Isis Developer Reference
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Convert between undistorted focal plane and ground coordinates. More...
#include <CameraGroundMap.h>
Public Types | |
enum | PartialType { WRT_Latitude, WRT_Longitude, WRT_Radius, WRT_MajorAxis, WRT_MinorAxis, WRT_PolarAxis } |
Radius axes types to use when computing partials. More... | |
Public Member Functions | |
CameraGroundMap (Camera *parent) | |
Constructor. More... | |
virtual | ~CameraGroundMap () |
Destructor. More... | |
virtual bool | SetFocalPlane (const double ux, const double uy, const double uz) |
Compute ground position from focal plane coordinate. More... | |
virtual bool | SetGround (const Latitude &lat, const Longitude &lon) |
Compute undistorted focal plane coordinate from ground position. More... | |
virtual bool | SetGround (const SurfacePoint &surfacePoint) |
Compute undistorted focal plane coordinate from ground position that includes a local radius. More... | |
virtual bool | GetXY (const SurfacePoint &spoint, double *cudx, double *cudy, bool test=true) |
Compute undistorted focal plane coordinate from ground position using current Spice from SetImage call. More... | |
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. More... | |
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. More... | |
virtual bool | GetdXYdOrientation (const SpiceRotation::PartialType varType, int coefIndex, double *cudx, double *cudy) |
Compute derivative of focal plane coordinate w/r to instrument using current state from SetImage call. More... | |
virtual bool | GetdXYdTOrientation (const SpiceRotation::PartialType varType, int coefIndex, double *cudx, double *cudy) |
Compute derivative of focal plane coordinate w/r to target body using current state. More... | |
virtual bool | GetdXYdPoint (std::vector< double > d_pB, double *dx, double *dy) |
Compute derivative of focal plane coordinate w/r to ground point using current state. More... | |
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. More... | |
std::vector< double > | EllipsoidPartial (SurfacePoint spoint, PartialType raxis) |
Compute derivative of focal plane coordinate w/r to one of the ellipsoidal radii (a, b, or c) More... | |
std::vector< double > | MeanRadiusPartial (SurfacePoint spoint, Distance meanRadius) |
Compute derivative of focal plane coordinate w/r to mean of the ellipsoidal radii (a, b, c) More... | |
double | DQuotient (std::vector< double > &look, std::vector< double > &dlook, int index) |
Convenience method for quotient rule applied to look vector. More... | |
double | FocalPlaneX () const |
double | FocalPlaneY () const |
Protected Attributes | |
Camera * | p_camera |
Camera. More... | |
double | p_focalPlaneX |
Camera's x focal plane coordinate. More... | |
double | p_focalPlaneY |
Camera's y focal plane coordinate. More... | |
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.
Isis::CameraGroundMap::CameraGroundMap | ( | Camera * | parent | ) |
Constructor.
parent | Pointer to camera to be used for mapping with ground |
References Isis::Camera::SetGroundMap().
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inlinevirtual |
Destructor.
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)
look | look vector in camera frame |
dlook | derivative of look vector in camera frame |
index | vector value to differentiate |
vector< double > Isis::CameraGroundMap::EllipsoidPartial | ( | SurfacePoint | spoint, |
PartialType | raxis | ||
) |
Compute derivative of focal plane coordinate w/r to one of the ellipsoidal radii (a, b, or c)
This method will compute the derivative of the undistorted focal plane coordinate for a ground position with respect to the a (major axis), b (minor axis), or c (polar axis) radius, using the current Spice settings (time and kernels) without resetting the current point values for lat/lon/radius/x/y.
spoint | Surface point whose derivative is to be evalutated |
raxis | Radius axis enumerated partial type (definitions in this header) |
IException::Programmer | "Invalid partial type for this method" |
References _FILEINFO_, Isis::SurfacePoint::GetLatitude(), Isis::SurfacePoint::GetLongitude(), and Isis::Angle::radians().
Referenced by Isis::IsisBundleObservation::computeTargetPartials().
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inline |
References p_focalPlaneX.
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inline |
References p_focalPlaneY.
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Compute derivative of focal plane coordinate w/r to instrument using current state 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 | out] pointer to partial derivative of undistorted focal plane x |
*dy | [out] pointer to partial derivative of undistorted focal plane y |
References Isis::SpiceRotation::ReferenceVector(), and Isis::SpiceRotation::ToReferencePartial().
Referenced by Isis::IsisBundleObservation::computeImagePartials().
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Compute derivative of focal plane coordinate w/r to ground point using current state.
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.
d_pB | Point vector |
*dx | [out] pointer to partial derivative of undistorted focal plane x |
*dy | [out] pointer to partial derivative of undistorted focal plane y |
Reimplemented in Isis::RadarGroundMap.
References Isis::SpiceRotation::J2000Vector(), and Isis::SpiceRotation::ReferenceVector().
Referenced by Isis::IsisBundleObservation::computePoint3DPartials(), and Isis::IsisBundleObservation::computeTargetPartials().
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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 | [out] pointer to partial derivative of undistorted focal plane x |
*dy | [out] pointer to partial derivative of undistorted focal plane y |
Reimplemented in Isis::RadarGroundMap.
