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

#include <Orientation.h>

Public Member Functions
	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))
geom::Point2D	getFpPosition () const
	Return focal plane position of detector reference point (mm) More...
geom::Point2D	getReferencePoint () const
	Return detector reference point (pixels) More...
geom::Angle	getYaw () const
	Return the yaw angle. More...
lsst::afw::geom::Angle	getPitch () const
	Return the pitch angle. More...
geom::Angle	getRoll () const
	Return the roll angle. More...
int	getNQuarter () const
	Return the number of quarter turns (rounded to the closest quarter) More...
geom::AffineXYTransform	makePixelFpTransform (geom::Extent2D const pixelSizeMm) const
	Generate an XYTransform from pixel to focal plane coordinates. More...
geom::AffineXYTransform	makeFpPixelTransform (geom::Extent2D const pixelSizeMm) const
	Generate an XYTransform from focal plane to pixel coordinates. More...

Private Attributes
geom::Point2D	_fpPosition
	focal plane position of reference point on detector More...
geom::Point2D	_refPoint
	reference point on detector More...
lsst::afw::geom::Angle	_yaw
	yaw More...
lsst::afw::geom::Angle	_pitch
	pitch More...
lsst::afw::geom::Angle	_roll
	roll More...
Eigen::Matrix< double, 2, 2, Eigen::DontAlign >	_rotMat

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 53 of file Orientation.h.

Constructor & Destructor Documentation

lsst::afw::cameraGeom::Orientation::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)  )

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 29 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;

    }

Member Function Documentation

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

inline

Return focal plane position of detector reference point (mm)

Definition at line 68 of file Orientation.h.

{ return _fpPosition; }

int lsst::afw::cameraGeom::Orientation::getNQuarter

(

)

const

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

Definition at line 61 of file Orientation.cc.

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

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

inline

Return the pitch angle.

Definition at line 77 of file Orientation.h.

{ return _pitch; }

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

inline

Return detector reference point (pixels)

Definition at line 71 of file Orientation.h.

{ return _refPoint; }

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

inline

Return the roll angle.

Definition at line 80 of file Orientation.h.

{ return _roll; }

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

inline

Return the yaw angle.

Definition at line 74 of file Orientation.h.

{ return _yaw; }

geom::AffineXYTransform lsst::afw::cameraGeom::Orientation::makeFpPixelTransform

(

geom::Extent2D const

pixelSizeMm

)

const

Generate an XYTransform from focal plane to pixel coordinates.

Returns

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

Parameters

pixelSizeMm

Size of the pixel in mm in X and Y

Definition at line 84 of file Orientation.cc.

            {
        return geom::AffineXYTransform(makePixelFpTransform(pixelSizeMm).getReverseTransform());
    }

geom::AffineXYTransform lsst::afw::cameraGeom::Orientation::makePixelFpTransform

(

geom::Extent2D const

pixelSizeMm

)

const

Generate an XYTransform from pixel to focal plane coordinates.

Returns

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

Parameters

pixelSizeMm

Size of the pixel in mm in X and Y

Definition at line 69 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() - (_rotMat * refMm);

        geom::AffineTransform affineTransform = geom::AffineTransform(jacobian, translation);
        return geom::AffineXYTransform(affineTransform);
    }

Member Data Documentation

geom::Point2D lsst::afw::cameraGeom::Orientation::_fpPosition

private

focal plane position of reference point on detector

Definition at line 104 of file Orientation.h.

lsst::afw::geom::Angle lsst::afw::cameraGeom::Orientation::_pitch

private

pitch

Definition at line 108 of file Orientation.h.

geom::Point2D lsst::afw::cameraGeom::Orientation::_refPoint

private

reference point on detector

Definition at line 105 of file Orientation.h.

lsst::afw::geom::Angle lsst::afw::cameraGeom::Orientation::_roll

private

roll

Definition at line 109 of file Orientation.h.

Eigen::Matrix<double,2,2,Eigen::DontAlign> lsst::afw::cameraGeom::Orientation::_rotMat

private

Definition at line 113 of file Orientation.h.

lsst::afw::geom::Angle lsst::afw::cameraGeom::Orientation::_yaw

private

yaw

Definition at line 107 of file Orientation.h.

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

• /home/lsstsw/stack/Linux64/afw/11.0-2-g04d2804/include/lsst/afw/cameraGeom/Orientation.h
• /home/lsstsw/stack/Linux64/afw/11.0-2-g04d2804/src/cameraGeom/Orientation.cc