Minor Update to Fix Voyager Bundle Adjustment (#3343) (b618a255) · Commits · aflab / astrogeology / ISIS3

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

+40 −22

Original line number	Diff line number	Diff line
		@@ -159,12 +159,14 @@ 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
		* @param test Optional parameter to indicate whether to do the back-of-planet test.
		*
		* @return @b bool If conversion was successful
		*/
		bool CameraGroundMap::GetXY(const SurfacePoint &point, double cudx, double cudy) {
		bool CameraGroundMap::GetXY(const SurfacePoint &point, double *cudx,
		double *cudy, bool test) {

		vector<double> pB(3);
		pB[0] = point.GetX().kilometers();
		@@ -193,29 +195,43 @@ namespace Isis {
		// Save pB for target body partial derivative calculations NEW *** DAC 8-14-2015
		m_pB = pB;

		// During iterations in the bundle adjustment do not do the back-of-planet test.
		// Failures are expected to happen during the bundle adjustment due to bad camera
		// pointing or position, poor a priori points, or inaccurate target body information. For
		// instance, control points near the limb of an image often fail the test. The hope is
		// that during the bundle adjustment, any variables causing points to fail the test will
		// be corrected. If not, the point residuals will likely be large on a point that fails the
		// test. The back-of-planet test is still a valid check for a control net diagnostic
		// program, but not for the bundle adjustment.
		//
		// TODO It might be useful to have a separate diagnostic program test all points in a
		// control net to see if any of the control points fail the back-of-planet test on
		// any of the images.

		// Check for point on back of planet by checking to see if surface point is viewable
		// (test emission angle)
		// During iterations, we may not want to do the back of planet test???
		if (test) {
		vector<double> lookB = bodyRot->ReferenceVector(lookJ);
		double upsB[3], upB[3], dist;
		vminus_c((SpiceDouble *) &lookB[0], upsB);
		unorm_c(upsB, upsB, &dist);
		unorm_c((SpiceDouble *) &pB[0], upB, &dist);
		double angle = vdot_c(upB, upsB);
		double cosangle = vdot_c(upB, upsB);
		double emission;
		if (angle > 1) {
		if (cosangle > 1) {
		emission = 0;
		}
		else if (angle < -1) {
		else if (cosangle < -1) {
		emission = 180.;
		}
		else {
		emission = acos(angle) * 180.0 / Isis::PI;
		emission = acos(cosangle) * 180.0 / Isis::PI;
		}

		if (fabs(emission) > 90.) {
		return false;
		}
		}

		// Get the look vector in the camera frame and the instrument rotation
		m_lookJ.resize(3);
		@@ -248,6 +264,8 @@ namespace Isis {
		* @param cudy [out] Pointer to computed undistored y focal plane coordinate
		*
		* @return @b bool If conversion was successful
		*
		* @see the application socetlinescankeywords
		*/
		bool CameraGroundMap::GetXY(const double lat, const double lon,
		const double radius, double cudx, double cudy) {

isis/src/base/objs/CameraGroundMap/CameraGroundMap.h

+6 −1

Original line number	Diff line number	Diff line
		@@ -82,6 +82,10 @@ namespace Isis {
		* p_pB. References Mantis ticket TBD.
		* @history 2016-06-27 Ian Humphrey - Updated documentation and coding standards. Fixes #3971.
		* @history 2017-08-30 Summer Stapleton - Updated documentation. References #4807.
		* @history 2019-04-15 Debbie A. Cook - Added optional bool argument to main GetXY method to
		* allow the bundle adjustment to skip the back of planet test during iterations.
		* Also changed the name of the angle variable to cosangle to be more
		* descriptive. References #2591.
		*/
		class CameraGroundMap {
		public:
		@@ -108,7 +112,8 @@ namespace Isis {

		virtual bool SetGround(const Latitude &lat, const Longitude &lon);
		virtual bool SetGround(const SurfacePoint &surfacePoint);
		virtual bool GetXY(const SurfacePoint &spoint, double cudx, double cudy);
		virtual bool GetXY(const SurfacePoint &spoint, double *cudx,
		double *cudy, bool test=true);
		virtual bool GetXY(const double lat, const double lon,
		const double radius, double cudx, double cudy);
		virtual bool GetdXYdPosition(const SpicePosition::PartialType varType,