References Isis::SpicePosition::CoordinatePartial(), and Isis::SpiceRotation::ReferenceVector().
Referenced by Isis::IsisBundleObservation::computeImagePartials().
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Compute derivative of focal plane coordinate w/r to target body using current state.
This method will compute the derivative of the undistorted focal plane coordinate for a ground position with respect to the target body 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 | [out] pointer to partial derivative of undistorted focal plane x |
*dy | [out] pointer to partial derivative of undistorted focal plane y |
References Isis::SpiceRotation::ReferenceVector(), and Isis::SpiceRotation::toJ2000Partial().
Referenced by Isis::IsisBundleObservation::computeTargetPartials().
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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/m_pB/x/y. The class value for m_lookJ is set by this method.
lat | Latitude in degrees |
lon | Longitude in degrees |
radius | Radius in meters |
cudx | [out] Pointer to computed undistored x focal plane coordinate |
cudy | [out] Pointer to computed undistored y focal plane coordinate |
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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/m_pB/x/y. The class value for m_lookJ is set by this method.
point | Surface point (ground position) |
cudx | [out] Pointer to computed undistorted x focal plane coordinate |
cudy | [out] Pointer to computed undistorted y focal plane coordinate |
test | Optional parameter to indicate whether to do the back-of-planet test. |
Reimplemented in Isis::RadarGroundMap.
References Isis::SurfacePoint::GetX(), Isis::SurfacePoint::GetY(), Isis::SurfacePoint::GetZ(), Isis::SpiceRotation::J2000Vector(), Isis::Displacement::kilometers(), Isis::PI, and Isis::SpiceRotation::ReferenceVector().
Referenced by Isis::ControlPoint::ComputeResiduals(), Isis::ControlPoint::ComputeResiduals_Millimeters(), and Isis::IsisBundleObservation::computeRHSPartials().
vector< double > Isis::CameraGroundMap::MeanRadiusPartial | ( | SurfacePoint | spoint, |
Distance | meanRadius | ||
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Compute derivative of focal plane coordinate w/r to mean of the ellipsoidal radii (a, b, c)
This method will compute the derivative of the undistorted focal plane coordinate for a ground position with respect to the mean of the a (major axis), b (minor axis), and c (polar axis) radius, using the current Spice settings (time and kernels) without resetting the current point values for lat/lon/radius/x/y.
spoint | Surface point whose derivative is to be evalutated |
meanRadius | Computed mean of radii |
References Isis::SurfacePoint::GetX(), Isis::SurfacePoint::GetY(), Isis::SurfacePoint::GetZ(), Isis::Displacement::kilometers(), and Isis::Distance::kilometers().
Referenced by Isis::IsisBundleObservation::computeTargetPartials().
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.
spoint | Surface point (ground position) |
wrt | take derivative with respect to this value |
References Isis::SurfacePoint::GetLatitude(), Isis::SurfacePoint::GetLocalRadius(), Isis::SurfacePoint::GetLongitude(), Isis::Distance::kilometers(), and Isis::Angle::radians().
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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 pointer passed into the constructor.
ux | undistorted focal plane x in millimeters |
uy | undistorted focal plane y in millimeters |
uz | undistorted focal plane z in millimeters |
Reimplemented in Isis::VimsGroundMap, and Isis::RadarGroundMap.
Referenced by Isis::Camera::SetImage().
Compute undistorted focal plane coordinate from ground position.
lat | planetocentric latitude in degrees |
lon | planetocentric longitude in degrees |
Reimplemented in Isis::VimsGroundMap, Isis::RadarGroundMap, Isis::PushFrameCameraGroundMap, and Isis::LineScanCameraGroundMap.
References Isis::Angle::degrees(), and Isis::Distance::isValid().
Referenced by Isis::PushFrameCameraGroundMap::SetGround(), Isis::Camera::SetGround(), and Isis::Camera::SetUniversalGround().
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Compute undistorted focal plane coordinate from ground position that includes a local radius.
surfacePoint | Surface point (ground position) |
Reimplemented in Isis::PushFrameCameraGroundMap, Isis::VimsGroundMap, Isis::RadarGroundMap, and Isis::LineScanCameraGroundMap.
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Referenced by Isis::LineScanCameraGroundMap::FindFocalPlane(), Isis::LineScanCameraGroundMap::FindSpacecraftDistance(), Isis::VimsGroundMap::Init(), Isis::VimsGroundMap::SetFocalPlane(), Isis::LineScanCameraGroundMap::SetGround(), Isis::PushFrameCameraGroundMap::SetGround(), and Isis::VimsGroundMap::SetGround().
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Camera's x focal plane coordinate.
Referenced by Isis::LineScanCameraGroundMap::FindFocalPlane(), FocalPlaneX(), Isis::VimsGroundMap::SetGround(), and Isis::RadarGroundMap::SetGround().
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Camera's y focal plane coordinate.
Referenced by Isis::LineScanCameraGroundMap::FindFocalPlane(), FocalPlaneY(), Isis::VimsGroundMap::SetGround(), and Isis::RadarGroundMap::SetGround().