Isis Developer Reference
Isis::CameraGroundMap Class Reference

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

#include <CameraGroundMap.h>

Inheritance diagram for Isis::CameraGroundMap:
Inheritance graph
Collaboration diagram for Isis::CameraGroundMap:
Collaboration graph

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.
 
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, bool test=true)
 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 instrument using current state from SetImage call.
 
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.
 
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.
 
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.
 
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)
 
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)
 
double DQuotient (std::vector< double > &look, std::vector< double > &dlook, int index)
 Convenience method for quotient rule applied to look vector.
 
double FocalPlaneX () const
 
double FocalPlaneY () const
 

Protected Member Functions

void LookCtoFocalPlaneXY ()
 Calculate focalplane x/y from lookvector in camera.
 

Protected Attributes

Camerap_camera
 Camera.
 
double p_focalPlaneX
 Camera's x focal plane coordinate.
 
double p_focalPlaneY
 Camera's y focal plane coordinate.
 
std::vector< double > m_pB
 Surface point calculated from ground coordinates in GetXY and used for partials.
 
std::vector< double > m_lookJ
 Look vector in J2000 calculated from ground coordinates in GetXY and used for partials.
 

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

◆ PartialType

Radius axes types to use when computing partials.

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

Enumerator
WRT_Latitude 
WRT_Longitude 
WRT_Radius 
WRT_MajorAxis 
WRT_MinorAxis 
WRT_PolarAxis 

Constructor & Destructor Documentation

◆ CameraGroundMap()

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

Constructor.

Parameters
parentPointer to camera to be used for mapping with ground

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

◆ ~CameraGroundMap()

virtual Isis::CameraGroundMap::~CameraGroundMap ( )
inlinevirtual

Destructor.

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
looklook vector in camera frame
dlookderivative of look vector in camera frame
indexvector value to differentiate
Returns
double derivative Computed derivative

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

◆ 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
spointSurface point whose derivative is to be evalutated
raxisRadius 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

References _FILEINFO_, Isis::IException::Programmer, WRT_MajorAxis, WRT_MinorAxis, and WRT_PolarAxis.

◆ FocalPlaneX()

double Isis::CameraGroundMap::FocalPlaneX ( ) const
inline
Returns
The undistorted focal plane x

References p_focalPlaneX.

◆ FocalPlaneY()

double Isis::CameraGroundMap::FocalPlaneY ( ) const
inline
Returns
The undistorted focal plane y

References p_focalPlaneY.

◆ 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
varTypeenumerated partial type (definitions in SpicePosition)
coefIndexcoefficient index of fit polynomial
*dxout] 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

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

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_pBPoint 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.

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

◆ 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
varTypeenumerated partial type (definitions in SpicePosition)
coefIndexcoefficient 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.

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

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
varTypeenumerated partial type (definitions in SpicePosition)
coefIndexcoefficient 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

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

◆ 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
latLatitude in degrees
lonLongitude in degrees
radiusRadius 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

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

◆ 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
pointSurface point (ground position)
cudx[out] Pointer to computed undistorted x focal plane coordinate
cudy[out] Pointer to computed undistorted y focal plane coordinate
testOptional parameter to indicate whether to do the back-of-planet test.
Returns
bool If conversion was successful

Reimplemented in Isis::RadarGroundMap.

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

Referenced by GetXY(), and Isis::IrregularBodyCameraGroundMap::GetXY().

◆ LookCtoFocalPlaneXY()

void Isis::CameraGroundMap::LookCtoFocalPlaneXY ( )
protected

Calculate focalplane x/y from lookvector in camera.

Compute undistorted focal plane coordinate from camera look vector.

References Isis::Camera::DistortionMap(), p_camera, p_focalPlaneX, p_focalPlaneY, and Isis::CameraDistortionMap::UndistortedFocalPlaneZ().

Referenced by SetGround(), and SetGround().

◆ 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
spointSurface point whose derivative is to be evalutated
meanRadiusComputed 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 ???

References Isis::Distance::kilometers().

◆ 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
spointSurface point (ground position)
wrttake derivative with respect to this value
Returns
vector<double> partialDerivative Computed derivative

References WRT_Latitude, and WRT_Longitude.

◆ 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
uxundistorted focal plane x in millimeters
uyundistorted focal plane y in millimeters
uzundistorted focal plane z in millimeters
Returns
bool If 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(), and 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
latplanetocentric latitude in degrees
lonplanetocentric longitude in degrees
Returns
bool If conversion was successful

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

References Isis::Angle::Degrees, Isis::Sensor::LocalRadius(), LookCtoFocalPlaneXY(), Isis::Distance::Meters, p_camera, and Isis::Spice::target().

Referenced by Isis::PushFrameCameraGroundMap::SetGround(), Isis::Camera::SetGround(), Isis::Camera::SetUniversalGround(), 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
surfacePointSurface point (ground position)
Returns
bool If conversion was successful

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

References LookCtoFocalPlaneXY(), and p_camera.

Member Data Documentation

◆ m_lookJ

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

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

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

◆ m_pB

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

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

Referenced by GetdXYdTOrientation(), and GetXY().

◆ p_camera

◆ p_focalPlaneX

double Isis::CameraGroundMap::p_focalPlaneX
protected

◆ p_focalPlaneY

double Isis::CameraGroundMap::p_focalPlaneY
protected

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