lsst::afw::cameraGeom::Orientation Class Reference

Describe a detector's orientation in the focal plane. More...

#include <Orientation.h>

Public Member Functions
	Orientation (lsst::geom::Point3D const fpPosition=lsst::geom::Point3D(0, 0, 0), lsst::geom::Point2D const refPoint=lsst::geom::Point2D(-0.5, -0.5), lsst::geom::Angle const yaw=lsst::geom::Angle(0), lsst::geom::Angle const pitch=lsst::geom::Angle(0), lsst::geom::Angle const roll=lsst::geom::Angle(0))
	Orientation (lsst::geom::Point2D const fpPosition2, lsst::geom::Point2D const refPoint=lsst::geom::Point2D(-0.5, -0.5), lsst::geom::Angle const yaw=lsst::geom::Angle(0), lsst::geom::Angle const pitch=lsst::geom::Angle(0), lsst::geom::Angle const roll=lsst::geom::Angle(0))
	~Orientation () noexcept
	Orientation (Orientation const &) noexcept
	Orientation (Orientation &&) noexcept
Orientation &	operator= (Orientation const &) noexcept
Orientation &	operator= (Orientation &&) noexcept
lsst::geom::Point2D	getFpPosition () const
	Return focal plane position of detector reference point (mm)
lsst::geom::Point3D	getFpPosition3 () const noexcept
lsst::geom::Point2D	getReferencePoint () const noexcept
	Return detector reference point (pixels)
double	getHeight () const noexcept
lsst::geom::Angle	getYaw () const noexcept
	Return the yaw angle.
lsst::geom::Angle	getPitch () const noexcept
	Return the pitch angle.
lsst::geom::Angle	getRoll () const noexcept
	Return the roll angle.
int	getNQuarter () const noexcept
	Return the number of quarter turns (rounded to the closest quarter)
std::shared_ptr< geom::TransformPoint2ToPoint2 >	makePixelFpTransform (lsst::geom::Extent2D const pixelSizeMm) const
	Generate a Transform from pixel to focal plane coordinates.
std::shared_ptr< geom::TransformPoint2ToPoint2 >	makeFpPixelTransform (lsst::geom::Extent2D const pixelSizeMm) const
	Generate a Transform from focal plane to pixel coordinates.

Detailed Description

Describe a detector's orientation in the focal plane.

All rotations are about the reference point on the detector. Rotations are intrinsic, meaning each rotation is applied in the coordinates system produced by the previous rotation. Rotations are applied in this order: yaw (Z), pitch (Y'), and roll (X'').

Warning

: default refPoint is -0.5, -0.5 (the lower left corner of a detector). This means that the default-constructed Orientation is not a unity transform, but instead includes a 1/2 pixel shift.

Definition at line 51 of file Orientation.h.

Constructor & Destructor Documentation

Orientation() [1/4]

lsst::afw::cameraGeom::Orientation::Orientation ( lsst::geom::Point3D const fpPosition = lsst::geom::Point3D(0, 0, 0), lsst::geom::Point2D const refPoint = lsst::geom::Point2D(-0.5, -0.5), lsst::geom::Angle const yaw = lsst::geom::Angle(0), lsst::geom::Angle const pitch = lsst::geom::Angle(                                 0), lsst::geom::Angle const roll = lsst::geom::Angle(                                 0) )

explicit

Parameters

fpPosition	Focal plane position of detector reference point (mm)
refPoint	Reference point on detector (pixels). Offset is measured to this point and all all rotations are about this point. The default value (-0.5, -0.5) is the lower left corner of the detector.
yaw	yaw: rotation about Z (X to Y), 1st rotation
pitch	pitch: rotation about Y' (Z'=Z to X'), 2nd rotation
roll	roll: rotation about X'' (Y''=Y' to Z''), 3rd rotation

Definition at line 30 of file Orientation.cc.

        : _fpPosition(fpPosition), _refPoint(refPoint), _yaw(yaw), _pitch(pitch), _roll(roll), _rotMat() {
    double cosYaw = std::cos(_yaw);
    double sinYaw = std::sin(_yaw);
    double cosPitch = std::cos(_pitch);
    double sinPitch = std::sin(_pitch);
    double cosRoll = std::cos(_roll);
    double sinRoll = std::sin(_roll);
 
    // This comes from the rotation matrix written down here:
    // http://en.wikipedia.org/wiki/Euler_angles
    // for Tait-Bryan angles Z_1Y_2X_3
    // _rotMat = coeffA  coeffB
    //           coeffD  coeffE
    _rotMat << cosYaw * cosPitch, cosYaw * sinPitch * sinRoll - cosRoll * sinYaw, cosPitch * sinYaw,
            cosYaw * cosRoll + sinYaw * sinPitch * sinRoll;
}

Orientation() [2/4]

lsst::afw::cameraGeom::Orientation::Orientation ( lsst::geom::Point2D const fpPosition2, lsst::geom::Point2D const refPoint = lsst::geom::Point2D(-0.5, -0.5), lsst::geom::Angle const yaw = lsst::geom::Angle(0), lsst::geom::Angle const pitch = lsst::geom::Angle(0), lsst::geom::Angle const roll = lsst::geom::Angle(0) )

inlineexplicit

Definition at line 69 of file Orientation.h.

      : Orientation(lsst::geom::Point3D(fpPosition2[0], fpPosition2[1], 0.0), refPoint, yaw, pitch, roll)
    {}

~Orientation()

lsst::afw::cameraGeom::Orientation::~Orientation ( )

defaultnoexcept

Orientation() [3/4]

lsst::afw::cameraGeom::Orientation::Orientation ( Orientation const & other )

noexcept

Definition at line 52 of file Orientation.cc.

        : _fpPosition(other._fpPosition),
          _refPoint(other._refPoint),
          _yaw(other._yaw),
          _pitch(other._pitch),
          _roll(other._roll),
          _rotMat(other._rotMat) {}

Orientation() [4/4]

lsst::afw::cameraGeom::Orientation::Orientation ( Orientation && other )

noexcept

Definition at line 59 of file Orientation.cc.

        : _fpPosition(std::move(other._fpPosition)),
          _refPoint(std::move(other._refPoint)),
          _yaw(std::move(other._yaw)),
          _pitch(std::move(other._pitch)),
          _roll(std::move(other._roll)),
          _rotMat(std::move(other._rotMat)) {}

Member Function Documentation

getFpPosition()

lsst::geom::Point2D lsst::afw::cameraGeom::Orientation::getFpPosition ( ) const

inline

Return focal plane position of detector reference point (mm)

Definition at line 84 of file Orientation.h.

                                          {
        return lsst::geom::Point2D(_fpPosition[0], _fpPosition[1]);
    }

getFpPosition3()

lsst::geom::Point3D lsst::afw::cameraGeom::Orientation::getFpPosition3 ( ) const

inlinenoexcept

Definition at line 88 of file Orientation.h.

{ return _fpPosition; }

getHeight()

double lsst::afw::cameraGeom::Orientation::getHeight ( ) const

inlinenoexcept

Definition at line 93 of file Orientation.h.

{ return _fpPosition[2]; }

getNQuarter()

int lsst::afw::cameraGeom::Orientation::getNQuarter ( ) const

noexcept

Return the number of quarter turns (rounded to the closest quarter)

Definition at line 85 of file Orientation.cc.

                                            {
    float yawDeg = _yaw.asDegrees();
    while (yawDeg < 0.) {
        yawDeg += 360.;
    }
    return std::floor((yawDeg + 45.) / 90.);
}

getPitch()

lsst::geom::Angle lsst::afw::cameraGeom::Orientation::getPitch ( ) const

inlinenoexcept

Return the pitch angle.

Definition at line 99 of file Orientation.h.

{ return _pitch; }

getReferencePoint()

lsst::geom::Point2D lsst::afw::cameraGeom::Orientation::getReferencePoint ( ) const

inlinenoexcept

Return detector reference point (pixels)

Definition at line 91 of file Orientation.h.

{ return _refPoint; }

getRoll()

lsst::geom::Angle lsst::afw::cameraGeom::Orientation::getRoll ( ) const

inlinenoexcept

Return the roll angle.

Definition at line 102 of file Orientation.h.

{ return _roll; }

getYaw()

lsst::geom::Angle lsst::afw::cameraGeom::Orientation::getYaw ( ) const

inlinenoexcept

Return the yaw angle.

Definition at line 96 of file Orientation.h.

{ return _yaw; }

makeFpPixelTransform()

std::shared_ptr< afw::geom::TransformPoint2ToPoint2 > lsst::afw::cameraGeom::Orientation::makeFpPixelTransform

(

lsst::geom::Extent2D const

pixelSizeMm

)

const

Generate a Transform from focal plane to pixel coordinates.

Returns

lsst::afw::geom::Transform from focal plane to pixel coordinates

Parameters

pixelSizeMm

Size of the pixel in mm in X and Y

Definition at line 107 of file Orientation.cc.

                                                  {
    return makePixelFpTransform(pixelSizeMm)->inverted();
}

makePixelFpTransform()

std::shared_ptr< afw::geom::TransformPoint2ToPoint2 > lsst::afw::cameraGeom::Orientation::makePixelFpTransform

(

lsst::geom::Extent2D const

pixelSizeMm

)

const

Generate a Transform from pixel to focal plane coordinates.

Returns

lsst::afw::geom::Transform from pixel to focal plane coordinates

Parameters

pixelSizeMm

Size of the pixel in mm in X and Y

Definition at line 93 of file Orientation.cc.

                                                  {
    // jacobian = coeffA*pixelSizeMmX, coeffB*pixelSizeMmY,
    //            coeffD*pixelSizeMmX, coeffE*pixelSizeMmY
    Eigen::Matrix2d jacobian =
            _rotMat.array() * (Eigen::Vector2d::Ones() * pixelSizeMm.asEigen().transpose()).array();
 
    Eigen::Vector2d refMm = pixelSizeMm.asEigen().array() * _refPoint.asEigen().array();
    Eigen::Vector2d translation = _fpPosition.asEigen().head<2>() - (_rotMat * refMm);
 
    lsst::geom::AffineTransform affineTransform = lsst::geom::AffineTransform(jacobian, translation);
    return afw::geom::makeTransform(affineTransform);
}

operator=() [1/2]

Orientation & lsst::afw::cameraGeom::Orientation::operator= ( Orientation && other )

noexcept

Definition at line 75 of file Orientation.cc.

                                                                {
    _fpPosition = std::move(other._fpPosition);
    _refPoint = std::move(other._refPoint);
    _yaw = std::move(other._yaw);
    _pitch = std::move(other._pitch);
    _roll = std::move(other._roll);
    _rotMat = std::move(other._rotMat);
    return *this;
}

operator=() [2/2]

Orientation & lsst::afw::cameraGeom::Orientation::operator= ( Orientation const & other )

noexcept

Definition at line 66 of file Orientation.cc.

                                                                     {
    _fpPosition = other._fpPosition;
    _refPoint = other._refPoint;
    _yaw = other._yaw;
    _pitch = other._pitch;
    _roll = other._roll;
    _rotMat = other._rotMat;
    return *this;
}

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

• /j/snowflake/release/lsstsw/stack/lsst-scipipe-9.0.0/Linux64/afw/g9726552aa6+10f999ec6a/include/lsst/afw/cameraGeom/Orientation.h
• /j/snowflake/release/lsstsw/stack/lsst-scipipe-9.0.0/Linux64/afw/g9726552aa6+10f999ec6a/src/cameraGeom/Orientation.cc