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

#include <VimsGroundMap.h>

Inheritance diagram for Isis::VimsGroundMap:

Collaboration diagram for Isis::VimsGroundMap:

Public Types
enum	PartialType { WRT_Latitude, WRT_Longitude, WRT_Radius }

Public Member Functions
	VimsGroundMap (Camera *parent, Pvl &lab)
	Constructs the VimsGroundMap object.

virtual	~VimsGroundMap ()
	Destroys the VimsGroundMap object.

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.

void	Init (Pvl &lab)
	Initialize vims camera model.

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	LookDirection (double v[3])
	Determines the look direction in the camera coordinate system.

Private Attributes
SpiceDouble	p_etStart
	Start ephemeris time.

double	p_exposureDuration
	Exposure duration.

double	p_interlineDelay
	InterlineDelayDuration keyword value from the instrument group of the labels, divided by 1000

double	p_ux
	Distorted focal plane x, in millimeters.

double	p_uy
	Distorted focal plane y, in millimeters.

double	p_uz
	Distorted focal plane z, in millimeters.

double	p_xPixSize
	X pixel size.

double	p_yPixSize
	Y pixel size.

double	p_xBore
	X boresight.

double	p_yBore
	Y boresight.

QString	p_channel
	Channel keyword value from the instrument group of the labels.

double	p_visExp
	VIS exposure duration, divided by 1000.

double	p_irExp
	IR exposure duration, divided by 1000.

int	p_nsUv
	Normal or high resolution sample uv.

int	p_nlUv
	Normal or high resolution line uv.

int	p_swathWidth
	SwathWidth keyword value from the instrument group of the labels.

int	p_swathLength
	SwathLength keyword value from the instrument group of the labels.

int	p_camSampOffset
	Sample offset.

int	p_camLineOffset
	Line offset.

double	p_minX

double	p_maxX

double	p_minY

double	p_maxY

double	p_minZ

double	p_maxZ

QVector3D	p_xyzMap [64][64]

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; VimsCamera

Author: 2006-03-16 Tracie Sucharski

History:

2006-03-16 Tracie Sucharski Original version

2008-02-05 Tracie Sucharski, Replaced unitVector files with Rick McCloskey's code to calculate look direction.

2008-06-18 Steven Lambright Fixed documentation

2009-04-06 Steven Lambright Fixed problem that caused double deletion of sky map / ground map.

2009-08-06 Tracie Sucharski, Bug in unit vector change made on 2008-02-05, had the incorrect boresight for VIS Hires.

2011-02-08 Steven Lambright & Debbie Cook, Added WrapWorldToBeClose and refactored to use the Latitude and Longitude classes.

2011-05-03 Jeannie Walldren - Updated documentation. Removed Cassini namespace wrap inside Isis namespace.

2011-10-19 Steven Lambright - Added common sense check to constructor to at least provide a string explanation for why their program is going to crash when the original cube makes no sense. Since the exception is in the constructor the error will probably lead to an alternate seg fault.

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

2012-09-10 Ken Edmundson, Added new methods, SetGroundwithLatitudeLongitude and SetGroundwithRadiusLongitude to support rings data.

2012-12-03 Tracie Sucharski - Added error check to SetGround method. Returns false if none of the pixel centers in the cube intersect with the planet. Fixes #1306.

2013-07-24 Tracie Sucharski - Fix bug in camera model which causes a problems finding either north or south poles in images. References #1289.

2013-08-12 Tracie Sucharski - Change all computations base on latitude and longitude to x, y and z. This takes care of pole problems and improves accuracy. Fixes #1289.

2014-04-09 Tracie Sucharski - When changing the camera model from lat/lon to x/y/z calculations the range checking was removed. This caused extra pixels to be projected into incorrect positions when doing global projections. Range checking was put back in using x/y/z values. References #1289.

Definition at line 91 of file VimsGroundMap.h.

