Merged with trunk. (659ae748) · Commits · aflab / astrogeology / ISIS3

isis/src/base/objs/BulletShapeModel/BulletClosestRayCallback.cpp

+0 −5

Original line number	Diff line number	Diff line
		@@ -310,11 +310,6 @@ namespace Isis {
		if ( triangleIndex() != other.triangleIndex() ) return (false);
		if ( partId() != other.partId() ) return (false);

		// Check the emission angle from other.observer to this.point
		btVector3 psB = (other.observer() - point()).normalized();
		btScalar angle = std::acos( normal().dot( psB ) ) * RAD2DEG;
		if ( std::fabs( angle ) > 90.0 ) return (false);

		// How close are the two intercept points?
		if ( distance( other ) > tolerance ) return ( false );

isis/src/base/objs/BulletShapeModel/BulletShapeModel.cpp

+18 −0

Original line number	Diff line number	Diff line
		@@ -346,6 +346,14 @@ namespace Isis {
		return true;
		}

		// Check if the emission angle is greater than 90 degrees
		// If true, then it is occluded, if false then unknown
		btVector3 psB = (observer - hit.point()).normalized();
		btScalar angle = std::acos( hit.normal().dot( psB ) ) * RAD2DEG;
		if ( std::fabs( angle ) > 90.0 - DBL_MIN) {
		return true;
		}

		// Ray cast from the observer to the intersection
		// If we have an intersection, test for occlusion
		BulletClosestRayCallback results( observer, hit.point() );
		@@ -461,8 +469,18 @@ namespace Isis {
		*/
		bool BulletShapeModel::isVisibleFrom(const std::vector<double> observerPos,
		const std::vector<double> lookDirection) {

		if ( !m_intercept.isValid() ) return (false);

		// Check if the emission angle is greater than 90 degrees
		// If true, then it is occluded, if false then unknown
		btVector3 observer(observerPos[0], observerPos[1], observerPos[2]);
		btVector3 psB = (observer - m_intercept.point()).normalized();
		btScalar angle = std::acos( m_intercept.normal().dot( psB ) ) * RAD2DEG;
		if ( std::fabs( angle ) > 90.0 - DBL_MIN) {
		return false;
		}

		btVector3 rayEnd = castLookDir( observer, btVector3(lookDirection[0], lookDirection[1], lookDirection[2]) );
		BulletClosestRayCallback results(observer, rayEnd);
		(void) m_model->raycast(observer, rayEnd, results);

isis/src/base/objs/CameraDistortionMap/CameraDistortionMap.cpp

+82 −11

Original line number	Diff line number	Diff line
		@@ -24,12 +24,13 @@
		#include "CameraDistortionMap.h"

		namespace Isis {
		/** Camera distortion map constructor
		/**
		* Camera distortion map constructor
		*
		* Create a camera distortion map. This class maps between distorted
		* and undistorted focal plane x/y's. The default mapping is the
		* identity, that is, the focal plane x/y and undistorted focal plane
		* x/y will be identical.
		* Create a radial camera distortion map. This class maps between
		* distorted and undistorted focal plane x/y's. The default mapping
		* is the identity, that is, the focal plane x/y and undistorted
		* focal plane x/y will be identical.
		*
		* @param parent the parent camera that will use this distortion map
		* @param zDirection the direction of the focal plane Z-axis
		@@ -43,7 +44,15 @@ namespace Isis {
		}


		/** Load distortion coefficients
		/**
		* Destructor for the ISIS3 default camera distortion map.
		*/
		CameraDistortionMap::~CameraDistortionMap() {
		}


		/**
		* Load distortion coefficients
		*
		* This method loads the distortion coefficients from the instrument
		* kernel. The coefficients in the NAIF instrument kernel are
		@@ -70,7 +79,8 @@ namespace Isis {
		}


		/** Compute undistorted focal plane x/y
		/**
		* Compute undistorted focal plane x/y
		*
		* Compute undistorted focal plane x/y given a distorted focal plane x/y.
		* This virtual method can be used to apply various techniques for removing
		@@ -114,7 +124,8 @@ namespace Isis {
		}


		/** Compute distorted focal plane x/y
		/**
		* Compute distorted focal plane x/y
		*
		* Compute distorted focal plane x/y given an undistorted focal plane x/y.
		* This virtual method is used to apply various techniques for adding
		@@ -192,7 +203,9 @@ namespace Isis {


		/**
		* @returns The optical distortion of polynomial coefficients
		* Retrieve the distortion coefficients used for this model.
		*
		* @returns The optical distortion of polynomial coefficients.
		*/
		std::vector<double> CameraDistortionMap::OpticalDistortionCoefficients() const {
		return p_odk;
		@@ -200,11 +213,69 @@ namespace Isis {


		/**
		* Gets the z-direction for this camera. The direction is represented as
		* +/- 1.
		* @returns The direction of the focal plane Z-axis
		*/
		double CameraDistortionMap::ZDirection() const {
		return p_zDirection;
		}


		/**
		* Gets the x-value in the focal plane coordinate system. This is represented
		* in millimeters from the origin.
		*
		* @returns The distorted focal plane x.
		*/
		double CameraDistortionMap::FocalPlaneX() const {
		return p_focalPlaneX;
		}


		/**
		* Gets the y-value in the focal plane coordinate system. This is represented
		* in millimeters from the origin.
		*
		* @returns The distorted focal plane y.
		*/
		double CameraDistortionMap::FocalPlaneY() const {
		return p_focalPlaneY;
		}


		/**
		* Gets the x-value in the undistorted focal plane coordinate system. This is represented
		* in millimeters from the origin.
		*
		*@returns The undistorted focal plane x
		*/
		double CameraDistortionMap::UndistortedFocalPlaneX() const {
		return p_undistortedFocalPlaneX;
		}


		/**
		* Gets the y-value in the undistorted focal plane coordinate system. This is represented
		* in millimeters from the origin.
		*
		* @returns The undistorted focal plane y
		*/
		double CameraDistortionMap::UndistortedFocalPlaneY() const {
		return p_undistortedFocalPlaneY;
		}


		/**
		* Gets the z-value in the undistorted focal plane coordinate system. This is
		* represented as the focal length, in millimeters, with the sign indicating
		* z-direction.
		*
		* @returns The undistorted focal plane z
		*/
		double CameraDistortionMap::UndistortedFocalPlaneZ() const {
		return p_zDirection *p_camera->FocalLength();
		}

		}

isis/src/base/objs/CameraDistortionMap/CameraDistortionMap.h

+10 −39

Original line number	Diff line number	Diff line
		@@ -50,16 +50,17 @@ namespace Isis {
		* since no unitTest exists. Fixed indentation
		* of history entries. References #1490.
		* @history 2017-08-30 Summer Stapleton - Updated documentation. References #4807.
		*
		* @history 2017-09-04 Kristin Berry - Made SetDistortion virtual so that
		* individual camera model distortion maps can
		* set the values.
		*/
		class CameraDistortionMap {
		public:
		CameraDistortionMap(Camera *parent, double zDirection = 1.0);

		void SetDistortion(int naifIkCode);
		virtual void SetDistortion(int naifIkCode);

		//! Destructor
		virtual ~CameraDistortionMap() {}
		virtual ~CameraDistortionMap();

		virtual bool SetFocalPlane(double dx, double dy);

		@@ -68,41 +69,11 @@ namespace Isis {
		std::vector<double> OpticalDistortionCoefficients() const;

		double ZDirection() const;

		/**
		* @returns The distorted focal plane x
		*/
		inline double FocalPlaneX() const {
		return p_focalPlaneX;
		}

		/**
		* @returns The distorted focal plane y
		*/
		inline double FocalPlaneY() const {
		return p_focalPlaneY;
		}

		/**
		*@returns The undistorted focal plane x
		*/
		inline double UndistortedFocalPlaneX() const {
		return p_undistortedFocalPlaneX;
		}

		/**
		* @returns The undistorted focal plane y
		*/
		inline double UndistortedFocalPlaneY() const {
		return p_undistortedFocalPlaneY;
		}

		/**
		* @returns The undistorted focal plane z
		*/
		inline double UndistortedFocalPlaneZ() const {
		return p_zDirection * p_camera->FocalLength();
		}
		double FocalPlaneX() const;
		double FocalPlaneY() const;
		double UndistortedFocalPlaneX() const;
		double UndistortedFocalPlaneY() const;
		double UndistortedFocalPlaneZ() const;

		protected:
		Camera *p_camera; //!< The camera to distort/undistort

isis/src/base/objs/Histogram/Histogram.cpp

+3 −2

Original line number	Diff line number	Diff line
		@@ -28,6 +28,7 @@
		#include "ControlPoint.h"
		#include "LineManager.h"
		#include "Message.h"
		#include "SpecialPixel.h"

		#include <iostream>
		#include <math.h>
		@@ -250,8 +251,8 @@ namespace Isis {
		if (measure->IsIgnored()) continue;

		temp = (measure->*statFunc)(); //get the data using the passed ControlMeasure acessor function pointer
		if (temp > max) max = temp;
		if (temp < min) min = temp;
		if ( !IsSpecial(temp) && temp > max ) max = temp;
		if ( !IsSpecial(temp) && temp < min ) min = temp;
		}
		}