Updating to be closer to ISIS coding standards (d268299f) · Commits · aflab / astrogeology / ISIS3

isis/src/apollo/objs/ApolloPanoramicCameraFiducialMap/ApolloPanoramicCameraFiducialMap.cpp

+11 −8

Original line number	Diff line number	Diff line
		@@ -20,14 +20,17 @@ namespace Isis {
		p_naifIkCode = naifIkCode;
		ReadFiducials(fiducials);

		// Set the x-axis direction.
		int xdir;
		if(naifIkCode % 2 == 0) {
		xdir = -1;
		}
		else {
		xdir = 1;
		}
		// // Set the x-axis direction.
		// int xdir;
		// if(naifIkCode % 2 == 0) {
		// xdir = -1;
		// }
		// else {
		// xdir = 1;
		// }

		//TODO Why is this commented out? I commented out the code above so we wouldn't get a compiler
		//warning. 2018-07-14 mshepherd
		// CreateTrans(xdir);
		}

isis/src/base/objs/SampleScanCameraGroundMap/SampleScanCameraGroundMap.cpp

+118 −281

Original line number	Diff line number	Diff line
		@@ -49,215 +49,27 @@
		using namespace std;
		using namespace Isis;

		//bool ptXLessThan(const QList<double> l1, const QList<double> l2);

		/**
		* @author 2012-05-09 Orrin Thomas
		*
		* @internal
		*/
		class SampleOffsetFunctor :
		public std::unary_function<double, double > {
		public:

		SampleOffsetFunctor(Isis::Camera *camera, const Isis::SurfacePoint &surPt) {
		m_camera = camera;
		surfacePoint = surPt;
		}


		~SampleOffsetFunctor() {}


		/** Compute the number of samples between the current sample (i.e., the sample imaged at the et
		* as set in the camera model) and the sample number where the argument et would hit the focal
		* plane.
		*
		* @param et The et at the new postion
		*
		* @return Sample off (see description)
		*/
		double operator()(double et) {
		double lookC[3] = {0.0, 0.0, 0.0};
		double ux = 0.0;
		double uy = 0.0;
		double dx = 0.0;
		double dy = 0.0;

		// Verify the time is with the cache bounds
		double startTime = m_camera->cacheStartTime().Et();
		double endTime = m_camera->cacheEndTime().Et();
		if (et < startTime \|\| et > endTime) {
		IString msg = "Ephemeris time passed to SampleOffsetFunctor is not within the image "
		"cache bounds";
		throw IException(IException::Programmer, msg, _FILEINFO_);
		}

		m_camera->Sensor::setTime(et);

		// Set ground
		if (!m_camera->Sensor::SetGround(surfacePoint, false)) {
		IString msg = "Sensor::SetGround failed for surface point in SampleScanCameraGroundMap.cpp"
		" SampleOffsetFunctor";
		throw IException(IException::Programmer, msg, _FILEINFO_);
		}

		// Calculate the undistorted focal plane coordinates

		m_camera->Sensor::LookDirection(lookC);
		ux = m_camera->FocalLength() * lookC[0] / lookC[2];
		uy = m_camera->FocalLength() * lookC[1] / lookC[2];

		// Try to use SetUndistortedFocalPlane, if that does not work use the distorted x,y
		// under the assumption (bad\|good) that extrapolating the distortion
		// is causing the distorted x to be way off the sensor, and thus not very good anyway.
		if (m_camera->DistortionMap()->SetUndistortedFocalPlane(ux, uy)) {
		// Get the natural (distorted focal plane coordinates)
		dx = m_camera->DistortionMap()->FocalPlaneX();
		dy = m_camera->DistortionMap()->FocalPlaneY();
		}
		else {
		dx = ux;
		dy = uy;
		}

		if (!m_camera->FocalPlaneMap()->SetFocalPlane(dx, dy)) {
		IString msg = "FocalPlaneMap::SetFocalPlane failed for surface point in "
		"SampleScanCameraGroundMap.cpp SampleOffsetFunctor";
		throw IException(IException::Programmer, msg, _FILEINFO_);
		}

		// return sample offset in pixels
		return m_camera->FocalPlaneMap()->CenteredDetectorSample();
		}

		/*
		double operator()(double et) {
		double lookC[3] = {0.0, 0.0, 0.0};
		double ux = 0.0;
		double uy = 0.0;
		double dx = 0.0;
		double dy = 0.0;

		// Verify the time is with the cache bounds
		double startTime = m_camera->cacheStartTime().Et();
		double endTime = m_camera->cacheEndTime().Et();
		if (et < startTime \|\| et > endTime) {
		IString msg = "Ephemeris time passed to SampleOffsetFunctor is not within the image "
		"cache bounds";
		throw IException(IException::Programmer, msg, _FILEINFO_);
		}

		m_camera->Sensor::setTime(et);

		// Set ground
		if (!m_camera->Sensor::SetGround(surfacePoint, false)) {
		IString msg = "Sensor::SetGround failed for surface point in SampleScanCameraGroundMap.cpp"
		" SampleOffsetFunctor";
		throw IException(IException::Programmer, msg, _FILEINFO_);
		}

		// Calculate the undistorted focal plane coordinates

		m_camera->Sensor::LookDirection(lookC);
		ux = m_camera->FocalLength() * lookC[0] / lookC[2];
		uy = m_camera->FocalLength() * lookC[1] / lookC[2];

		// Try to use SetUndistortedFocalPlane, if that does not work use the distorted x,y
		// under the assumption (bad\|good) that extrapolating the distortion
		// is causing the distorted x to be way off the sensor, and thus not very good anyway.
		if (m_camera->DistortionMap()->SetUndistortedFocalPlane(ux, uy)) {
		// Get the natural (distorted focal plane coordinates)
		dx = m_camera->DistortionMap()->FocalPlaneX();
		dy = m_camera->DistortionMap()->FocalPlaneY();
		}
		else {
		dx = ux;
		dy = uy;
		}

		if (!m_camera->FocalPlaneMap()->SetFocalPlane(dx, dy)) {
		IString msg = "FocalPlaneMap::SetFocalPlane failed for surface point in "
		"SampleScanCameraGroundMap.cpp SampleOffsetFunctor";
		throw IException(IException::Programmer, msg, _FILEINFO_);
		}

		// Return the offset
		// return (m_camera->FocalPlaneMap()->DetectorSampleOffset() -
		// m_camera->FocalPlaneMap()->DetectorSample());
		return (m_camera->FocalPlaneMap()->DetectorSampleOffset() -
		m_camera->FocalPlaneMap()->DetectorSample());
		}
		*/
		private:
		SurfacePoint surfacePoint;
		Camera* m_camera;
		};


		/**
		* @author 2012-05-09 Orrin Thomas
		*
		* @internal
		*/
		class SensorSurfacePointDistanceFunctor :
		public std::unary_function<double, double > {

		public:
		SensorSurfacePointDistanceFunctor(Isis::Camera *camera, const Isis::SurfacePoint &surPt) {
		m_camera = camera;
		surfacePoint = surPt;
		}


		~SensorSurfacePointDistanceFunctor() {}


		double operator()(double et) {
		double s[3], p[3];

