Convert between undistorted focal plane coordinate (slant range) and ground coordinates. More...

#include <RadarGroundMap.h>

Inheritance diagram for Isis::RadarGroundMap:

Collaboration diagram for Isis::RadarGroundMap:

Public Types
enum	PartialType { WRT_Latitude, WRT_Longitude, WRT_Radius }

Public Member Functions
	RadarGroundMap (Camera *parent, Radar::LookDirection ldir, double waveLength)

virtual	~RadarGroundMap ()
	Destructor.

virtual bool	SetFocalPlane (const double ux, const double uy, const double uz)
	Compute ground position from slant range.

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

void	SetRangeSigma (double rangeSigma)
	Set the range sigma.

double	RangeSigma ()
	Return the range sigma.

void	SetDopplerSigma (double dopplerSigma)
	Set the doppler sigma.

double	YScale ()
	Return the doppler sigma.

double	WaveLength ()
	Return the wavelength.

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	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.

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
double	p_focalPlaneX

double	p_focalPlaneY

Private Member Functions
double	ComputeXv (SpiceDouble X[3])

double	GetRadius (const Latitude &lat, const Longitude &lon)

bool	Iterate (SpiceDouble &R, const double &slantRangeSqr, const SpiceDouble c[], const SpiceDouble r[], SpiceDouble X[], SpiceDouble &lat, SpiceDouble &lon, const std::vector< double > &Xsc, const bool &useSlopeEqn, const double &slope)
	Iteration loop for computing ground position from slant range.

Private Attributes
Radar::LookDirection	p_lookDirection

double	p_tolerance

double	p_slantRange
	units are km

double	p_dopplerFreq
	units are hertz

double	p_timeTolerance

double	p_rangeSigma
	Scaling factor to convert meters to focal plane coord.

double	p_dopplerSigma
	Scaling factor to convert hertz to focal plane coord.

double	p_waveLength

std::vector< double >	p_lookB

std::vector< double >	p_sB

double	p_groundSlantRange
	units are km

double	p_groundDopplerFreq
	units are hertz

Camera *	p_camera

Detailed Description

Convert between undistorted focal plane coordinate (slant range) and ground coordinates.

This class is used to convert between undistorted focal plane coordinate (the slant range) and ground coordinates lat/lon. This class handles the case of Radar instruments.

See Also: Camera

Author: 2008-06-16 Jeff Anderson

History:

2009-07-01 Janet Barrett - Fixed intrack, crosstrack, and radial coordinate calculations; changed boundary check to use radius instead of lat,lon; updated calculation of Doppler shift

2009-10-30 Debbie A. Cook - Fixed rotation of velocity vector in SetFocalPlane, SetGround, and ComputeXv

2009-11-10 Janet Barrett - Added iteration check to SetFocalPlane to take care of situation where DEM radius does not converge

2009-11-20 Janet Barrett - Added a check to the SetGround method to determine what side of the spacecraft the focal plane coordinate falls. This fixed the mirror image problem that occurred when projecting the image.

2009-12-14 Debbie A. Cook - Added ComputeXY method

2010-03-19 Debbe A. Cook - added class members p_wavelength, p_lookB, p_sB, p_slantRange, and p_dopplerFreq; and methods SlantRangeSigma, WaveLength, DopplerSigma, SetSlantRangeSigma, GetXY, GetXYdPosition, and GetXYdPoint. Removed method SetWeightFactors.

2010-08-05 Debbie A. Cook - changed to use Surface point class

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.

2010-12-17 Debbie A. Cook - Corrected units to kilometers in GetXY

2012-01-03 Janet Barrett - Got rid of call to SetLookDirection in the SetFocalPlane method. The call to SetLookDirection was duplicating the functionality of the SetFocalPlane method.

2012-01-04 Janet Barrett - Added check for valid radius in the SetGround method.

2012-01-27 Janet Barrett - The iterative algorithm in the SetFocalPlane method was failing on some points when using the DEM shape model. To fix this problem, I decreased the tolerance from 1E-8 to 1E-6 and increased the number of iterations from 30 to 100.

2012-04-03 Janet Barrett - The iteration code was moved to its own method so that it can be run multiple times if necessary. The first iteration should suffice for those pixels that have shallow slopes. For those pixels that lie on steep slopes (up to 2x the incidence angle), then an additional iteration call is needed. In the future, we may need to add more calls to the iteration method if the slope is greater than 2x the incidence angle. The slope variable will need to be halved each time the iteration method is called until a solution is found. So, for example, if we needed to call the iteration method a third time, the slope variable would be set to .25.

2012-04-11 Janet Barrett - Removed call to SetLookDirection from the SetGround method.

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

2013-02-11 Debbie A. Cook, Fixed SetGround method by adding call to set the surface point in the ShapeModel so that photometric angles can be calculated. References #775

Definition at line 106 of file RadarGroundMap.h.

Constructor & Destructor Documentation

virtual Isis::RadarGroundMap::~RadarGroundMap ( )

inlinevirtual

Destructor.

Definition at line 111 of file RadarGroundMap.h.

Member Function Documentation

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

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)

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

inlineinherited

Return undistorted focal plane x.

Definition at line 113 of file CameraGroundMap.h.

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

double Isis::CameraGroundMap::FocalPlaneY ( ) const

inlineinherited

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
	)

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.

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::RadarGroundMap::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 from Isis::CameraGroundMap.

Definition at line 498 of file RadarGroundMap.cpp.

References p_dopplerSigma, p_groundDopplerFreq, p_groundSlantRange, and p_rangeSigma.

bool Isis::RadarGroundMap::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 from Isis::CameraGroundMap.

Definition at line 463 of file RadarGroundMap.cpp.

References Isis::Spice::bodyRotation(), Isis::SpicePosition::CoordinatePartial(), Isis::Spice::instrumentPosition(), p_dopplerSigma, p_groundDopplerFreq, p_groundSlantRange, p_rangeSigma, Isis::SpiceRotation::ReferenceVector(), and Isis::SpicePosition::VelocityPartial().

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

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.

Parameters

lat	Latitude in degrees
lon	Longitude in degrees
radius

Returns: conversion was successful

Definition at line 220 of file CameraGroundMap.cpp.

bool Isis::RadarGroundMap::GetXY	(	const SurfacePoint &	spoint,
		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/x/y and related radar parameter p_slantRange.

Parameters

spoint

Returns: conversion was successful

Reimplemented from Isis::CameraGroundMap.

Definition at line 368 of file RadarGroundMap.cpp.

References Isis::Spice::bodyRotation(), Isis::SpicePosition::Coordinate(), Isis::Spice::instrumentPosition(), Isis::Displacement::kilometers(), p_dopplerSigma, p_groundDopplerFreq, p_groundSlantRange, p_rangeSigma, Isis::SpiceRotation::ReferenceVector(), and Isis::SpicePosition::Velocity().

bool Isis::RadarGroundMap::Iterate	(	SpiceDouble &	R,
		const double &	slantRangeSqr,
		const SpiceDouble	c[],
		const SpiceDouble	r[],
		SpiceDouble	X[],
		SpiceDouble &	lat,
		SpiceDouble &	lon,
		const std::vector< double > &	Xsc,
		const bool &	useSlopeEqn,
		const double &	slope
	)