Constructor & Destructor Documentation

Isis::VimsGroundMap::VimsGroundMap	(	Camera *	parent,
		Pvl &	lab
	)

Constructs the VimsGroundMap object.

Parameters

parent	A pointer to the parent Camera object
lab	Pvl labels for the image

Definition at line 54 of file VimsGroundMap.cpp.

References _FILEINFO_, Isis::Camera::ParentLines(), Isis::Camera::ParentSamples(), and Isis::IException::Programmer.

Isis::VimsGroundMap::~VimsGroundMap ( )

virtual

Destroys the VimsGroundMap object.

Definition at line 76 of file VimsGroundMap.cpp.

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

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.

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
	)

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.

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
	)

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

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
	)

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.

void Isis::VimsGroundMap::Init ( Pvl & lab )

Initialize vims camera model.

Parameters

[in] lab (Pvl &) Cube Pvl label

Exceptions

iException::Io - "Cannot process NYQUIST(undersampled) mode "

History:

2007-04-16 Tracie Sucharski - Look for unit vectors in the proper directory.

2007-04-18 Tracie Sucharski, The inaccuracy of the 15 Mhz clock (exposure , interline_delay) is already taken care of in the labels values, so remove the adjustment from the code (exp * 1.01725). *Reference: email from John Ivens 11/27/2006.

2007-04-19 Tracie Sucharski, Swap bytes on unit vectors. They are currently LSB binary files. ???Todo:??? Convert unit vectors to text files.

2008-02-05 Tracie Sucharski, Replaced unitVector files with Rick McCloskey's code to calculate look direction.

2009-08-06 Tracie Sucharski, Bug in unit vector change made on 2008-02-05, had the incorrect boresight for VIS Hires.

2013-09-09 Tracie Sucharski, Turns out the times in the labels are NOT corrected, so the corrections NEED to happen in the code. There was discussion among UofA Vims and PDS about reproducing PDS archive with labels corrected, but the decision was made to perform the correction in the code and leave the archive alone. Some history: 08-23-2004 Rick McCloskey gave me the correction to put in the code since he said the label values were incorrect. 11-27-2006 John Ivens said the labels values were corrected, so I removed the correction factor from the code. For more info, See previous history entries: 2007-04-18.

2014-04-09 Tracie Sucharski - When converting the camera model from lat/lon to x/y/z calculations, the range check in the SetGround method was removed. When creating global projections, the pixel data would be replicated in incorrect locations due to the least squares fitting always finding a fit, even if it's incorrect. The range checking was added back in using x/y/z min/max values. However, this caused the pole not to be found, so the min/max z values are adjusted to include the pole if they are within 1 km of the pole. This value was chosen through trial and error, and I have concerns that this may need to be adjusted for images with different resolutions. I think it would just cause a few extra pixels at the edge worse case scenario.

Definition at line 128 of file VimsGroundMap.cpp.

References _FILEINFO_, Isis::Sensor::Coordinate(), Isis::iTime::Et(), Isis::PvlObject::findGroup(), Isis::Spice::getClockTime(), Isis::Camera::IgnoreProjection(), Isis::Distance::kilometers(), Isis::Null, p_camLineOffset, p_camSampOffset, p_channel, p_etStart, p_interlineDelay, p_irExp, p_swathLength, p_swathWidth, p_visExp, p_xBore, p_xPixSize, p_yBore, p_yPixSize, Isis::Camera::ParentLines(), Isis::Camera::ParentSamples(), Isis::IException::Programmer, Isis::Spice::radii(), Isis::Camera::SetImage(), Isis::Sensor::setTime(), Isis::toDouble(), and Isis::PvlObject::Traverse.

void Isis::VimsGroundMap::LookDirection ( double v[3] )

private

Determines the look direction in the camera coordinate system.

Parameters

[out] v Look direction vector in camera coordinates

This method will compute the look direction vector in the camera coordinate system. This code was converted from Rick McCloskey's point_tbl c code.