isis/src/base/objs/RadarGroundMap/RadarGroundMap.cpp

+10 −1

Original line number	Diff line number	Diff line
		@@ -366,12 +366,16 @@ namespace Isis {
		* without resetting the current point values for lat/lon/radius/x/y and
		* related radar parameter p_slantRange.
		*
		* @history 2019-05-15 Debbie A. Cook - Added optional bool argument to match parent GetXY
		* method to allow the bundle adjustment to skip the back of planet test during
		* iterations. References #2591.
		*
		* @param spoint
		*
		* @return conversion was successful
		*/
		bool RadarGroundMap::GetXY(const SurfacePoint &spoint, double *cudx,
		double *cudy) {
		double *cudy, bool test) {

		// Get the ground point in rectangular body-fixed coordinates (X)
		double X[3];
		@@ -406,6 +410,11 @@ namespace Isis {
		cudx = p_groundSlantRange 1000.0 / p_rangeSigma; // to meters, then to focal plane coord
		*cudy = p_groundDopplerFreq / p_dopplerSigma; // htx to focal plane coord

		if (test == true) {
		QString msg = "Back of planet test is not enabled for Radar images";
		throw IException(IException::Programmer, msg, _FILEINFO_);
		}

		return true;
		}

isis/src/base/objs/RadarGroundMap/RadarGroundMap.h

+4 −1

Original line number	Diff line number	Diff line
		@@ -104,6 +104,9 @@ namespace Isis {
		* in the ShapeModel so that photometric angles can be calculated. References #775
		* @history 2016-07-19 Kristin Berry, Updated SetGround to call p_camera->Sensor::SetGround so that
		* RA, DEC values will be set on level 2 images. References #2400.
		* @history 2019-05-15 Debbie A. Cook - Added optional bool argument to match parent GetXY
		* method to allow the bundle adjustment to skip the back of planet test during
		* iterations. References #2591.
		*/
		class RadarGroundMap : public CameraGroundMap {
		public:
		@@ -117,7 +120,7 @@ namespace Isis {
		virtual bool SetGround(const Latitude &lat, const Longitude &lon);
		virtual bool SetGround(const SurfacePoint &surfacePoint);
		virtual bool GetXY(const SurfacePoint &spoint, double *cudx,
		double *cudy);
		double *cudy, bool test=false);
		virtual bool GetdXYdPosition(const SpicePosition::PartialType varType,
		int coefIndex, double cudx, double cudy);
		virtual bool GetdXYdPoint(std::vector<double> d_lookB, double *dx,

isis/src/base/objs/SurfacePoint/SurfacePoint.cpp

+13 −2

Original line number	Diff line number	Diff line
		@@ -1261,6 +1261,11 @@ namespace Isis {
		* @param lonLength The delta longitude distance in meters to convert to radians
		* @return @b LonDistAngle The converted delta length in radians
		*
		* @internal
		* @history 2019-05-29 Debbie A. Cook Changed test constant from DBL_EPSILON
		* to 1.0e-50 to fix possible false errors from reasonably
		* small distances on fixed or tightly constrained points
		* occurring during error propagation in jigsaw.
		*/
		double SurfacePoint::MetersToLongitude(double deltaLonMeters) {

		@@ -1269,7 +1274,7 @@ namespace Isis {
		double deltaLonRadians;

		// Convert angle displacement to radians relative to longitude of SurfacePoint.
		if (convFactor > DBL_EPSILON) {
		if (convFactor > 1.0e-50) {
		deltaLonRadians = deltaLonMeters / (convFactor*GetLocalRadius().meters());
		}
		else {
		@@ -1726,11 +1731,17 @@ namespace Isis {
		/**
		* Return the latitude sigma as a Distance
		*
		* @internal
		* @history 2019-05-29 Debbie A. Cook Changed test constant from DBL_EPSILON
		* to 1.0e-50 to fix possible false errors from reasonably
		* small distances on fixed or tightly constrained points
		* occurring during error propagation in jigsaw.
		*
		*/
		Distance SurfacePoint::GetLatSigmaDistance() const {
		double d = LatitudeToMeters(GetLatSigma().radians());

		if (d > DBL_EPSILON) {
		if (d > 1.0e-50) {
		return Distance(d, Distance::Meters);
		}
		else {