added preliminary target body functionality to ipce (f9ce135b) · Commits · aflab / astrogeology / ISIS3

isis/src/apollo/objs/ApolloMetricCamera/ApolloMetricCamera.h

+3 −0

Original line number	Diff line number	Diff line
		@@ -66,6 +66,9 @@ namespace Isis {
		virtual std::pair <iTime, iTime> ShutterOpenCloseTimes(double time,
		double exposureDuration);

		//QString name();
		//void setName(QString name);

		/**
		* CK frame ID -
		* Apollo 15 instrument code (A15_METRIC) = -915240

isis/src/base/objs/Angle/Angle.h

+1 −1

Original line number	Diff line number	Diff line
		@@ -41,7 +41,7 @@ namespace Isis {
		* @history 2012-02-16 Steven Lambright - Brought up to method and member naming standards.
		* @history 2012-03-22 Steven Lambright - Renamed text() to toString().
		* @history 2012-06-29 Steven Lambright and Kimberly Oyama - Removed duplicate code from the
		* contstructor. Added the fullRotation() method which creates
		* constructor. Added the fullRotation() method which creates
		* an angle of 360 degrees and modified the unit test to
		* exercise this. References #958.
		* @history 2012-07-26 Steven Lambright and Kimberly Oyama - Modified the < and >

isis/src/base/objs/Camera/Camera.cpp

+2 −0

Original line number	Diff line number	Diff line
		@@ -145,6 +145,7 @@ namespace Isis {
		}
		}


		/**
		* Sets the sample/line values of the image to get the lat/lon values
		*
		@@ -266,6 +267,7 @@ namespace Isis {
		return false;
		}


		/**
		* Sets the lat/lon values to get the sample/line values
		*

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

+144 −18

Original line number	Diff line number	Diff line
		@@ -26,6 +26,7 @@

		#include <iostream>

		#include "IException.h"
		#include "NaifStatus.h"
		#include "SurfacePoint.h"
		#include "Latitude.h"
		@@ -82,7 +83,9 @@ namespace Isis {
		double radius = lat.degrees(); // m
		// double azimuth = lon.degrees();
		Latitude lat(0., Angle::Degrees);
		if (radius < 0.0) radius = 0.0; // TODO: massive, temporary kluge to get around testing latitude at -90 in caminfo app (are there more issues like this? Probably)KE
		if (radius < 0.0) radius = 0.0; // TODO: massive, temporary kluge to get around testing
		// latitude at -90 in caminfo app (are there
		// more issues like this? Probably)KE
		if (p_camera->Sensor::SetGround(SurfacePoint(lat, lon, Distance(radius, Distance::Meters)))) {
		LookCtoFocalPlaneXY();
		return true;
		@@ -145,7 +148,7 @@ namespace Isis {
		*/
		bool CameraGroundMap::GetXY(const SurfacePoint &point, double cudx, double cudy) {

		double pB[3];
		std::vector<double> pB(3);
		pB[0] = point.GetX().kilometers();
		pB[1] = point.GetY().kilometers();
		pB[2] = point.GetZ().kilometers();
		@@ -157,23 +160,26 @@ namespace Isis {

		// Should a check be added to make sure SetImage has been called???

		// Compute the look vector in body-fixed coordinates
		// double pB[3]; // Point on surface
		// latrec_c(radius / 1000.0, lon * Isis::PI / 180.0, lat * Isis::PI / 180.0, pB);

		// Get spacecraft vector in body-fixed coordinates
		SpiceRotation *bodyRot = p_camera->bodyRotation();
		SpiceRotation *instRot = p_camera->instrumentRotation();
		std::vector<double> sB = bodyRot->ReferenceVector(p_camera->instrumentPosition()->Coordinate());
		std::vector<double> lookB(3);
		for(int ic = 0; ic < 3; ic++) lookB[ic] = pB[ic] - sB[ic];
		std::vector<double> pJ = bodyRot->J2000Vector(pB);
		std::vector<double> sJ = p_camera->instrumentPosition()->Coordinate();

		// Calculate lookJ
		std::vector<double> lookJ(3);
		for(int ic = 0; ic < 3; ic++) lookJ[ic] = pJ[ic] - sJ[ic];

		// Save pB for target body partial derivative calculations NEW *** DAC 8-14-2015
		p_pB = pB;

		// 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???
		std::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(pB, upB, &dist);
		unorm_c((SpiceDouble *) &pB[0], upB, &dist);
		double angle = vdot_c(upB, upsB);
		double emission;
		if (angle > 1) {
		@@ -185,11 +191,12 @@ namespace Isis {
		else {
		emission = acos(angle) * 180.0 / Isis::PI;
		}

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

		// Get the look vector in the camera frame and the instrument rotation
		p_lookJ.resize(3);
		p_lookJ = p_camera->bodyRotation()->J2000Vector(lookB);
		p_lookJ = lookJ;
		std::vector <double> lookC(3);
		lookC = instRot->ReferenceVector(p_lookJ);

		@@ -263,7 +270,7 @@ namespace Isis {
		return true;
		}

		/** Compute derivative of focal plane coordinate w/r to orientation from ground position using current Spice from SetImage call
		/** Compute derivative of fp coordinate w/r to instrument using current state from SetImage call
		*
		* This method will compute the derivative of the undistorted focal plane coordinate for
		* a ground position with respect to the instrument orientation, using the current Spice
		@@ -285,22 +292,24 @@ namespace Isis {
		// Get directional fl for scaling coordinates
		double fl = p_camera->DistortionMap()->UndistortedFocalPlaneZ();

		// Rotate look vector into camera frame
		// Rotate J2000 look vector into camera frame
		SpiceRotation *instRot = p_camera->instrumentRotation();
		std::vector <double> lookC(3);
		lookC = instRot->ReferenceVector(p_lookJ);

		// Rotate J2000 look vector into camera frame through the derivative rotation
		std::vector<double> d_lookC = instRot->ToReferencePartial(p_lookJ, varType, coefIndex);

		dx = fl DQuotient(lookC, d_lookC, 0);
		dy = fl DQuotient(lookC, d_lookC, 1);
		return true;
		}

		/** Compute derivative of focal plane coordinate w/r to ground point from ground position using current Spice from SetImage call
		/** Compute derivative of focal plane coordinate w/r to target body using current state
		*
		* This method will compute the derivative of the undistorted focal plane coordinate for
		* a ground position with respect to lat, lon, or radius, using the current Spice settings (time and kernels)
		* without resetting the current point values for lat/lon/radius/x/y.
		* a ground position with respect to the target body orientation, using the current Spice
		* settings (time and kernels) without resetting the current point values for lat/lon/radius/x/y.
		*
		* @param varType enumerated partial type (definitions in SpicePosition)
		* @param coefIndex coefficient index of fit polynomial
		@@ -309,7 +318,51 @@ namespace Isis {
		*
		* @return conversion was successful
		*/
		bool CameraGroundMap::GetdXYdPoint(std::vector<double> d_lookB, double dx, double dy) {
		// also have a GetDxyDorientation and a GetDxyDpoint
		bool CameraGroundMap::GetdXYdTOrientation(const SpiceRotation::PartialType varType, int coefIndex,
		double dx, double dy) {

		// TODO add a check to make sure p_pB and p_lookJ have been set.
		// 0. calculate or save from previous GetXY call lookB. We need ToJ2000Partial that is
		// like a derivative form of J2000Vector
		// 1. we will call d_lookJ = bodyrot->ToJ2000Partial (Make sure the partials are correct for the target body
		// orientation matrix.
		// 2. we will then call d_lookC = instRot->ReferenceVector(d_lookJ)
		// 3. the rest should be the same.

