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Isis Developer Reference
Public Types | Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
Isis::LineScanCameraGroundMap Class Reference

#include <LineScanCameraGroundMap.h>

Inheritance diagram for Isis::LineScanCameraGroundMap:
Inheritance graph
Collaboration diagram for Isis::LineScanCameraGroundMap:
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

 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 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, 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

FindFocalPlaneStatus FindFocalPlane (const SurfacePoint &surfacePoint)
 Helper function to compute undistorted focal plane coordinate from ground position.
 
FindFocalPlaneStatus FindFocalPlane (const SurfacePoint &surfacePoint, const double &approxLine)
 Helper function to compute undistorted focal plane coordinate from ground position.
 
double FindSpacecraftDistance (int line, const SurfacePoint &surfacePoint)
 
void LookCtoFocalPlaneXY ()
 Calculate focalplane x/y from lookvector in camera.
 

Protected Attributes

std::vector< double > m_projTransCoeffs
 
bool m_useApproxInitTrans
 
bool m_projectiveFitAttempted
 
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.
 

Member Enumeration Documentation

◆ PartialType

enum Isis::CameraGroundMap::PartialType
inherited

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

◆ LineScanCameraGroundMap()

Isis::LineScanCameraGroundMap::LineScanCameraGroundMap ( Camera * cam)

Constructor.

Parameters
campointer to camera model

References Isis::CameraGroundMap::CameraGroundMap(), m_projectiveFitAttempted, and m_useApproxInitTrans.

◆ ~LineScanCameraGroundMap()

Isis::LineScanCameraGroundMap::~LineScanCameraGroundMap ( )
virtual

Destructor.

Member Function Documentation

◆ DQuotient()

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
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 )
inherited

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 Isis::SurfacePoint::GetLatitude(), Isis::SurfacePoint::GetLongitude(), Isis::Angle::radians(), WRT_MajorAxis, WRT_MinorAxis, and WRT_PolarAxis.

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

◆ FindFocalPlane() [1/2]

FindFocalPlaneStatus Isis::LineScanCameraGroundMap::FindFocalPlane ( const SurfacePoint & surfacePoint)
protected

Helper function to compute undistorted focal plane coordinate from ground position.

This method tries two different methods. First a quadratic method searching through all times within the image. If this fails then it tries to use Brents method (Numerical Recipies 454 - 456) to compute the undistorted focal plane coordinates.

Parameters
surfacePoint3D point on the surface of the planet
Returns
conversion was successful

References Isis::FunctionTools::brentsRootFinder(), Isis::Failure, Isis::CameraGroundMap::p_camera, Isis::CameraGroundMap::p_focalPlaneX, Isis::CameraGroundMap::p_focalPlaneY, ptXLessThan(), and Isis::Success.

Referenced by SetGround().

◆ FindFocalPlane() [2/2]

FindFocalPlaneStatus Isis::LineScanCameraGroundMap::FindFocalPlane ( const SurfacePoint & surfacePoint,
const double & approxLine )
protected

Helper function to compute undistorted focal plane coordinate from ground position.

This method uses an initial guess with the secent method https://en.wikipedia.org/wiki/Secant_method to compute the undistorted focal plane coordinates.

Parameters
surfacePoint3D point on the surface of the planet
approxLineThe approximate like computed from another source
Returns
conversion was successful

References Isis::Failure, Isis::CameraGroundMap::p_camera, Isis::CameraGroundMap::p_focalPlaneX, Isis::CameraGroundMap::p_focalPlaneY, and Isis::Success.

◆ FindSpacecraftDistance()

double Isis::LineScanCameraGroundMap::FindSpacecraftDistance ( int line,
const SurfacePoint & surfacePoint )
protected

References Isis::CameraGroundMap::p_camera, and Isis::CameraDetectorMap::SetParent().

◆ FocalPlaneX()

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

References p_focalPlaneX.

◆ FocalPlaneY()

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

References p_focalPlaneY.

◆ GetdXYdOrientation()

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

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 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 )
virtualinherited

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 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 )
virtualinherited

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::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 )
virtualinherited

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 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 )
virtualinherited

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 )
virtualinherited

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::SurfacePoint::GetX(), Isis::SurfacePoint::GetY(), Isis::SurfacePoint::GetZ(), Isis::SpiceRotation::J2000Vector(), Isis::Displacement::kilometers(), m_lookJ, m_pB, p_camera, 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 ( )
protectedinherited

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 )
inherited

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::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 )
inherited

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 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 )
virtualinherited

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(), and p_camera.

◆ SetGround() [1/2]

bool Isis::LineScanCameraGroundMap::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
conversion was successful

Reimplemented from Isis::CameraGroundMap.

References Isis::Distance::isValid(), Isis::CameraGroundMap::p_camera, and SetGround().

Referenced by SetGround().

◆ SetGround() [2/2]

bool Isis::LineScanCameraGroundMap::SetGround ( const SurfacePoint & surfacePoint)
virtual

Compute undistorted focal plane coordinate from ground position.

See FindFocalPlane for more details.

Parameters
surfacePoint3D point on the surface of the planet
Returns
conversion was successful

Reimplemented from Isis::CameraGroundMap.

References Isis::Failure, FindFocalPlane(), Isis::SurfacePoint::GetX(), Isis::SurfacePoint::GetY(), Isis::SurfacePoint::GetZ(), m_projTransCoeffs, m_useApproxInitTrans, Isis::Displacement::meters(), Isis::CameraGroundMap::p_camera, and Isis::Success.

Member Data Documentation

◆ m_lookJ

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

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
protectedinherited

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

Referenced by GetdXYdTOrientation(), and GetXY().

◆ m_projectiveFitAttempted

bool Isis::LineScanCameraGroundMap::m_projectiveFitAttempted
protected

Referenced by LineScanCameraGroundMap().

◆ m_projTransCoeffs

std::vector<double> Isis::LineScanCameraGroundMap::m_projTransCoeffs
protected

Referenced by SetGround().

◆ m_useApproxInitTrans

bool Isis::LineScanCameraGroundMap::m_useApproxInitTrans
protected

Referenced by LineScanCameraGroundMap(), and SetGround().

◆ p_camera

Camera* Isis::CameraGroundMap::p_camera
protectedinherited

Camera.

Referenced by CameraGroundMap(), Isis::LineScanCameraGroundMap::FindFocalPlane(), Isis::LineScanCameraGroundMap::FindFocalPlane(), Isis::LineScanCameraGroundMap::FindSpacecraftDistance(), GetdXYdOrientation(), GetdXYdPoint(), GetdXYdPosition(), GetdXYdTOrientation(), GetXY(), Isis::VimsGroundMap::Init(), LookCtoFocalPlaneXY(), SetFocalPlane(), Isis::VimsGroundMap::SetFocalPlane(), SetGround(), SetGround(), Isis::LineScanCameraGroundMap::SetGround(), Isis::LineScanCameraGroundMap::SetGround(), Isis::PushFrameCameraGroundMap::SetGround(), and Isis::VimsGroundMap::SetGround().

◆ p_focalPlaneX

double Isis::CameraGroundMap::p_focalPlaneX
protectedinherited

Camera's x focal plane coordinate.

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

◆ p_focalPlaneY

double Isis::CameraGroundMap::p_focalPlaneY
protectedinherited

Camera's y focal plane coordinate.

Referenced by Isis::LineScanCameraGroundMap::FindFocalPlane(), Isis::LineScanCameraGroundMap::FindFocalPlane(), FocalPlaneY(), LookCtoFocalPlaneXY(), Isis::RadarGroundMap::SetGround(), and Isis::VimsGroundMap::SetGround().

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