Merge pull request #236 from kledmundson/LroLidar_Infrastructure (a5d1041e) · Commits · aflab / astrogeology / ISIS3

isis/src/base/objs/CameraGroundMap/CameraGroundMap.cpp

+2 −2

Original line number	Diff line number	Diff line
		@@ -159,8 +159,8 @@ namespace Isis {
		* class value for m_lookJ is set by this method.
		*
		* @param point Surface point (ground position)
		* @param cudx [out] Pointer to computed undistored x focal plane coordinate
		* @param cudy [out] Pointer to computed undistored y focal plane coordinate
		* @param cudx [out] Pointer to computed undistorted x focal plane coordinate
		* @param cudy [out] Pointer to computed undistorted y focal plane coordinate
		*
		* @return @b bool If conversion was successful
		*/

isis/src/base/objs/LidarData/LidarData.h

+6 −2

Original line number	Diff line number	Diff line
		@@ -38,6 +38,7 @@ namespace Isis {
		* apriori variance/covariance matrix, adjusted point coordinates,
		* and adjusted variance/covariance matrix to the read and
		* write methods. Ref #5343.
		* @history 2018-06-14 Ken Edmundson - Added typedef for QSharedPointer to LidarData object.
		*
		*/
		class LidarData {
		@@ -71,5 +72,8 @@ namespace Isis {
		QVector<Isis::Camera *> p_cameraList; //!< Vector of image number to camera
		};

		};
		// typedefs
		//! Definition for a shared pointer to a LidarData object.
		typedef QSharedPointer<LidarData> LidarDataQsp;
		}
		#endif

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

+26 −67

Original line number	Diff line number	Diff line
		@@ -1001,6 +1001,9 @@ namespace Isis {
		* @history 2012-01-18 Debbie A. Cook, Revised to call
		* ComputeResidualsMillimeters() to avoid
		* duplication of code
		* @history 2018-06-13 Debbie A. Cook, Ken Edmundson, Removed method ComputeResidualsMillimeters()
		* and the call to it that was in this method. Added computation of
		* focal plane computedx and computedy here.
		*/
		ControlPoint::Status ControlPoint::ComputeResiduals() {
		if (IsIgnored()) {
		@@ -1033,7 +1036,26 @@ namespace Isis {
		// 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();
		// ComputeResiduals_Millimeters();
		double cudx = 0.0;
		double cudy = 0.0;

		// Map the lat/lon/radius of the control point through the Spice of the
		// measurement sample/line to get the computed undistorted focal plane
		// coordinates (mm if not radar). This works for radar too because in
		// the undistorted focal plane, y has not been set to 0 (set to 0 when
		// going to distorted focal plane or ground range in this case), so we
		// can hold the Spice to calculate residuals in undistorted focal plane
		// coordinates.
		if (cam->GetCameraType() != 0) { // no need to call setimage for framing camera
		cam->SetImage(m->GetSample(), m->GetLine());
		}

		cam->GroundMap()->GetXY(GetAdjustedSurfacePoint(), &cudx, &cudy);
		// double mudx = m->GetFocalPlaneMeasuredX();
		// double mudy = m->GetFocalPlaneMeasuredY();

		m->SetFocalPlaneComputed(cudx, cudy);

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

		@@ -1041,7 +1063,7 @@ namespace Isis {
		// but some of the camera maps could fail. One that won't is the
		// FocalPlaneMap which takes x/y to detector s/l. We will bypass the
		// distortion map and have residuals in undistorted pixels.
		if (!fpmap->SetFocalPlane(m->GetFocalPlaneComputedX(), m->GetFocalPlaneComputedY())) {
		if (!fpmap->SetFocalPlane(cudx, cudy)) {
		QString msg = "Sanity check #1 for ControlPoint [" + GetId() +
		"], ControlMeasure [" + m->GetCubeSerialNumber() + "]";
		throw IException(IException::Programmer, msg, _FILEINFO_);
		@@ -1142,71 +1164,6 @@ namespace Isis {
		return Success;
		}

