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

#include <PushFrameCameraGroundMap.h>

Inheritance diagram for Isis::PushFrameCameraGroundMap:

Collaboration diagram for Isis::PushFrameCameraGroundMap:

Public Types
enum	PartialType { WRT_Latitude, WRT_Longitude, WRT_Radius }

Public Member Functions
	PushFrameCameraGroundMap (Camera *cam, bool evenFramelets)
	This is the constructor for the push frame ground map.
virtual	~PushFrameCameraGroundMap ()
	Destructor.
virtual bool	SetGround (const Latitude &lat, const Longitude &lon)
	Compute undistorted focal plane coordinate from ground position.
virtual bool	SetGround (const SurfacePoint &surfacePt)
	Compute undistorted focal plane coordinate from ground position that includes a local radius.
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)
	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 orientation from ground position using current Spice from SetImage call.
virtual bool	GetdXYdPoint (std::vector< double > d_lookB, double cudx, double cudy)
	Compute derivative of focal plane coordinate w/r to ground point from ground position using current Spice from SetImage call.
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.
double	DQuotient (std::vector< double > &look, std::vector< double > &dlook, int index)
	Convenience method for quotient rule applied to look vector.
double	FocalPlaneX () const
	Return undistorted focal plane x.
double	FocalPlaneY () const
	Return undistorted focal plane y.

Protected Attributes
Camera *	p_camera
double	p_focalPlaneX
double	p_focalPlaneY

Private Member Functions
double	FindDistance (int framelet, const SurfacePoint &surfacePoint)
	This method finds the distance from the center of the framelet to the lat,lon.
double	FindSpacecraftDistance (int framelet, const SurfacePoint &surfacePoint)
	This method finds the distance from the point on the ground to the spacecraft at the time the specified framelet was taken.

Private Attributes
bool	p_evenFramelets
	True if the file contains even framelets.

Detailed Description

Convert between undistorted focal plane and ground coordinates.

This class is used to convert between undistorted focal plane coordinates (x/y) in millimeters and ground coordinates lat/lon for line scan cameras.

See Also: Camera

Author: 2007-10-17 Steven Lambright and Jeff Anderson

History:: 2008-06-18 Steven Lambright Fixed documentation

History:: 2008-10-23 Steven Lambright Added optimizations, fixed misc bugs

History:: 2009-11-19 Steven Lambright Removed linear search offset

History:: 2009-12-07 Steven Lambright Increased liklihood that our spacecraft distance correctly minimizes for LRO

History:: 2014-04-17 Jeannie Backer - Added padding to bring closer to ISIS coding standards. References #1659.

Definition at line 51 of file PushFrameCameraGroundMap.h.

Constructor & Destructor Documentation

Isis::PushFrameCameraGroundMap::PushFrameCameraGroundMap	(	Camera *	cam,
		bool	evenFramelets
	)

inline

This is the constructor for the push frame ground map.

Parameters

cam	Pointer to the camera
evenFramelets	True if the image contains even framelets

Definition at line 59 of file PushFrameCameraGroundMap.h.

References p_evenFramelets.

virtual Isis::PushFrameCameraGroundMap::~PushFrameCameraGroundMap ( )

inlinevirtual

Destructor.

Definition at line 65 of file PushFrameCameraGroundMap.h.

Member Function Documentation

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

look	look vector in camera frame
dlook	derivative of look vector in camera frame
index	vector value to differentiate

Returns: derivative

Definition at line 385 of file CameraGroundMap.cpp.

double Isis::PushFrameCameraGroundMap::FindDistance	(	int	framelet,
		const SurfacePoint &	surfacePoint
	)

private

This method finds the distance from the center of the framelet to the lat,lon.

The distance is only in the line direction and is squared.

Parameters

framelet
lat
lon

Returns: double Y-Distance squared from center of framelet to lat,lon

Definition at line 163 of file PushFrameCameraGroundMap.cpp.

References Isis::CameraFocalPlaneMap::DetectorLine(), Isis::Camera::DetectorMap(), Isis::CameraFocalPlaneMap::DetectorSample(), Isis::Camera::DistortionMap(), Isis::Camera::FocalLength(), Isis::Camera::FocalPlaneMap(), Isis::CameraDistortionMap::FocalPlaneX(), Isis::CameraDistortionMap::FocalPlaneY(), Isis::PushFrameCameraDetectorMap::frameletHeight(), Isis::PushFrameCameraDetectorMap::frameletLine(), Isis::CameraDetectorMap::LineScaleFactor(), Isis::PushFrameCameraDetectorMap::SetDetector(), Isis::CameraFocalPlaneMap::SetFocalPlane(), Isis::PushFrameCameraDetectorMap::SetFramelet(), and Isis::CameraDistortionMap::SetUndistortedFocalPlane().

Referenced by SetGround().

double Isis::PushFrameCameraGroundMap::FindSpacecraftDistance	(	int	framelet,
		const SurfacePoint &	surfacePoint
	)

private

This method finds the distance from the point on the ground to the spacecraft at the time the specified framelet was taken.

Parameters

framelet	Which framelet was being captured (determines time)
lat	Latitude of the point on the ground
lon	Longitude of the point on the ground

Returns: double Distance from spacecraft to the lat,lon

Definition at line 202 of file PushFrameCameraGroundMap.cpp.

References Isis::Camera::DetectorMap(), Isis::PushFrameCameraDetectorMap::SetFramelet(), and Isis::Sensor::SlantDistance().

Referenced by SetGround().

double Isis::CameraGroundMap::FocalPlaneX ( ) const

inlineinherited

Return undistorted focal plane x.

Definition at line 113 of file CameraGroundMap.h.

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

double Isis::CameraGroundMap::FocalPlaneY ( ) const

inlineinherited

Return undistorted focal plane y.

Definition at line 118 of file CameraGroundMap.h.

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

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

virtualinherited

Compute derivative of focal plane coordinate w/r to orientation 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 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	pointer to partial derivative of undistorted focal plane x
*dy	pointer to partial derivative of undistorted focal plane y

Returns: conversion was successful

Definition at line 280 of file CameraGroundMap.cpp.

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

Referenced by Isis::BundleAdjust::AddPartials(), and Isis::BundleAdjust::ComputePartials_DC().

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

virtualinherited

Compute derivative of focal plane coordinate w/r to ground point 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 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

varType	enumerated partial type (definitions in SpicePosition)
coefIndex	coefficient index of fit polynomial
*dx	pointer to partial derivative of undistorted focal plane x
*dy	pointer to partial derivative of undistorted focal plane y

Returns: conversion was successful

Reimplemented in Isis::RadarGroundMap.

Definition at line 312 of file CameraGroundMap.cpp.

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

Referenced by Isis::BundleAdjust::AddPartials(), and Isis::BundleAdjust::ComputePartials_DC().

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

varType	enumerated partial type (definitions in SpicePosition)
coefIndex	coefficient index of fit polynomial
*dx	pointer to partial derivative of undistorted focal plane x
*dy	pointer to partial derivative of undistorted focal plane y

Returns: conversion was successful

Reimplemented in Isis::RadarGroundMap.

Definition at line 243 of file CameraGroundMap.cpp.

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

Referenced by Isis::BundleAdjust::AddPartials(), and Isis::BundleAdjust::ComputePartials_DC().

bool Isis::CameraGroundMap::GetXY	(	const SurfacePoint &	point,
		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/p_pB/x/y. The class value for p_look is set by this method.

Parameters

point

Returns: conversion was successful

Reimplemented in Isis::RadarGroundMap.

Definition at line 146 of file CameraGroundMap.cpp.

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

Referenced by Isis::BundleAdjust::AddPartials(), Isis::BundleAdjust::ComputePartials_DC(), Isis::ControlPoint::ComputeResiduals(), and Isis::ControlPoint::ComputeResiduals_Millimeters().

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/p_pB/x/y. The class value for p_look is set by this method.

Parameters

lat	Latitude in degrees
lon	Longitude in degrees
radius

Returns: conversion was successful

Definition at line 220 of file CameraGroundMap.cpp.

std::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

lat	planetocentric latitude in degrees
lon	planetocentric longitude in degrees
radius	local radius in meters
wrt	take derivative with respect to this value

Returns: partialDerivative

Definition at line 343 of file CameraGroundMap.cpp.

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

Referenced by Isis::BundleAdjust::AddPartials(), and Isis::BundleAdjust::ComputePartials_DC().

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 class passed into the constructor.

Parameters