History:: 2008-01-031 Tracie Sucharski - Converted Rick's code rather than using the unitVector files from Rick.

Definition at line 523 of file VimsGroundMap.cpp.

References Isis::HALFPI(), p_camLineOffset, p_camSampOffset, p_ux, p_uy, p_xBore, p_xPixSize, p_yBore, and p_yPixSize.

Referenced by SetFocalPlane().

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

inherited

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::VimsGroundMap::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

ux	Distorted focal plane x in millimeters
uy	Distorted focal plane y in millimeters
uz	Distorted focal plane z in millimeters

Returns: bool Indicates whether the conversion was successful

History:

2008-01-02 Tracie Sucharski - Check incoming pixel for validity against edge of pixel not center.

2008-02-05 Tracie Sucharski, Replaced unitVector files with Rick McCloskey's code to calculate look direction

2008-02-14 Tracie Sucharski, Change imgSamp/imgLine to double so that fractional pixels are used in calculations.

Reimplemented from Isis::CameraGroundMap.

Definition at line 299 of file VimsGroundMap.cpp.

References LookDirection(), p_channel, p_etStart, p_interlineDelay, p_irExp, p_swathWidth, p_ux, p_uy, p_uz, p_visExp, Isis::Camera::ParentLines(), Isis::Camera::ParentSamples(), Isis::Sensor::SetLookDirection(), and Isis::Sensor::setTime().

bool Isis::VimsGroundMap::SetGround	(	const Latitude &	lat,
		const Longitude &	lon
	)

virtual

Compute undistorted focal plane coordinate from ground position.

Parameters

lat	Planetocentric latitude in degrees
lon	Planetocentric longitude in degrees

Returns: bool Indicates whether the conversion was successful

History:

2007-04-18 Tracie Sucharski - Added check for reasonable match when attempting to find closest lat/lon in map arrays.

2007-09-14 Tracie Sucharski - Added check for longitude outside min/max bounds. Don't know why this wasn't put in before (lat check was in), was it oversight, or did I take it out for some reason???

2007-12-14 Tracie Sucharski - Remove resolution test, too image dependent and the resolution for vims is incorrect due to the instrument having rectangular pixels.

2008-01-02 Tracie Sucharski - Check validity of resulting sample and line against edge of starting ending pixels (0.5/Parent+0.5) instead of center of pixels.

2012-12-03 Tracie Sucharski - Check for valid minLat/maxLat, minLon/maxLon. If none are valid, this means the latMap and lonMap have no valid data, therefore we cannot back project, so return false.

2014-04-08 Tracie Sucharski - Change the sanity check made on 2012-12-03 from lat/lon to xyz.

Reimplemented from Isis::CameraGroundMap.

Definition at line 371 of file VimsGroundMap.cpp.

References Isis::LeastSquares::AddKnown(), Isis::Angle::degrees(), Isis::LeastSquares::Evaluate(), Isis::Sensor::HasSurfaceIntersection(), Isis::Camera::IgnoreProjection(), Isis::Distance::kilometers(), Isis::LeastSquares::Knowns(), Isis::Sensor::LocalRadius(), Isis::ShapeModel::name(), Isis::Camera::ParentLines(), Isis::Camera::ParentSamples(), Isis::Angle::radians(), Isis::Camera::SetImage(), Isis::Target::shape(), Isis::LeastSquares::Solve(), and Isis::Spice::target().

Referenced by SetGround().

bool Isis::VimsGroundMap::SetGround ( const SurfacePoint & surfacePoint )

virtual

Compute undistorted focal plane coordinate from ground position.

Parameters

surfacePoint Ground surface point

Returns: bool Indicates whether the conversion was successful.

Reimplemented from Isis::CameraGroundMap.

Definition at line 504 of file VimsGroundMap.cpp.

References Isis::SurfacePoint::GetLatitude(), Isis::SurfacePoint::GetLongitude(), and SetGround().

