Isis::CameraGroundMap Class Reference

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

#include <CameraGroundMap.h>

Inherited by Isis::LineScanCameraGroundMap, Isis::PushFrameCameraGroundMap, Isis::RadarGroundMap, and Isis::VimsGroundMap.

List of all members.

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

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

Member Enumeration Documentation

enum Isis::CameraGroundMap::PartialType

Enumerator:

WRT_Latitude
WRT_Longitude
WRT_Radius

Constructor & Destructor Documentation

Isis::CameraGroundMap::CameraGroundMap ( Camera * parent )

References p_camera, and Isis::Camera::SetGroundMap().

virtual Isis::CameraGroundMap::~CameraGroundMap ( ) [inline, virtual]

Destructor.

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

Referenced by GetdXYdOrientation(), GetdXYdPoint(), and GetdXYdPosition().

double Isis::CameraGroundMap::FocalPlaneX ( ) const [inline]

Return undistorted focal plane x.

References p_focalPlaneX.

double Isis::CameraGroundMap::FocalPlaneY ( ) const [inline]

Return undistorted focal plane y.

References p_focalPlaneY.

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

References Isis::Camera::DistortionMap(), DQuotient(), Isis::Spice::instrumentRotation(), p_camera, and Isis::CameraDistortionMap::UndistortedFocalPlaneZ().

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.

References Isis::Spice::bodyRotation(), Isis::Camera::DistortionMap(), DQuotient(), Isis::Spice::instrumentRotation(), p_camera, and Isis::CameraDistortionMap::UndistortedFocalPlaneZ().

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.

References Isis::SpicePosition::CoordinatePartial(), Isis::Camera::DistortionMap(), DQuotient(), Isis::Spice::instrumentPosition(), Isis::Spice::instrumentRotation(), p_camera, and Isis::CameraDistortionMap::UndistortedFocalPlaneZ().

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

References Isis::Angle::Degrees, GetXY(), and Isis::Distance::Meters.

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.

References Isis::Spice::bodyRotation(), dist, Isis::Camera::DistortionMap(), emission, Isis::SurfacePoint::GetX(), Isis::SurfacePoint::GetY(), Isis::SurfacePoint::GetZ(), Isis::Spice::instrumentPosition(), Isis::Spice::instrumentRotation(), Isis::Target::isSky(), Isis::Displacement::kilometers(), p_camera, Isis::PI(), Isis::Spice::target(), and Isis::CameraDistortionMap::UndistortedFocalPlaneZ().

Referenced by Isis::ControlPoint::ComputeResiduals(), Isis::ControlPoint::ComputeResiduals_Millimeters(), and GetXY().

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

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

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:

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

Returns:: conversion was successful

Reimplemented in Isis::RadarGroundMap, and Isis::VimsGroundMap.

References Isis::NaifStatus::CheckErrors(), p_camera, and Isis::Sensor::SetLookDirection().

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

bool Isis::CameraGroundMap::SetGround ( const SurfacePoint & surfacePoint ) [virtual]

Compute undistorted focal plane coordinate from ground position that includes a local radius.

Parameters:

	lat	planetocentric latitude in degrees
	lon	planetocentric longitude in degrees
	radius	local radius in meters

Returns:: conversion was successful

Reimplemented in Isis::LineScanCameraGroundMap, Isis::PushFrameCameraGroundMap, Isis::RadarGroundMap, and Isis::VimsGroundMap.

References p_camera.

bool Isis::CameraGroundMap::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:: conversion was successful

Reimplemented in Isis::LineScanCameraGroundMap, Isis::PushFrameCameraGroundMap, Isis::RadarGroundMap, and Isis::VimsGroundMap.

References Isis::Sensor::LocalRadius(), p_camera, and radius.

Referenced by Isis::Camera::SetGround(), and Isis::Camera::SetUniversalGround().

Member Data Documentation

Camera* Isis::CameraGroundMap::p_camera [protected]

Referenced by CameraGroundMap(), Isis::LineScanCameraGroundMap::FindFocalPlane(), Isis::LineScanCameraGroundMap::FindSpacecraftDistance(), GetdXYdOrientation(), GetdXYdPoint(), GetdXYdPosition(), GetXY(), Isis::VimsGroundMap::Init(), Isis::VimsGroundMap::SetFocalPlane(), SetFocalPlane(), Isis::VimsGroundMap::SetGround(), Isis::PushFrameCameraGroundMap::SetGround(), Isis::LineScanCameraGroundMap::SetGround(), and SetGround().

double Isis::CameraGroundMap::p_focalPlaneX [protected]

Referenced by Isis::LineScanCameraGroundMap::FindFocalPlane(), FocalPlaneX(), Isis::VimsGroundMap::SetGround(), and Isis::RadarGroundMap::SetGround().

double Isis::CameraGroundMap::p_focalPlaneY [protected]

Referenced by Isis::LineScanCameraGroundMap::FindFocalPlane(), FocalPlaneY(), Isis::VimsGroundMap::SetGround(), and Isis::RadarGroundMap::SetGround().

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

src/base/objs/CameraGroundMap/CameraGroundMap.h
src/base/objs/CameraGroundMap/CameraGroundMap.cpp

Isis::CameraGroundMap Class Reference

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation