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

#include <CameraGroundMap.h>

Inheritance diagram for Isis::CameraGroundMap:

Collaboration diagram for Isis::CameraGroundMap:

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...

Private Member Functions
void	LookCtoFocalPlaneXY ()
	Calculate focalplane x/y from lookvector in camera. More...

Private Attributes
std::vector< double >	m_pB
	Surface point calculated from ground coordinates in GetXY and used for partials. More...

std::vector< double >	m_lookJ
	Look vector in J2000 calculated from ground coordinates in GetXY and used for partials. More...

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

History:: 2005-11-16 Jeff Anderson Fixed bug in SetGround not setting the proper boolean return value

History:: 2007-06-11 Debbie A. Cook - Added overloaded method SetGround that includes a radius argument and the method LookCtoFocalPlaneXY() to handle the common functionality between the SetGround methods

History:: 2008-07-14 Steven Lambright Added NaifStatus calls

History:: 2009-10-14 Debbie A. Cook Added new virtual method GetXY(lat,lon,radius, lookJ)

History:: 2009-11-27 Debbie A. Cook Modified virtual method GetXY(lat,lon,radius,lookJ,cudx,cudy)

History:: 2010-03-19 Debbie A. Cook Modified virtual method to return cudx and cudy; added methods GetdXYdPosition, GetdXYdOrientation, GetdXYdPoint, PointPartial, and DQuotient; and added members PartialType (from BundleAdjust) and p_lookJ.

History:: 2010-08-05 Debbie A. Cook Added another version of GetXY to support changes from binary control net upgrade

History:: 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.

History:: 2011-02-09 Steven Lambright SetGround now uses the Latitude, Longitude and SurfacePoint classes.

History:: 2011-03-18 Debbie A. Cook Added reference to surface point in GetXY

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

History:: 2012-10-10 Debbie A. Cook Modified to use new Target class. References Mantis ticket #775 and #1114.

History:: 2013-02-22 Debbie A. Cook Fixed LookCtoFocalPlaneXY method to properly handle instruments with a look direction along the negative z axis. Fixes Mantis ticket #1524

History:: 2014-04-17 Jeannie Backer - Replaced local variable names with more descriptive names. References #1659.

History:: 2015-07-24 Debbie A. Cook - Added new methods GetdXYdTOrientation(), EllipsoidPartial() and MeanRadiusPartial() along with new member p_pB. References Mantis ticket TBD.

History:: 2016-06-27 Ian Humphrey - Updated documentation and coding standards. Fixes #3971.

History:: 2017-08-30 Summer Stapleton - Updated documentation. References #4807.

History:: 2019-04-15 Debbie A. Cook - Added optional bool argument to main GetXY method to allow the bundle adjustment to skip the back of planet test during iterations. Also changed the name of the angle variable to cosangle to be more descriptive. References #2591.

Definition at line 73 of file CameraGroundMap.h.

Member Enumeration Documentation

◆ PartialType

enum Isis::CameraGroundMap::PartialType

Radius axes types to use when computing partials.

When computing partials, this enum represents the "with respect to" variable in the computation.

Definition at line 87 of file CameraGroundMap.h.

Constructor & Destructor Documentation

◆ CameraGroundMap()

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

Constructor.

Parameters

parent Pointer to camera to be used for mapping with ground

Definition at line 31 of file CameraGroundMap.cpp.

References Isis::Camera::SetGroundMap().

◆ ~CameraGroundMap()

virtual Isis::CameraGroundMap::~CameraGroundMap ( )

inlinevirtual

Destructor.

Definition at line 78 of file CameraGroundMap.h.

Member Function Documentation

◆ DQuotient()

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: double derivative Computed derivative

Definition at line 550 of file CameraGroundMap.cpp.

◆ EllipsoidPartial()

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.

Parameters

spoint	Surface point whose derivative is to be evalutated
raxis	Radius axis enumerated partial type (definitions in this header)

Exceptions

IException::Programmer "Invalid partial type for this method"

Returns: vector<double> partialDerivative of body-fixed point with respect to selected ellipsoid axis

Definition at line 436 of file CameraGroundMap.cpp.

References Isis::SurfacePoint::GetLatitude(), Isis::SurfacePoint::GetLongitude(), and Isis::Angle::radians().

Referenced by Isis::IsisBundleObservation::computeTargetPartials().

◆ FocalPlaneX()

double Isis::CameraGroundMap::FocalPlaneX ( ) const

inline

Returns: The undistorted focal plane x

Definition at line 122 of file CameraGroundMap.h.

References p_focalPlaneX.

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

◆ FocalPlaneY()

double Isis::CameraGroundMap::FocalPlaneY ( ) const

inline

Returns: The undistorted focal plane y

Definition at line 129 of file CameraGroundMap.h.

References p_focalPlaneY.

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

◆ GetdXYdOrientation()

bool Isis::CameraGroundMap::GetdXYdOrientation	(	const SpiceRotation::PartialType	varType,
		int	coefIndex,
		double *	dx,
		double *	dy
	)

virtual

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.

Parameters

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

Returns: bool If conversion was successful

Definition at line 318 of file CameraGroundMap.cpp.

References Isis::SpiceRotation::ReferenceVector(), and Isis::SpiceRotation::ToReferencePartial().

Referenced by Isis::IsisBundleObservation::computeImagePartials().

◆ GetdXYdPoint()

bool Isis::CameraGroundMap::GetdXYdPoint	(	std::vector< double >	d_pB,
		double *	dx,
		double *	dy
	)

virtual

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.

Parameters

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

Returns: conversion was successful

Reimplemented in Isis::RadarGroundMap.

Definition at line 398 of file CameraGroundMap.cpp.

References Isis::SpiceRotation::J2000Vector(), and Isis::SpiceRotation::ReferenceVector().

Referenced by Isis::IsisBundleObservation::computePoint3DPartials(), and Isis::IsisBundleObservation::computeTargetPartials().

◆ GetdXYdPosition()

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	[out] pointer to partial derivative of undistorted focal plane x
*dy	[out] pointer to partial derivative of undistorted focal plane y

Returns: bool If conversion was successful

Reimplemented in Isis::RadarGroundMap.

Definition at line 279 of file CameraGroundMap.cpp.

References Isis::SpicePosition::CoordinatePartial(), and Isis::SpiceRotation::ReferenceVector().

Referenced by Isis::IsisBundleObservation::computeImagePartials().

◆ GetdXYdTOrientation()

bool Isis::CameraGroundMap::GetdXYdTOrientation	(	const SpiceRotation::PartialType	varType,
		int	coefIndex,
		double *	dx,
		double *	dy
	)

virtual

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.

Parameters

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

Returns: bool If conversion was successful

Definition at line 354 of file CameraGroundMap.cpp.

References Isis::SpiceRotation::ReferenceVector(), and Isis::SpiceRotation::toJ2000Partial().

Referenced by Isis::IsisBundleObservation::computeTargetPartials().

◆ GetXY() [1/2]

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/m_pB/x/y. The class value for m_lookJ is set by this method.

Parameters

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

Returns: bool If conversion was successful

See also: the application socetlinescankeywords

Definition at line 254 of file CameraGroundMap.cpp.

◆ GetXY() [2/2]

bool Isis::CameraGroundMap::GetXY	(	const SurfacePoint &	point,
		double *	cudx,
		double *	cudy,
		bool	test = `true`
	)

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.

Parameters

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.

Returns: bool If conversion was successful

Reimplemented in Isis::RadarGroundMap.

Definition at line 152 of file CameraGroundMap.cpp.

References Isis::SpiceRotation::J2000Vector(), Isis::Displacement::kilometers(), Isis::PI, and Isis::SpiceRotation::ReferenceVector().

Referenced by Isis::BundleAdjust::computePartials(), Isis::ControlPoint::ComputeResiduals(), Isis::ControlPoint::ComputeResiduals_Millimeters(), and Isis::IsisBundleObservation::computeRHSPartials().

◆ LookCtoFocalPlaneXY()

void Isis::CameraGroundMap::LookCtoFocalPlaneXY ( )

private

Calculate focalplane x/y from lookvector in camera.

Compute undistorted focal plane coordinate from camera look vector.

Definition at line 106 of file CameraGroundMap.cpp.

◆ MeanRadiusPartial()

vector< double > Isis::CameraGroundMap::MeanRadiusPartial	(	SurfacePoint	spoint,
		Distance	meanRadius
	)

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.

Parameters

spoint	Surface point whose derivative is to be evalutated
meanRadius	Computed mean of radii

Returns: vector<double> partialDerivative of body-fixed point with respect to mean radius TODO This method assumes the radii of all points in the adjustment have been set identically to the ???

Definition at line 486 of file CameraGroundMap.cpp.

References Isis::Displacement::kilometers(), and Isis::Distance::kilometers().

Referenced by Isis::IsisBundleObservation::computeTargetPartials().

◆ PointPartial()

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

spoint	Surface point (ground position)
wrt	take derivative with respect to this value

Returns: vector<double> partialDerivative Computed derivative

Definition at line 508 of file CameraGroundMap.cpp.

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

◆ SetFocalPlane()

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 pointer passed into the constructor.

Parameters

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

Returns: bool If conversion was successful

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

Definition at line 50 of file CameraGroundMap.cpp.

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

◆ SetGround() [1/2]

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: bool If conversion was successful

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

Definition at line 76 of file CameraGroundMap.cpp.

References Isis::Angle::degrees(), and Isis::Distance::isValid().

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

◆ SetGround() [2/2]

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

virtual

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

Parameters

surfacePoint Surface point (ground position)

Returns: bool If conversion was successful

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

Definition at line 126 of file CameraGroundMap.cpp.

Member Data Documentation

◆ m_lookJ

std::vector<double> Isis::CameraGroundMap::m_lookJ

private

Look vector in J2000 calculated from ground coordinates in GetXY and used for partials.

Definition at line 143 of file CameraGroundMap.h.

◆ m_pB

std::vector<double> Isis::CameraGroundMap::m_pB

private

Surface point calculated from ground coordinates in GetXY and used for partials.

Definition at line 141 of file CameraGroundMap.h.

◆ p_camera

Camera* Isis::CameraGroundMap::p_camera

protected

Camera.

Definition at line 134 of file CameraGroundMap.h.

Referenced by Isis::PushFrameCameraGroundMap::FindDistance(), Isis::PushFrameCameraGroundMap::FindSpacecraftDistance(), Isis::VimsGroundMap::Init(), Isis::VimsGroundMap::SetFocalPlane(), Isis::LineScanCameraGroundMap::SetGround(), Isis::PushFrameCameraGroundMap::SetGround(), and Isis::VimsGroundMap::SetGround().

◆ p_focalPlaneX

double Isis::CameraGroundMap::p_focalPlaneX

protected

Camera's x focal plane coordinate.

Definition at line 135 of file CameraGroundMap.h.

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

◆ p_focalPlaneY

double Isis::CameraGroundMap::p_focalPlaneY

protected

Camera's y focal plane coordinate.

Definition at line 136 of file CameraGroundMap.h.

Referenced by 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

Public Types

Public Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

◆ PartialType

Constructor & Destructor Documentation

◆ CameraGroundMap()

◆ ~CameraGroundMap()

Member Function Documentation

◆ DQuotient()

◆ EllipsoidPartial()

◆ FocalPlaneX()

◆ FocalPlaneY()

◆ GetdXYdOrientation()

◆ GetdXYdPoint()

◆ GetdXYdPosition()

◆ GetdXYdTOrientation()

◆ GetXY() [1/2]

◆ GetXY() [2/2]

◆ LookCtoFocalPlaneXY()

◆ MeanRadiusPartial()

◆ PointPartial()

◆ SetFocalPlane()

◆ SetGround() [1/2]

◆ SetGround() [2/2]

Member Data Documentation

◆ m_lookJ

◆ m_pB

◆ p_camera

◆ p_focalPlaneX

◆ p_focalPlaneY