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Convert between undistorted focal plane and ground coordinates. More...
#include <PushFrameCameraGroundMap.h>
Public Types | |
enum | PartialType { WRT_Latitude, WRT_Longitude, WRT_Radius } |
Public Member Functions | |
PushFrameCameraGroundMap (Camera *cam, bool evenFramelets) | |
This is the constructor for the push frame ground map. | |
virtual | ~PushFrameCameraGroundMap () |
Destructor. | |
virtual bool | SetGround (const Latitude &lat, const Longitude &lon) |
Compute undistorted focal plane coordinate from ground position. | |
virtual bool | SetGround (const SurfacePoint &surfacePt) |
Compute undistorted focal plane coordinate from ground position that includes a local radius. | |
virtual bool | SetFocalPlane (const double ux, const double uy, const double uz) |
Compute ground position from focal plane coordinate. | |
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 | |
double | FindDistance (int framelet, const SurfacePoint &surfacePoint) |
This method finds the distance from the center of the framelet to the lat,lon. | |
double | FindSpacecraftDistance (int framelet, const SurfacePoint &surfacePoint) |
This method finds the distance from the point on the ground to the spacecraft at the time the specified framelet was taken. | |
Private Attributes | |
bool | p_evenFramelets |
True if the file contains even framelets. | |
Convert between undistorted focal plane and ground coordinates.
This class is used to convert between undistorted focal plane coordinates (x/y) in millimeters and ground coordinates lat/lon for line scan cameras.
2008-06-18 Steven Lambright Fixed documentation
2008-10-23 Steven Lambright Added optimizations, fixed misc bugs
2009-11-19 Steven Lambright Removed linear search offset
2009-12-07 Steven Lambright Increased liklihood that our spacecraft distance correctly minimizes for LRO
2014-04-17 Jeannie Backer - Added padding to bring closer to ISIS coding standards. References #1659.
Definition at line 51 of file PushFrameCameraGroundMap.h.
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inline |
This is the constructor for the push frame ground map.
cam | Pointer to the camera |
evenFramelets | True if the image contains even framelets |
Definition at line 59 of file PushFrameCameraGroundMap.h.
References p_evenFramelets.
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inlinevirtual |
Destructor.
Definition at line 65 of file PushFrameCameraGroundMap.h.
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inherited |
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)
look | look vector in camera frame |
dlook | derivative of look vector in camera frame |
index | vector value to differentiate |
Definition at line 385 of file CameraGroundMap.cpp.
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private |
This method finds the distance from the center of the framelet to the lat,lon.
The distance is only in the line direction and is squared.
framelet | |
lat | |
lon |
Definition at line 163 of file PushFrameCameraGroundMap.cpp.
References Isis::CameraFocalPlaneMap::DetectorLine(), Isis::Camera::DetectorMap(), Isis::CameraFocalPlaneMap::DetectorSample(), Isis::Camera::DistortionMap(), Isis::Camera::FocalLength(), Isis::Camera::FocalPlaneMap(), Isis::CameraDistortionMap::FocalPlaneX(), Isis::CameraDistortionMap::FocalPlaneY(), Isis::PushFrameCameraDetectorMap::frameletHeight(), Isis::PushFrameCameraDetectorMap::frameletLine(), Isis::CameraDetectorMap::LineScaleFactor(), Isis::PushFrameCameraDetectorMap::SetDetector(), Isis::CameraFocalPlaneMap::SetFocalPlane(), Isis::PushFrameCameraDetectorMap::SetFramelet(), and Isis::CameraDistortionMap::SetUndistortedFocalPlane().
Referenced by SetGround().
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private |
This method finds the distance from the point on the ground to the spacecraft at the time the specified framelet was taken.
framelet | Which framelet was being captured (determines time) |
lat | Latitude of the point on the ground |
lon | Longitude of the point on the ground |
Definition at line 202 of file PushFrameCameraGroundMap.cpp.
References Isis::Camera::DetectorMap(), Isis::PushFrameCameraDetectorMap::SetFramelet(), and Isis::Sensor::SlantDistance().
Referenced by SetGround().
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inlineinherited |
Return undistorted focal plane x.
Definition at line 113 of file CameraGroundMap.h.
Referenced by Isis::Camera::RawFocalPlanetoImage().
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inlineinherited |
Return undistorted focal plane y.
Definition at line 118 of file CameraGroundMap.h.
Referenced by Isis::Camera::RawFocalPlanetoImage().
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virtualinherited |
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.
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 |
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().
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virtualinherited |
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.
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 |
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().
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virtualinherited |
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.
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 |
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().
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virtualinherited |
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.
point |
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().
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virtualinherited |
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.
Definition at line 220 of file CameraGroundMap.cpp.
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inherited |
Compute derivative with respect to indicated variable of conversion function from lat/lon/rad to rectangular coord.
lat | planetocentric latitude in degrees |
lon | planetocentric longitude in degrees |
radius | local radius in meters |
wrt | take derivative with respect to this value |
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().
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virtualinherited |
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.
ux | distorted focal plane x in millimeters |
uy | distorted focal plane y in millimeters |
uz | distorted focal plane z in millimeters |
Reimplemented in Isis::RadarGroundMap, and Isis::VimsGroundMap.
Definition at line 55 of file CameraGroundMap.cpp.
Referenced by Isis::Camera::SetImage().
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virtual |
Compute undistorted focal plane coordinate from ground position.
lat | |
lon |
Reimplemented from Isis::CameraGroundMap.
Definition at line 44 of file PushFrameCameraGroundMap.cpp.
References Isis::Camera::DetectorMap(), FindDistance(), FindSpacecraftDistance(), Isis::Sensor::LocalRadius(), p_evenFramelets, Isis::PushFrameCameraDetectorMap::SetFramelet(), Isis::CameraGroundMap::SetGround(), and Isis::PushFrameCameraDetectorMap::TotalFramelets().
Referenced by SetGround().
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virtual |
Compute undistorted focal plane coordinate from ground position that includes a local radius.
lat | planetocentric latitude in degrees |
lon | planetocentric longitude in degrees |
radius | local radius in meters |
Reimplemented from Isis::CameraGroundMap.
Definition at line 148 of file PushFrameCameraGroundMap.cpp.
References Isis::SurfacePoint::GetLatitude(), Isis::SurfacePoint::GetLongitude(), and SetGround().
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private |
True if the file contains even framelets.
Definition at line 75 of file PushFrameCameraGroundMap.h.
Referenced by PushFrameCameraGroundMap(), and SetGround().