lsst.afw g4e8c878dce+b648b522b0
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Orientation.cc
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1/*
2 * LSST Data Management System
3 * Copyright 2008, 2009, 2010, 2011, 2012, 2013, 2014 LSST Corporation.
4 *
5 * This product includes software developed by the
6 * LSST Project (http://www.lsst.org/).
7 *
8 * This program is free software: you can redistribute it and/or modify
9 * it under the terms of the GNU General Public License as published by
10 * the Free Software Foundation, either version 3 of the License, or
11 * (at your option) any later version.
12 *
13 * This program is distributed in the hope that it will be useful,
14 * but WITHOUT ANY WARRANTY; without even the implied warranty of
15 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
16 * GNU General Public License for more details.
17 *
18 * You should have received a copy of the LSST License Statement and
19 * the GNU General Public License along with this program. If not,
20 * see <http://www.lsstcorp.org/LegalNotices/>.
21 */
22
25
26namespace lsst {
27namespace afw {
28namespace cameraGeom {
29
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
50Orientation::~Orientation() noexcept = default;
51// Can't combine noexcept and =default until Eigen::Matrix supports noexcept
52Orientation::Orientation(Orientation const &other) 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
85int 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().head<2>() - (_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
table::Point2DKey refPoint
Definition: Detector.cc:169
table::Point3DKey fpPosition
Definition: Detector.cc:168
table::Key< lsst::geom::Angle > yaw
Definition: Detector.cc:170
table::Key< lsst::geom::Angle > roll
Definition: Detector.cc:172
table::Key< lsst::geom::Angle > pitch
Definition: Detector.cc:171
Describe a detector's orientation in the focal plane.
Definition: Orientation.h:51
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))
Definition: Orientation.cc:30
Orientation & operator=(Orientation const &) noexcept
Definition: Orientation.cc:66
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::shared_ptr< geom::TransformPoint2ToPoint2 > makeFpPixelTransform(lsst::geom::Extent2D const pixelSizeMm) const
Generate a Transform from focal plane to pixel coordinates.
Definition: Orientation.cc:107
int getNQuarter() const noexcept
Return the number of quarter turns (rounded to the closest quarter)
Definition: Orientation.cc:85
constexpr double asDegrees() const noexcept
EigenVector const & asEigen() const noexcept(IS_ELEMENT_NOTHROW_COPYABLE)
T cos(T... args)
T floor(T... args)
T move(T... args)
T sin(T... args)