		// Get directional fl for scaling coordinates
		double fl = p_camera->DistortionMap()->UndistortedFocalPlaneZ();

		// Rotate body-fixed look vector into J2000 through the derivative rotation
		SpiceRotation *bodyRot = p_camera->bodyRotation();
		SpiceRotation *instRot = p_camera->instrumentRotation();
		std::vector<double> dlookJ = bodyRot->ToJ2000Partial(p_pB, varType, coefIndex);
		std::vector <double> lookC(3);
		std::vector <double> dlookC(3);

		// Rotate both the J2000 look vector and the derivative J2000 look vector into the camera
		lookC = instRot->ReferenceVector(p_lookJ);
		dlookC = instRot->ReferenceVector(dlookJ);

		dx = fl DQuotient(lookC, dlookC, 0);
		dy = fl DQuotient(lookC, dlookC, 1);
		return true;
		}

		/** Compute derivative of focal plane coordinate w/r to ground point using current state
		*
		* This method will compute the derivative of the undistorted focal plane coordinate for
		* a ground position with respect to lat, lon, or radius, using the current Spice settings (time
		* and kernels) without resetting the current point values for lat/lon/radius/x/y.
		*
		* @param varType enumerated partial type (definitions in SpicePosition)
		* @param coefIndex coefficient index of fit polynomial
		* @param *dx pointer to partial derivative of undistorted focal plane x
		* @param *dy pointer to partial derivative of undistorted focal plane y
		*
		* @return conversion was successful
		*/
		bool CameraGroundMap::GetdXYdPoint(std::vector<double> d_pB, double dx, double dy) {

		// TODO add a check to make sure p_lookJ has been set

		@@ -322,7 +375,7 @@ namespace Isis {
		lookC = instRot->ReferenceVector(p_lookJ);

		SpiceRotation *bodyRot = p_camera->bodyRotation();
		std::vector<double> d_lookJ = bodyRot->J2000Vector(d_lookB);
		std::vector<double> d_lookJ = bodyRot->J2000Vector(d_pB);
		std::vector<double> d_lookC = instRot->ReferenceVector(d_lookJ);

		dx = fl DQuotient(lookC, d_lookC, 0);
		@@ -331,6 +384,79 @@ namespace Isis {
		}


		/** Compute derivative of focal plane coordinate w/r to one of the ellipsoidal radii (a, b, or c)
		*
		* This method will compute the derivative of the undistorted focal plane coordinate for
		* a ground position with respect to the a (major axis), b (minor axis), or c (polar axis) radius,
		* using the current Spice settings (time and kernels) without resetting the current point
		* values for lat/lon/radius/x/y.
		*
		* @param raxis Radius axis enumerated partial type (definitions in TBD)
		* @param spoint Surface point whose derivative is to be evalutated
		*
		* @return partialDerivative of body-fixed point with respect to selected ellipsoid axis
		*/
		std::vector<double> CameraGroundMap::EllipsoidPartial(SurfacePoint spoint, PartialType raxis) {
		double rlat = spoint.GetLatitude().radians();
		double rlon = spoint.GetLongitude().radians();
		double sinLon = sin(rlon);
		double cosLon = cos(rlon);
		double sinLat = sin(rlat);
		double cosLat = cos(rlat);

		std::vector<double> v(3);

		switch(raxis) {
		case WRT_MajorAxis:
		v[0] = cosLat * cosLon;
		v[1] = 0.0;
		v[2] = 0.0;
		break;
		case WRT_MinorAxis:
		v[0] = 0.0;
		v[1] = cosLat * sinLon;
		v[2] = 0.0;
		break;
		case WRT_PolarAxis:
		v[0] = 0.0;
		v[1] = 0.0;
		v[2] = sinLat;
		break;
		default:
		QString msg = "Invalid partial type for this method";
		throw IException(IException::Programmer, msg, _FILEINFO_);
		}

