Isis::LineScanCameraGroundMap Class Reference

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

#include <LineScanCameraGroundMap.h>

Inheritance diagram for Isis::LineScanCameraGroundMap:

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Collaboration diagram for Isis::LineScanCameraGroundMap:

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List of all members.

Public Types
enum	PartialType { WRT_Latitude, WRT_Longitude, WRT_Radius }
Public Member Functions
	LineScanCameraGroundMap (Camera *cam)
	Constructor.
virtual	~LineScanCameraGroundMap ()
	Destructor.
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.
virtual bool	SetGround (const SurfacePoint &surfacePoint, const int &approxLine)
	Compute undistorted focal plane coordinate from ground position.
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 Types
enum	FindFocalPlaneStatus { Success, BoundingProblem, Failure }
Protected Member Functions
FindFocalPlaneStatus	FindFocalPlane (const int &approxLine, const SurfacePoint &surfacePoint)
double	FindSpacecraftDistance (int line, const SurfacePoint &surfacePoint)
Protected Attributes
Camera *	p_camera
double	p_focalPlaneX
double	p_focalPlaneY

Detailed Description

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.

See also:: Camera

Author:: 2005-02-08 Jeff Anderson

For internal use only.

History:: 2005-02-08 Jeff Anderson - Original version

History:: 2005-08-24 Jeff Anderson - Fixed bug when algorithm was checking for the backside of the planet and convergence failed (checkHidden)

History:: 2005-11-16 Jeff Anderson - Fixed bug when a image covers more than 180 degrees in an orbit which would cause two focal plane roots to be inside the start/end time range.

History:: 2007-12-21 Debbie A. Cook - Added overloaded method SetGround that includes a radius argument

History:: 2009-03-02 Steven Lambright - Added an additional method of finding the point in SetGround(...) if the original algorithm fails. The spacecraft position at the beginning and end of the image are now being used to estimate the correct line if the bounding check fails the first time through.

History:: 2010-06-17 Steven Lambright - More tolerant of failures in the distortion models for finding the bounds of the search in FindSpacecraftDistance

History:: 2010-12-07 Steven Lambright - SetGround(double,double) now goes straight to the radius instead of using SetUniversalGround to get the radius.

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

Definition at line 67 of file LineScanCameraGroundMap.h.

Constructor & Destructor Documentation

Isis::LineScanCameraGroundMap::LineScanCameraGroundMap ( Camera * cam ) [inline]

Constructor.

Parameters:

cam

pointer to camera model

Definition at line 73 of file LineScanCameraGroundMap.h.

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

Destructor.

Definition at line 76 of file LineScanCameraGroundMap.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 367 of file CameraGroundMap.cpp.

Referenced by Isis::CameraGroundMap::GetdXYdOrientation(), Isis::CameraGroundMap::GetdXYdPoint(), and Isis::CameraGroundMap::GetdXYdPosition().

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

Return undistorted focal plane x.

Definition at line 108 of file CameraGroundMap.h.

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

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

Return undistorted focal plane y.

Definition at line 113 of file CameraGroundMap.h.

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

bool Isis::CameraGroundMap::GetdXYdOrientation	(	const SpiceRotation::PartialType	varType,
		int	coefIndex,
		double *	dx,
		double *	dy
	)			`[virtual, inherited]`

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 262 of file CameraGroundMap.cpp.

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

Referenced by Isis::BundleAdjust::AddPartials().

bool Isis::CameraGroundMap::GetdXYdPoint	(	std::vector< double >	d_lookB,
		double *	dx,
		double *	dy
	)			`[virtual, inherited]`

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 294 of file CameraGroundMap.cpp.

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

Referenced by Isis::BundleAdjust::AddPartials().

bool Isis::CameraGroundMap::GetdXYdPosition	(	const SpicePosition::PartialType	varType,
		int	coefIndex,
		double *	dx,
		double *	dy
	)			`[virtual, inherited]`

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 225 of file CameraGroundMap.cpp.

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

Referenced by Isis::BundleAdjust::AddPartials().

bool Isis::CameraGroundMap::GetXY	(	const double	lat,
		const double	lon,
		const double	radius,
		double *	cudx,
		double *	cudy
	)			`[virtual, inherited]`

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 202 of file CameraGroundMap.cpp.

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

bool Isis::CameraGroundMap::GetXY	(	const SurfacePoint &	point,
		double *	cudx,
		double *	cudy
	)			`[virtual, inherited]`

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 128 of file CameraGroundMap.cpp.

References Isis::Spice::bodyRotation(), dist, Isis::Camera::DistortionMap(), emission, Isis::Spice::instrumentPosition(), Isis::Spice::instrumentRotation(), Isis::Target::isSky(), Isis::Displacement::kilometers(), Isis::CameraGroundMap::p_lookJ, Isis::PI(), Isis::Spice::target(), and Isis::CameraDistortionMap::UndistortedFocalPlaneZ().

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

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 325 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().

bool Isis::CameraGroundMap::SetFocalPlane	(	const double	ux,
		const double	uy,
		const double	uz
	)			`[virtual, inherited]`

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: