LSSTApplications  10.0-2-g4f67435,11.0.rc2+1,11.0.rc2+12,11.0.rc2+3,11.0.rc2+4,11.0.rc2+5,11.0.rc2+6,11.0.rc2+7,11.0.rc2+8
LSSTDataManagementBasePackage
Orientation.cc
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22 
24 
25 namespace lsst {
26 namespace afw {
27 namespace cameraGeom {
28 
30  geom::Point2D const fpPosition,
31  geom::Point2D const refPoint,
32  geom::Angle const yaw,
33  geom::Angle const pitch,
34  geom::Angle const roll
35  ) :
36  _fpPosition(fpPosition),
37  _refPoint(refPoint),
38  _yaw(yaw),
39  _pitch(pitch),
40  _roll(roll),
41  _rotMat()
42  {
43  double cosYaw = std::cos(_yaw);
44  double sinYaw = std::sin(_yaw);
45  double cosPitch = std::cos(_pitch);
46  double sinPitch = std::sin(_pitch);
47  double cosRoll = std::cos(_roll);
48  double sinRoll = std::sin(_roll);
49 
50  // This comes from the rotation matrix written down here:
51  // http://en.wikipedia.org/wiki/Euler_angles
52  // for Tait-Bryan angles Z_1Y_2X_3
53  // _rotMat = coeffA coeffB
54  // coeffD coeffE
55  _rotMat << cosYaw*cosPitch, cosYaw*sinPitch*sinRoll - cosRoll*sinYaw,
56  cosPitch*sinYaw, cosYaw*cosRoll + sinYaw*sinPitch*sinRoll;
57 
58  }
59 
62  float yawDeg = _yaw.asDegrees();
63  while (yawDeg < 0.) {
64  yawDeg += 360.;
65  }
66  return std::floor((yawDeg + 45.)/90.);
67  }
68 
70  geom::Extent2D const pixelSizeMm
71  ) const {
72  // jacobian = coeffA*pixelSizeMmX, coeffB*pixelSizeMmY,
73  // coeffD*pixelSizeMmX, coeffE*pixelSizeMmY
74  Eigen::Matrix2d jacobian = _rotMat.array() \
75  * (Eigen::Vector2d::Ones() * pixelSizeMm.asEigen().transpose()).array();
76 
77  Eigen::Vector2d refMm = pixelSizeMm.asEigen().array() * _refPoint.asEigen().array();
78  Eigen::Vector2d translation = _fpPosition.asEigen() - (_rotMat * refMm);
79 
80  geom::AffineTransform affineTransform = geom::AffineTransform(jacobian, translation);
81  return geom::AffineXYTransform(affineTransform);
82  }
83 
85  geom::Extent2D const pixelSizeMm
86  ) const {
87  return geom::AffineXYTransform(makePixelFpTransform(pixelSizeMm).getReverseTransform());
88  }
89 
90 }}}
int getNQuarter() const
Return the number of quarter turns (rounded to the closest quarter)
Definition: Orientation.cc:61
geom::AffineXYTransform makeFpPixelTransform(geom::Extent2D const pixelSizeMm) const
Generate an XYTransform from focal plane to pixel coordinates.
Definition: Orientation.cc:84
lsst::afw::geom::Angle _roll
roll
Definition: Orientation.h:109
geom::AffineXYTransform makePixelFpTransform(geom::Extent2D const pixelSizeMm) const
Generate an XYTransform from pixel to focal plane coordinates.
Definition: Orientation.cc:69
Orientation(geom::Point2D const fpPosition=geom::Point2D(0, 0), geom::Point2D const refPoint=geom::Point2D(-0.5,-0.5), geom::Angle const yaw=geom::Angle(0), geom::Angle const pitch=geom::Angle(0), geom::Angle const roll=geom::Angle(0))
Definition: Orientation.cc:29
double asDegrees() const
Definition: Angle.h:124
An affine coordinate transformation consisting of a linear transformation and an offset.
EigenVector const & asEigen() const
Return a fixed-size Eigen representation of the coordinate object.
lsst::afw::geom::Angle _pitch
pitch
Definition: Orientation.h:108
Extent< int, N > floor(Extent< double, N > const &input)
lsst::afw::geom::Angle _yaw
yaw
Definition: Orientation.h:107
Wrap an AffineTransform.
Definition: XYTransform.h:152
geom::Point2D _refPoint
reference point on detector
Definition: Orientation.h:105
Eigen::Matrix< double, 2, 2, Eigen::DontAlign > _rotMat
Definition: Orientation.h:113
geom::Point2D _fpPosition
focal plane position of reference point on detector
Definition: Orientation.h:104