IsisInterfaceLineScanRot.h

// __BEGIN_LICENSE__
//  Copyright (c) 2009-2013, United States Government as represented by the
//  Administrator of the National Aeronautics and Space Administration. All
//  rights reserved.
//
//  The NGT platform is licensed under the Apache License, Version 2.0 (the
//  "License"); you may not use this file except in compliance with the
//  License. You may obtain a copy of the License at
//  http://www.apache.org/licenses/LICENSE-2.0
//
//  Unless required by applicable law or agreed to in writing, software
//  distributed under the License is distributed on an "AS IS" BASIS,
//  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
//  See the License for the specific language governing permissions and
//  limitations under the License.
// __END_LICENSE__


/// \file IsisInterfaceLineScane.h
///
/// Line Scan Camera Interface with ISIS
///
#ifndef __LRONACPIPELINE_INTERFACE_LINESCAN_H__
#define __LRONACPIPELINE_INTERFACE_LINESCAN_H__

// VW & ASP
#include <vw/Math/LevenbergMarquardt.h>
#include <vw/Camera/CameraModel.h>
#include <asp/IsisIO/IsisInterface.h>

// Isis
#include <CameraDetectorMap.h>
#include <CameraDistortionMap.h>
#include <CameraFocalPlaneMap.h>
#include <AlphaCube.h>


/// Extension of CameraModel class interface which allows local (camera frame) rotations to be applied
class LocalRotCameraModel : public vw::camera::CameraModel
{
public:

  LocalRotCameraModel() {}
  virtual ~LocalRotCameraModel() {}

  /// Additional function to apply an in-camera rotation during this operation
  virtual vw::Vector2
    point_to_pixel_rotated( vw::Vector3 const& point, vw::Vector3 const& rotAngles, int guessLine=-1) const = 0;

  /// Additional function to apply an in-camera rotation during this operation
  virtual vw::Vector3
    pixel_to_vector_rotated( vw::Vector2 const& pix, vw::Vector3 const& rotAngles) const = 0;
};

class IsisInterfaceLineScanRot : public asp::isis::IsisInterface, public LocalRotCameraModel
{

public:
  IsisInterfaceLineScanRot(const std::string &file );

  virtual ~IsisInterfaceLineScanRot() {}

  virtual std::string type()       { return "LineScan"; }
  virtual std::string type() const { return "LineScan"; }

  // Standard Methods
  //-------------------------------------------------

  virtual vw::Vector2 point_to_pixel ( vw::Vector3 const& point ) const;
  virtual vw::Vector3 pixel_to_vector( vw::Vector2 const& pix   ) const;
  virtual vw::Vector3 camera_center  ( vw::Vector2 const& pix = vw::Vector2(1,1) ) const;
  virtual vw::Quat    camera_pose    ( vw::Vector2 const& pix = vw::Vector2(1,1) ) const;

  /// Additional function to apply an in-camera rotation during this operation
  virtual vw::Vector2
    point_to_pixel_rotated( vw::Vector3 const& point, vw::Vector3 const& rotAngles, int guessLine=-1) const;

  /// Additional function to apply an in-camera rotation during this operation
  virtual vw::Vector3
    pixel_to_vector_rotated( vw::Vector2 const& pix, vw::Vector3 const& rotAngles) const;


  /// Returns the instrument and body matrices at the given time
  bool getMatricesAtTime(const double et, vw::Matrix3x3 &R_inst, vw::Matrix3x3 &R_body);

protected:

  // Custom Variables
  Isis::CameraDistortionMap *m_distortmap;
  Isis::CameraFocalPlaneMap *m_focalmap;
  Isis::CameraDetectorMap   *m_detectmap;
  mutable Isis::AlphaCube   m_alphacube; // Doesn't use const

private:

  // Custom Fuctions
  mutable vw::Vector2 m_c_location;
  mutable vw::Vector3 m_center;
  mutable vw::Quat m_pose;
  void SetTime( vw::Vector2 const& px,
                bool calc=false ) const;
};



#endif//__LRONACPIPELINE_INTERFACE_LINESCAN_H__