		//verify the time is with the cache bounds
		double startTime = m_camera->cacheStartTime().Et();
		double endTime = m_camera->cacheEndTime().Et();

		if (et < startTime \|\| et > endTime) {
		IString msg = "Ephemeris time passed to SensorSurfacePointDistanceFunctor is not within the image "
		"cache bounds";
		throw IException(IException::Programmer, msg, _FILEINFO_);
		}
		m_camera->Sensor::setTime(et);
		if(!m_camera->Sensor::SetGround(surfacePoint, false)) {
		IString msg = "Sensor::SetGround failed for surface point in SampleScanCameraGroundMap.cpp"
		"SensorSurfacePointDistanceFunctor";
		}
		m_camera->instrumentPosition(s);
		m_camera->Coordinate(p);
		return sqrt((s[0] - p[0]) * (s[0] - p[0]) +
		(s[1] - p[1]) * (s[1] - p[1]) +
		(s[2] - p[2]) * (s[2] - p[2]) ); //distance
		}

		private:
		SurfacePoint surfacePoint;
		Camera* m_camera;
		};


		namespace Isis {

		/** Constructor
		/**
		* Constructor
		*
		* @param cam pointer to camera model
		*/
		SampleScanCameraGroundMap::SampleScanCameraGroundMap(Camera *cam) : CameraGroundMap(cam) {}


		/** Destructor
		/**
		* Destructor
		*
		*/
		SampleScanCameraGroundMap::~SampleScanCameraGroundMap() {}

		/** Compute undistorted focal plane coordinate from ground position
		/**
		* Compute undistorted focal plane coordinate from ground position
		*
		* @param lat planetocentric latitude in degrees
		* @param lon planetocentric longitude in degrees
		@@ -277,7 +89,8 @@ namespace Isis {
		}


		/** Compute undistorted focal plane coordinate from ground position
		/**
		* Compute undistorted focal plane coordinate from ground position
		*
		* @param lat planetocentric latitude in degrees
		* @param lon planetocentric longitude in degrees
		@@ -295,7 +108,8 @@ namespace Isis {
		}


		/** Compute undistorted focal plane coordinate from ground position
		/**
		* Compute undistorted focal plane coordinate from ground position
		*
		* @param surfacePoint 3D point on the surface of the planet
		*
		@@ -431,109 +245,132 @@ namespace Isis {
		}


		/*
		SampleScanCameraGroundMap::FindFocalPlaneStatus
		SampleScanCameraGroundMap::FindFocalPlane(const int &approxSample,
		const SurfacePoint &surfacePoint) {
		/**
		* Compute ground position from focal plane coordinate
		*
		* This method will compute the ground position given an
		* undistorted focal plane coordinate. Note that the latitude/longitude
		* value can be obtained from the camera pointer passed into the constructor.
		*
		* @param ux undistorted focal plane x in millimeters
		* @param uy undistorted focal plane y in millimeters
		* @param uz undistorted focal plane z in millimeters
		*
		* @return @b bool If conversion was successful
		*
		* TODO: what is implication of this????????
		*/
		bool SampleScanCameraGroundMap::SetFocalPlane(const double ux, const double uy, const double uz) {
		return CameraGroundMap::SetFocalPlane(ux, uy, uz);
		}

		// check for invalid sample rate (not sure if necessary, Orrin had done this)
		if (((SampleScanCameraDetectorMap *)p_camera->DetectorMap())->SampleRate() == 0.0) {
		return Failure;

		/**
		* Sample
		*
		* @param camera The camera
		* @param surPoint A pointer to the surface point
		*/
		SampleScanCameraGroundMap::SampleOffsetFunctor::SampleOffsetFunctor(Isis::Camera *camera,
		const Isis::SurfacePoint &surPt) {
		m_camera = camera;
		m_surfacePoint = surPt;
		}

		SampleOffsetFunctor offsetFunc(p_camera,surfacePoint);

		double approxTime=0;
		/** Compute the number of samples between the current sample (i.e., the sample imaged at the et
		* as set in the camera model) and the sample number where the argument et would hit the focal
		* plane.
		*
		* @param et The et at the new postion
		*
		* @return Sample off (see description)
		*/
		double SampleScanCameraGroundMap::SampleOffsetFunctor::operator()(double et) {
		double lookC[3] = {0.0, 0.0, 0.0};
		double ux = 0.0;
		double uy = 0.0;
		double dx = 0.0;
		double dy = 0.0;

