Unverified Commit 9020a19f authored by kledmundson's avatar kledmundson Committed by GitHub
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Merge pull request #408 from kledmundson/LroLidar_Infrastructure 

kluges to ::ComputeApriori method - need to clean this up
parents 561bc942 dbd77b79

isis/src/control/objs/ControlPoint/ControlPoint.cpp

+31 −22
Original line number Diff line number Diff line
@@ -921,7 +921,7 @@ namespace Isis { 
    }



    // Don't update the apriori x/y/z for fixed points  TODO This needs a closer look

    if (GetType() == Free ) {

    if (GetType() == Free && !id.contains("Lidar")) {  // TODO: temporary kluge for lidar points

      // point can be tagged as "Free" but still have constrained coordinates

      // if tagged "Free" we want to compute approximate a priori coordinates

    }
@@ -934,7 +934,8 @@ namespace Isis { 
        || NumberOfConstrainedCoordinates() == 3

        || IsLatitudeConstrained()

        || IsLongitudeConstrained()

        || IsRadiusConstrained()) {

        || IsRadiusConstrained()

        || id.contains("Lidar")) { // TODO: temporary kluge for lidar points



      // Initialize the adjusted x/y/z to the a priori coordinates

      adjustedSurfacePoint = aprioriSurfacePoint;
@@ -965,6 +966,7 @@ namespace Isis { 
    }

    // Since we are not solving yet for x,y,and z in the bundle directly,

    // longitude must be constrained.  This constrains x and y as well.

    // TODO: (Ken E.) this isn't clear to me anymore

    else {

      aprioriSurfacePoint.SetRectangular(

        aprioriSurfacePoint.GetX(),
@@ -1012,6 +1014,11 @@ namespace Isis { 


    PointModified();



    double cuSamp, cuLine;

    double muSamp, muLine;

    double cudx = 0.0;

    double cudy = 0.0;



    // Loop for each measure to compute the error

    QList<QString> keys = measures->keys();
@@ -1025,20 +1032,8 @@ namespace Isis { 
//       if (!m->IsMeasured()) {

//         continue;



      // TODO:  Should we use crater diameter?

      Camera *cam = m->Camera();



      double cuSamp;

      double cuLine;

      CameraFocalPlaneMap *fpmap = m->Camera()->FocalPlaneMap();



      // Map the lat/lon/radius of the control point through the Spice of the

      // measurement sample/line to get the computed sample/line.  This must be

      // done manually because the camera will compute a new time for line scanners,

      // instead of using the measured time.

//      ComputeResiduals_Millimeters();

      double cudx = 0.0;

      double cudy = 0.0;

      CameraFocalPlaneMap *fpmap = cam->FocalPlaneMap();



      // Map the lat/lon/radius of the control point through the Spice of the

      // measurement sample/line to get the computed undistorted focal plane
@@ -1052,11 +1047,18 @@ namespace Isis { 
      }



      cam->GroundMap()->GetXY(GetAdjustedSurfacePoint(), &cudx, &cudy);

      // double mudx = m->GetFocalPlaneMeasuredX();

      // double mudy = m->GetFocalPlaneMeasuredY();



      m->SetFocalPlaneComputed(cudx, cudy);





      // TODO:TESTING

//      cam->DistortionMap()->SetUndistortedFocalPlane(cudx,cudy);

//      double distortedx = cam->DistortionMap()->FocalPlaneX();

//      double distortedy = cam->DistortionMap()->FocalPlaneY();

//      fpmap->SetFocalPlane(distortedx, distortedy);

//      double distortedsample = fpmap->DetectorSample();

//      double distortedline = fpmap->DetectorLine();

      // TODO:TESTING



      if (cam->GetCameraType()  !=  Isis::Camera::Radar) {



        // Now things get tricky.  We want to produce errors in pixels not mm
@@ -1073,7 +1075,6 @@ namespace Isis { 
        cuSamp = fpmap->DetectorSample();

        cuLine = fpmap->DetectorLine();

      }



      else {

        // For radar line is calculated from time in the camera.  Use the

        // closest line to scale the focal plane y (doppler shift) to image line
@@ -1134,9 +1135,6 @@ namespace Isis { 
        cuLine = m->GetLine() + deltaLine;

      }



      double muSamp;

      double muLine;



      if (cam->GetCameraType()  !=  Isis::Camera::Radar) {

        // Again we will bypass the distortion map and have residuals in undistorted pixels.

        if (!fpmap->SetFocalPlane(m->GetFocalPlaneMeasuredX(), m->GetFocalPlaneMeasuredY())) {
@@ -1158,6 +1156,17 @@ namespace Isis { 
      // undistorted pixels except for radar instruments.

      double sampResidual = muSamp - cuSamp;

      double lineResidual = muLine - cuLine;



      // TODO: TESTING

//      double x = cam->DistortionMap()->FocalPlaneX();

//      double y = cam->DistortionMap()->FocalPlaneY();

//      m->SetFocalPlaneMeasured(x, y);

//      double mdissamp = fpmap->DetectorSample();

//      double mdisline = fpmap->DetectorLine();

//      double distortedSampleResidual = fpmap->DetectorSample() - distortedsample;

//      double distortedLineResidual = fpmap->DetectorLine() - distortedline;

      // TODO: TESTING



      m->SetResidual(sampResidual, lineResidual);

    }