Member Data Documentation

int Isis::VimsGroundMap::p_camLineOffset

private

Line offset.

Definition at line 136 of file VimsGroundMap.h.

Referenced by Init(), and LookDirection().

int Isis::VimsGroundMap::p_camSampOffset

private

Sample offset.

Definition at line 135 of file VimsGroundMap.h.

Referenced by Init(), and LookDirection().

QString Isis::VimsGroundMap::p_channel

private

Channel keyword value from the instrument group of the labels.

Possible values are IR or VIS

Definition at line 125 of file VimsGroundMap.h.

Referenced by Init(), and SetFocalPlane().

SpiceDouble Isis::VimsGroundMap::p_etStart

private

Start ephemeris time.

Definition at line 110 of file VimsGroundMap.h.

Referenced by Init(), and SetFocalPlane().

double Isis::VimsGroundMap::p_exposureDuration

private

Exposure duration.

Definition at line 112 of file VimsGroundMap.h.

double Isis::VimsGroundMap::p_interlineDelay

private

   InterlineDelayDuration keyword value from

the instrument group of the labels, divided by 1000

Definition at line 113 of file VimsGroundMap.h.

Referenced by Init(), and SetFocalPlane().

double Isis::VimsGroundMap::p_irExp

private

IR exposure duration, divided by 1000.

Definition at line 128 of file VimsGroundMap.h.

Referenced by Init(), and SetFocalPlane().

int Isis::VimsGroundMap::p_nlUv

private

Normal or high resolution line uv.

Definition at line 130 of file VimsGroundMap.h.

int Isis::VimsGroundMap::p_nsUv

private

Normal or high resolution sample uv.

Definition at line 129 of file VimsGroundMap.h.

int Isis::VimsGroundMap::p_swathLength

private

SwathLength keyword value from the instrument group of the labels.

This will be image size unless occultation image

Definition at line 133 of file VimsGroundMap.h.

Referenced by Init().

int Isis::VimsGroundMap::p_swathWidth

private

SwathWidth keyword value from the instrument group of the labels.

This will be image size unless occultation image

Definition at line 131 of file VimsGroundMap.h.

Referenced by Init(), and SetFocalPlane().

double Isis::VimsGroundMap::p_ux

private

Distorted focal plane x, in millimeters.

Definition at line 116 of file VimsGroundMap.h.

Referenced by LookDirection(), and SetFocalPlane().

double Isis::VimsGroundMap::p_uy

private

Distorted focal plane y, in millimeters.

Definition at line 117 of file VimsGroundMap.h.

Referenced by LookDirection(), and SetFocalPlane().

double Isis::VimsGroundMap::p_uz

private

Distorted focal plane z, in millimeters.

Definition at line 118 of file VimsGroundMap.h.

Referenced by SetFocalPlane().

double Isis::VimsGroundMap::p_visExp

private

VIS exposure duration, divided by 1000.

Definition at line 127 of file VimsGroundMap.h.

Referenced by Init(), and SetFocalPlane().

double Isis::VimsGroundMap::p_xBore

private

X boresight.

Definition at line 122 of file VimsGroundMap.h.

Referenced by Init(), and LookDirection().

double Isis::VimsGroundMap::p_xPixSize

private

X pixel size.

Definition at line 120 of file VimsGroundMap.h.

Referenced by Init(), and LookDirection().

double Isis::VimsGroundMap::p_yBore

private

Y boresight.

Definition at line 123 of file VimsGroundMap.h.

Referenced by Init(), and LookDirection().

double Isis::VimsGroundMap::p_yPixSize

private

Y pixel size.

Definition at line 121 of file VimsGroundMap.h.

Referenced by Init(), and LookDirection().

The documentation for this class was generated from the following files:

src/cassini/objs/VimsCamera/VimsGroundMap.h
src/cassini/objs/VimsCamera/VimsGroundMap.cpp

Public Types

Public Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation