LSSTApplications  20.0.0
LSSTDataManagementBasePackage
Orientation.cc
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22 
25 
26 namespace lsst {
27 namespace afw {
28 namespace cameraGeom {
29 
32  lsst::geom::Angle const roll)
33  : _fpPosition(fpPosition), _refPoint(refPoint), _yaw(yaw), _pitch(pitch), _roll(roll), _rotMat() {
34  double cosYaw = std::cos(_yaw);
35  double sinYaw = std::sin(_yaw);
36  double cosPitch = std::cos(_pitch);
37  double sinPitch = std::sin(_pitch);
38  double cosRoll = std::cos(_roll);
39  double sinRoll = std::sin(_roll);
40 
41  // This comes from the rotation matrix written down here:
42  // http://en.wikipedia.org/wiki/Euler_angles
43  // for Tait-Bryan angles Z_1Y_2X_3
44  // _rotMat = coeffA coeffB
45  // coeffD coeffE
46  _rotMat << cosYaw * cosPitch, cosYaw * sinPitch * sinRoll - cosRoll * sinYaw, cosPitch * sinYaw,
47  cosYaw * cosRoll + sinYaw * sinPitch * sinRoll;
48 }
49 
50 Orientation::~Orientation() noexcept = default;
51 // Can't combine noexcept and =default until Eigen::Matrix supports noexcept
53  : _fpPosition(other._fpPosition),
54  _refPoint(other._refPoint),
55  _yaw(other._yaw),
56  _pitch(other._pitch),
57  _roll(other._roll),
58  _rotMat(other._rotMat) {}
60  : _fpPosition(std::move(other._fpPosition)),
61  _refPoint(std::move(other._refPoint)),
62  _yaw(std::move(other._yaw)),
63  _pitch(std::move(other._pitch)),
64  _roll(std::move(other._roll)),
65  _rotMat(std::move(other._rotMat)) {}
67  _fpPosition = other._fpPosition;
68  _refPoint = other._refPoint;
69  _yaw = other._yaw;
70  _pitch = other._pitch;
71  _roll = other._roll;
72  _rotMat = other._rotMat;
73  return *this;
74 }
76  _fpPosition = std::move(other._fpPosition);
77  _refPoint = std::move(other._refPoint);
78  _yaw = std::move(other._yaw);
79  _pitch = std::move(other._pitch);
80  _roll = std::move(other._roll);
81  _rotMat = std::move(other._rotMat);
82  return *this;
83 }
84 
85 int Orientation::getNQuarter() const noexcept {
86  float yawDeg = _yaw.asDegrees();
87  while (yawDeg < 0.) {
88  yawDeg += 360.;
89  }
90  return std::floor((yawDeg + 45.) / 90.);
91 }
92 
94  lsst::geom::Extent2D const pixelSizeMm) const {
95  // jacobian = coeffA*pixelSizeMmX, coeffB*pixelSizeMmY,
96  // coeffD*pixelSizeMmX, coeffE*pixelSizeMmY
97  Eigen::Matrix2d jacobian =
98  _rotMat.array() * (Eigen::Vector2d::Ones() * pixelSizeMm.asEigen().transpose()).array();
99 
100  Eigen::Vector2d refMm = pixelSizeMm.asEigen().array() * _refPoint.asEigen().array();
101  Eigen::Vector2d translation = _fpPosition.asEigen() - (_rotMat * refMm);
102 
103  lsst::geom::AffineTransform affineTransform = lsst::geom::AffineTransform(jacobian, translation);
104  return afw::geom::makeTransform(affineTransform);
105 }
106 
108  lsst::geom::Extent2D const pixelSizeMm) const {
109  return makePixelFpTransform(pixelSizeMm)->inverted();
110 }
111 
112 } // namespace cameraGeom
113 } // namespace afw
114 } // namespace lsst
std::floor
T floor(T... args)
fpPosition
table::Point2DKey fpPosition
Definition: Detector.cc:167
std::shared_ptr
STL class.
lsst::afw::cameraGeom::Orientation::makePixelFpTransform
std::shared_ptr< geom::TransformPoint2ToPoint2 > makePixelFpTransform(lsst::geom::Extent2D const pixelSizeMm) const
Generate a Transform from pixel to focal plane coordinates.
Definition: Orientation.cc:93
std::move
T move(T... args)
std::cos
T cos(T... args)
yaw
table::Key< lsst::geom::Angle > yaw
Definition: Detector.cc:169
lsst::afw
Definition: imageAlgorithm.dox:1
Orientation.h
lsst::afw::cameraGeom::Orientation::Orientation
Orientation(lsst::geom::Point2D const fpPosition=lsst::geom::Point2D(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))
Definition: Orientation.cc:30
roll
table::Key< lsst::geom::Angle > roll
Definition: Detector.cc:171
lsst::afw::cameraGeom::Orientation::makeFpPixelTransform
std::shared_ptr< geom::TransformPoint2ToPoint2 > makeFpPixelTransform(lsst::geom::Extent2D const pixelSizeMm) const
Generate a Transform from focal plane to pixel coordinates.
Definition: Orientation.cc:107
lsst::geom::AffineTransform
An affine coordinate transformation consisting of a linear transformation and an offset.
Definition: AffineTransform.h:75
transformFactory.h
other
ItemVariant const * other
Definition: Schema.cc:56
lsst::afw::cameraGeom::Orientation::~Orientation
~Orientation() noexcept
refPoint
table::Point2DKey refPoint
Definition: Detector.cc:168
lsst
A base class for image defects.
Definition: imageAlgorithm.dox:1
lsst::afw::cameraGeom::Orientation
Describe a detector's orientation in the focal plane.
Definition: Orientation.h:52
std::sin
T sin(T... args)
lsst::afw::cameraGeom::Orientation::getNQuarter
int getNQuarter() const noexcept
Return the number of quarter turns (rounded to the closest quarter)
Definition: Orientation.cc:85
lsst::geom::Point< double, 2 >
lsst::geom::Angle
A class representing an angle.
Definition: Angle.h:127
lsst::afw::cameraGeom::Orientation::operator=
Orientation & operator=(Orientation const &) noexcept
Definition: Orientation.cc:66
lsst::geom::Angle::asDegrees
constexpr double asDegrees() const noexcept
Return an Angle's value in degrees.
Definition: Angle.h:169
pitch
table::Key< lsst::geom::Angle > pitch
Definition: Detector.cc:170
lsst::afw::geom::makeTransform
std::shared_ptr< TransformPoint2ToPoint2 > makeTransform(lsst::geom::AffineTransform const &affine)
Wrap an lsst::geom::AffineTransform as a Transform.
Definition: transformFactory.cc:154
lsst::geom::Extent< double, 2 >