		/**
		* This method computes the residuals for a point.
		*
		* @history 2008-07-17 Tracie Sucharski - Added ptid and measure serial
		* number to the unable to map to surface error.
		* @history 2010-12-06 Tracie Sucharski - Renamed from ComputeErrors
		* @history 2011-03-19 Debbie A. Cook - Changed to use the Camera classes
		* like ComputeResiduals and get the correct
		* calculations for each camera type.
		* @history 2011-03-24 Debbie A. Cook - Removed IsMeasured check since it
		* was really checking for Candidate measures.
		* @history 2012-01-18 Debbie A. Cook - Made radar case the same as
		* other instruments and removed incorrect
		* call to SetResidual, which was setting
		* focal plane residuals in x and y instead
		* of image residuals in sample and line.
		*/

		ControlPoint::Status ControlPoint::ComputeResiduals_Millimeters() {
		if (IsIgnored()) {
		return Failure;
		}

		PointModified();

		// Loop for each measure to compute the error
		QList<QString> keys = measures->keys();

		for (int j = 0; j < keys.size(); j++) {
		ControlMeasure m = (measures)[keys[j]];
		if (m->IsIgnored()) {
		continue;
		}
		// The following lines actually check for Candidate measures
		// Commented out on 2011-03-24 by DAC
		// if (!m->IsMeasured()) {
		// continue;

		// TODO: Should we use crater diameter?
		Camera *cam = m->Camera();
		double cudx, cudy;

		// Map the lat/lon/radius of the control point through the Spice of the
		// measurement sample/line to get the computed undistorted focal plane
		// coordinates (mm if not radar). This works for radar too because in
		// the undistorted focal plane, y has not been set to 0 (set to 0 when
		// going to distorted focal plane or ground range in this case), so we
		// can hold the Spice to calculate residuals in undistorted focal plane
		// coordinates.
		if (cam->GetCameraType() != 0) { // no need to call setimage for framing camera
		cam->SetImage(m->GetSample(), m->GetLine());
		}

		cam->GroundMap()->GetXY(GetAdjustedSurfacePoint(), &cudx, &cudy);
		// double mudx = m->GetFocalPlaneMeasuredX();
		// double mudy = m->GetFocalPlaneMeasuredY();

		m->SetFocalPlaneComputed(cudx, cudy);

		// This is wrong. The stored residual is in pixels (sample,line), not x and y
		// m->SetResidual(mudx - cudx, mudy - cudy);
		}

		return Success;
		}

		QString ControlPoint::GetChooserName() const {
		if (chooserName != "") {
		@@ -1217,11 +1174,13 @@ namespace Isis {
		}
		}


		//! Returns true if the choosername is not empty.
		bool ControlPoint::HasChooserName() const {
		return !chooserName.isEmpty();
		}


		//! Returns true if the datetime is not empty.
		bool ControlPoint::HasDateTime() const {
		return !dateTime.isEmpty();

isis/src/control/objs/ControlPoint/ControlPoint.h

+3 −1

Original line number	Diff line number	Diff line
		@@ -343,6 +343,9 @@ namespace Isis {
		* @history 2018-01-05 Adam Goins - Added HasDateTime() and HasChooserName() methods to allow
		* to allow the value of these variables to be read without being
		* overriden if they're empty. (Getters override if they're empty).
		* @history 2018-06-13 Debbie A. Cook, Ken Edmundson, Removed method
		* ComputeResidualsMillimeters() and added computation of focal plane
		* computedx and computedy to ComputeResiduals method.
		*/
		class ControlPoint : public QObject {

		@@ -492,7 +495,6 @@ namespace Isis {

		Status ComputeApriori();
		Status ComputeResiduals();
		Status ComputeResiduals_Millimeters();

		SurfacePoint GetAdjustedSurfacePoint() const;

isis/src/control/objs/LidarControlPoint/LidarControlPoint.h

+0 −1

Original line number	Diff line number	Diff line
		@@ -61,7 +61,6 @@ namespace Isis {
		double range();
		double sigmaRange();
		iTime time();
		// QList < QString > snSimultaneous() const;
		QStringList snSimultaneous() const;
		bool isSimultaneous(QString serialNumber);