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.

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
Camera *	p_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

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.

Enumerator
WRT_Latitude
WRT_Longitude
WRT_Radius
WRT_MajorAxis
WRT_MinorAxis
WRT_PolarAxis

Constructor & Destructor Documentation

◆ CameraGroundMap()

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

Constructor.

Parameters

parent Pointer to camera to be used for mapping with ground

References p_camera.

Referenced by Isis::IrregularBodyCameraGroundMap::IrregularBodyCameraGroundMap(), Isis::LineScanCameraGroundMap::LineScanCameraGroundMap(), Isis::PushFrameCameraGroundMap::PushFrameCameraGroundMap(), Isis::RadarGroundMap::RadarGroundMap(), and Isis::VimsGroundMap::VimsGroundMap().

◆ ~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

look	look vector in camera frame
dlook	derivative of look vector in camera frame
index	vector 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

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

References _FILEINFO_, Isis::SurfacePoint::GetLatitude(), Isis::SurfacePoint::GetLongitude(), Isis::IException::Programmer, Isis::Angle::radians(), WRT_MajorAxis, WRT_MinorAxis, and WRT_PolarAxis.

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

◆ 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

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

References DQuotient(), m_lookJ, p_camera, 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.

References DQuotient(), Isis::SpiceRotation::J2000Vector(), m_lookJ, p_camera, 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.

References Isis::SpicePosition::CoordinatePartial(), DQuotient(), m_lookJ, p_camera, 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

References DQuotient(), m_lookJ, m_pB, p_camera, 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

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

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.

References Isis::SurfacePoint::GetX(), Isis::SurfacePoint::GetY(), Isis::SurfacePoint::GetZ(), Isis::SpiceRotation::J2000Vector(), Isis::Displacement::kilometers(), m_lookJ, m_pB, p_camera, Isis::PI, and Isis::SpiceRotation::ReferenceVector().

Referenced by Isis::ControlPoint::ComputeResiduals(), Isis::ControlPoint::ComputeResiduals_Millimeters(), Isis::IsisBundleObservation::computeRHSPartials(), 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 p_camera, p_focalPlaneX, and p_focalPlaneY.

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

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 ???

References Isis::SurfacePoint::GetX(), Isis::SurfacePoint::GetY(), Isis::SurfacePoint::GetZ(), 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

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