		return v;
		}


		/** Compute derivative of focal plane coordinate w/r to one of the ellipsoidal radii (a, b, or c)
		*
		* This method will compute the derivative of the undistorted focal plane coordinate for
		* a ground position with respect to the a (major axis), b (minor axis), or c (polar axis) radius,
		* using the current Spice settings (time and kernels) without resetting the current point
		* values for lat/lon/radius/x/y.
		*
		* @param spoint Surface point whose derivative is to be evalutated
		*
		* @return partialDerivative of body-fixed point with respect to mean radius
		* TODO This method assumes the radii of all points in the adjustment have been set identically
		* to the
		*/
		std::vector<double> CameraGroundMap::MeanRadiusPartial(SurfacePoint spoint, Distance meanRadius) {
		double radkm = meanRadius.kilometers();

		std::vector<double> v(3);

		v[0] = spoint.GetX().kilometers() / radkm;
		v[1] = spoint.GetY().kilometers() / radkm;
		v[2] = spoint.GetZ().kilometers() / radkm;

		return v;
		}


		/** Compute derivative with respect to indicated variable of conversion function from lat/lon/rad to rectangular coord
		*
		* @param lat planetocentric latitude in degrees

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

+18 −6

Original line number	Diff line number	Diff line
		@@ -65,15 +65,18 @@ namespace Isis {
		* @history 2011-02-09 Steven Lambright SetGround now uses the Latitude,
		* Longitude and SurfacePoint classes.
		* @history 2011-03-18 Debbie A. Cook Added reference to surface point in GetXY
		* @history 2012-07-06 Debbie A. Cook Updated Spice members to be more compliant with Isis
		* coding standards. References #972.
		* @history 2012-07-06 Debbie A. Cook Updated Spice members to be more
		* compliant with Isis coding standards. References #972.
		* @history 2012-10-10 Debbie A. Cook Modified to use new Target class.
		* References Mantis ticket #775 and #1114.
		* @history 2013-02-22 Debbie A. Cook Fixed LookCtoFocalPlaneXY method to properly handle
		* instruments with a look direction along the negative z axis.
		* Fixes Mantis ticket #1524
		* @history 2013-02-22 Debbie A. Cook Fixed LookCtoFocalPlaneXY method
		* to properly handle instruments with a look direction along
		* the negative z axis. Fixes Mantis ticket #1524
		* @history 2014-04-17 Jeannie Backer - Replaced local variable names with more
		* descriptive names. References #1659.
		* @history 2015-07-24 Debbie A. Cook Added new methods GetdXYdTOrientation,
		* EllipsoidPartial, and MeanRadiusPartial along with new member
		* p_lookB. References Mantis ticket TBD.
		*
		*/
		class CameraGroundMap {
		@@ -89,7 +92,10 @@ namespace Isis {
		enum PartialType {
		WRT_Latitude,
		WRT_Longitude,
		WRT_Radius
		WRT_Radius,
		WRT_MajorAxis,
		WRT_MinorAxis,
		WRT_PolarAxis
		};

		virtual bool SetGround(const Latitude &lat, const Longitude &lon);
		@@ -103,9 +109,14 @@ namespace Isis {
		virtual bool GetdXYdOrientation(const SpiceRotation::PartialType varType,
		int coefIndex,
		double cudx, double cudy);
		virtual bool GetdXYdTOrientation(const SpiceRotation::PartialType varType,
		int coefIndex,
		double cudx, double cudy);
		virtual bool GetdXYdPoint(std::vector<double> d_lookB,
		double cudx, double cudy);
		std::vector<double> PointPartial(SurfacePoint spoint, PartialType wrt);
		std::vector<double> EllipsoidPartial(SurfacePoint spoint, PartialType raxis);
		std::vector<double> MeanRadiusPartial(SurfacePoint spoint, Distance meanRadius);
		double DQuotient(std::vector<double> &look, std::vector<double> &dlook,
		int index);

		@@ -126,6 +137,7 @@ namespace Isis {

		private:
		void LookCtoFocalPlaneXY(); //!< Calculate focalplane x/y from lookvector in camera
		std::vector<double> p_pB; //!< Surface point calculated from ground coordinates in GetXY and used for partials
		std::vector<double> p_lookJ; //!< Look vector in J2000 calculated from ground coordinates in GetXY and used for partials
		};
		};