		// mid-sample and mid-line are first approximation
		double midSample = p_camera->ParentSamples()/2.0;
		double midLine = p_camera->ParentLines()/2.0;
		p_camera->DetectorMap()->SetParent(midSample, midLine);
		approxTime = p_camera->time().Et();

		double approxOffset = offsetFunc(approxTime);

		bool converged = false;
		do {
		p_camera->Sensor::setTime(approxTime);

		// ensure surfacePoint isn't behind the planet
		if (!p_camera->Sensor::SetGround(surfacePoint, false)) {
		return Failure;
		// Verify the time is with the cache bounds
		double startTime = m_camera->cacheStartTime().Et();
		double endTime = m_camera->cacheEndTime().Et();
		if (et < startTime \|\| et > endTime) {
		IString msg = "Ephemeris time passed to SampleOffsetFunctor is not within the image "
		"cache bounds";
		throw IException(IException::Programmer, msg, _FILEINFO_);
		}

		p_camera->Sensor::LookDirection(lookC);
		ux = p_camera->FocalLength() * lookC[0] / lookC[2];
		uy = p_camera->FocalLength() * lookC[1] / lookC[2];
		m_camera->Sensor::setTime(et);

		if (fabs(uy) < 1.0e-4) {
		// we have converged
		converged = true;
		break;
		// Set ground
		if (!m_camera->Sensor::SetGround(m_surfacePoint, false)) {
		IString msg = "Sensor::SetGround failed for surface point in SampleScanCameraGroundMap.cpp"
		" SampleOffsetFunctor";
		throw IException(IException::Programmer, msg, _FILEINFO_);
		}

		// if not converged, add uy/pixelpitch to starting sample and try again
		midSample += uy/0.005;
		double parentSample = p_camera->DetectorMap()->ParentSample();
		double parentLine = p_camera->DetectorMap()->ParentLine();
		p_camera->DetectorMap()->SetParent(midSample, midLine);
		approxTime = p_camera->time().Et();
		}
		while (converged == false);
		// Calculate the undistorted focal plane coordinates

		if (converged) {
		p_camera->Sensor::setTime(approxTime);
		m_camera->Sensor::LookDirection(lookC);
		ux = m_camera->FocalLength() * lookC[0] / lookC[2];
		uy = m_camera->FocalLength() * lookC[1] / lookC[2];

		//check to make sure the point isn't behind the planet
		if (!p_camera->Sensor::SetGround(surfacePoint, true)) {
		return Failure;
		// Try to use SetUndistortedFocalPlane, if that does not work use the distorted x,y
		// under the assumption (bad\|good) that extrapolating the distortion
		// is causing the distorted x to be way off the sensor, and thus not very good anyway.
		if (m_camera->DistortionMap()->SetUndistortedFocalPlane(ux, uy)) {
		// Get the natural (distorted focal plane coordinates)
		dx = m_camera->DistortionMap()->FocalPlaneX();
		dy = m_camera->DistortionMap()->FocalPlaneY();
		}
		else {
		dx = ux;
		dy = uy;
		}
		p_camera->Sensor::LookDirection(lookC);
		ux = p_camera->FocalLength() * lookC[0] / lookC[2];
		uy = p_camera->FocalLength() * lookC[1] / lookC[2];

		if (!p_camera->FocalPlaneMap()->SetFocalPlane(ux, uy)) {
		if (!m_camera->FocalPlaneMap()->SetFocalPlane(dx, dy)) {
		IString msg = "FocalPlaneMap::SetFocalPlane failed for surface point in "
		"SampleScanCameraGroundMap.cpp SampleOffsetFunctor";
		throw IException(IException::Programmer, msg, _FILEINFO_);
		}

		p_focalPlaneX = ux;
		p_focalPlaneY = uy;

		return Success;
		// return sample offset in pixels
		return m_camera->FocalPlaneMap()->CenteredDetectorSample();
		}

