector().

Referenced by Isis::BundleAdjust::AddPartials(), Isis::BundleAdjust::ComputePartials_DC(), Isis::ControlPoint::ComputeResiduals(), and Isis::ControlPoint::ComputeResiduals_Millimeters().

bool Isis::CameraGroundMap::GetXY	(	const double	lat,
		const double	lon,
		const double	radius,
		double *	cudx,
		double *	cudy
	)

virtual

Compute undistorted focal plane coordinate from ground position using current Spice from SetImage call.

This method will compute the undistorted focal plane coordinate for a ground position, using the current Spice settings (time and kernels) without resetting the current point values for lat/lon/radius/p_pB/x/y. The class value for p_look is set by this method.

Parameters

lat	Latitude in degrees
lon	Longitude in degrees
radius

Returns: conversion was successful

Definition at line 220 of file CameraGroundMap.cpp.

void Isis::CameraGroundMap::LookCtoFocalPlaneXY ( )

private

Calculate focalplane x/y from lookvector in camera.

Compute undistorted focal plane coordinate from camera look vector.

Definition at line 105 of file CameraGroundMap.cpp.

std::vector< double > Isis::CameraGroundMap::PointPartial	(	SurfacePoint	spoint,
		PartialType	wrt
	)

Compute derivative with respect to indicated variable of conversion function from lat/lon/rad to rectangular coord.

Parameters

lat	planetocentric latitude in degrees
lon	planetocentric longitude in degrees
radius	local radius in meters
wrt	take derivative with respect to this value

Returns: partialDerivative

Definition at line 343 of file CameraGroundMap.cpp.

References Isis::SurfacePoint::GetLatitude(), Isis::SurfacePoint::GetLocalRadius(), Isis::SurfacePoint::GetLongitude(), Isis::Distance::kilometers(), and Isis::Angle::radians().

Referenced by Isis::BundleAdjust::AddPartials(), and Isis::BundleAdjust::ComputePartials_DC().

bool Isis::CameraGroundMap::SetFocalPlane	(	const double	ux,
		const double	uy,
		const double	uz
	)

virtual

Compute ground position from focal plane coordinate.

This method will compute the ground position given an undistorted focal plane coordinate. Note that the latitude/longitude value can be obtained from the camera class passed into the constructor.

Parameters