		return Failure;
		}
		*/

		/**
		* Compute ground position from focal plane coordinate
		*
		* This method will compute the ground position given an
		* undistorted focal plane coordinate. Note that the latitude/longitude
		* value can be obtained from the camera pointer passed into the constructor.
		*
		* @param ux undistorted focal plane x in millimeters
		* @param uy undistorted focal plane y in millimeters
		* @param uz undistorted focal plane z in millimeters
		*
		* @return @b bool If conversion was successful
		*
		* TODO: what is implication of this????????
		*/
		bool SampleScanCameraGroundMap::SetFocalPlane(const double ux, const double uy, const double uz) {
		return CameraGroundMap::SetFocalPlane(ux, uy, uz);
		SampleScanCameraGroundMap::SensorSurfacePointDistanceFunctor::SensorSurfacePointDistanceFunctor
		(Isis::Camera *camera, const Isis::SurfacePoint &surPt) {
		m_camera = camera;
		m_surfacePoint = surPt;
		}

		}

		double SampleScanCameraGroundMap::SensorSurfacePointDistanceFunctor::operator()(double et) {
		double s[3], p[3];

		//verify the time is with the cache bounds
		double startTime = m_camera->cacheStartTime().Et();
		double endTime = m_camera->cacheEndTime().Et();

		if (et < startTime \|\| et > endTime) {
		IString msg = "Ephemeris time passed to SensorSurfacePointDistanceFunctor is not within the "
		"image cache bounds";
		throw IException(IException::Programmer, msg, _FILEINFO_);
		}
		m_camera->Sensor::setTime(et);
		if(!m_camera->Sensor::SetGround(m_surfacePoint, false)) {
		IString msg = "Sensor::SetGround failed for surface point in SampleScanCameraGroundMap.cpp"
		"SensorSurfacePointDistanceFunctor";
		}
		m_camera->instrumentPosition(s);
		m_camera->Coordinate(p);
		return sqrt((s[0] - p[0]) * (s[0] - p[0]) +
		(s[1] - p[1]) * (s[1] - p[1]) +
		(s[2] - p[2]) * (s[2] - p[2]) ); //distance
		}
		}

		//bool ptXLessThan(const QList<double> l1, const QList<double> l2) {
		// return l1[0] < l2[0];
		//}

isis/src/base/objs/SampleScanCameraGroundMap/SampleScanCameraGroundMap.h

+41 −1

Original line number	Diff line number	Diff line
		@@ -42,6 +42,7 @@ namespace Isis {
		* @internal
		*
		* @history 2012-09-12 Ken Edmundson - Original version
		* @history 2018-07-14 Makayla Shepherd - Updated documentation
		*
		*/
		class SampleScanCameraGroundMap : public CameraGroundMap {
		@@ -71,6 +72,45 @@ namespace Isis {
		const SurfacePoint &surfacePoint);
		double FindSpacecraftDistance(int sample, const SurfacePoint &surfacePoint);

		private:
		/**
		* @author 2012-05-09 Orrin Thomas
		*
		* @internal
		*/
		class SampleOffsetFunctor : public std::unary_function<double, double > {
		public:

		SampleOffsetFunctor(Isis::Camera *camera, const Isis::SurfacePoint &surPt);
		~SampleOffsetFunctor();

		double operator()(double et);

		private:
		SurfacePoint m_surfacePoint;
		Camera *m_camera;
		};


		/**
		* @author 2012-05-09 Orrin Thomas
		*
		* @internal
		*/
		class SensorSurfacePointDistanceFunctor : public std::unary_function<double, double > {
		public:

		SensorSurfacePointDistanceFunctor(Isis::Camera *camera, const Isis::SurfacePoint &surPt);
		~SensorSurfacePointDistanceFunctor();

		double operator()(double et);

		private:
		SurfacePoint m_surfacePoint;
		Camera* m_camera;
		};
		};


		};
		#endif