Commit b7efba68 authored by Kristin's avatar Kristin
Browse files

Cleanup

parent 7181c776

include/usgscsm/UsgsAstroLsSensorModel.h

+1068 −1071
Original line number Diff line number Diff line
@@ -918,8 +918,6 @@ private: 


   // methods pulled out of los2ecf



void convertToUSGSCoordinates(const double& csmLine, const double& csmSample, double &usgsLine, double &usgsSample) const; 



void computeDistortedFocalPlaneCoordinates(const double& lineUSGS, const double& sampleUSGS, double &distortedLine, double& distortedSample) const;



void computeUndistortedFocalPlaneCoordinates(const double &isisNatFocalPlaneX, const double& isisNatFocalPlaneY, double& isisFocalPlaneX, double& isisFocalPlaneY) const;
@@ -927,7 +925,6 @@ void computeUndistortedFocalPlaneCoordinates(const double &isisNatFocalPlaneX, c 
void calculateRotationMatrixFromQuaternions(double time, bool invert, double cameraToBody[9]) const;



// This method computes the imaging locus. // imaging locus : set of ground points associated with an image pixel.



void createCameraLookVector(double& undistortedFocalPlaneX, double& undistortedFocalPlaneY,const std::vector<double>& adj,  double losIsis[]) const; 



void calculateAttitudeCorrection(double time, const std::vector<double>& adj, double attCorr[9]) const;
@@ -943,9 +940,9 @@ void calculateAttitudeCorrection(double time, const std::vector<double>& adj, do 
      double&       vx,         // output sensor x velocity

      double&       vy,         // output sensor y velocity

      double&       vz,         // output sensor z cvelocity

      double&       xl,         // output line-of-sight x coordinate

      double&       yl,         // output line-of-sight y coordinate

      double&       zl ) const;

      double&       bodyFixedX, // output line-of-sight x coordinate

      double&       bodyFixedY, // output line-of-sight y coordinate

      double&       bodyFixedZ ) const;



   // Computes the LOS correction due to light aberration

   void lightAberrationCorr(

src/UsgsAstroLsSensorModel.cpp

+21 −35
Original line number Diff line number Diff line
@@ -1657,20 +1657,6 @@ double UsgsAstroLsSensorModel::getValue( 
// Functions pulled out of losToEcf

// **************************************************************************



// CSM image image convention: UL pixel center == (0.5, 0.5)

// USGS image convention: UL pixel center == (1.0, 1.0)

void UsgsAstroLsSensorModel::convertToUSGSCoordinates(const double& csmLine, const double& csmSample, double &usgsLine, double &usgsSample) const{

  // apply the offset

  double sampleCSMFull = csmSample + m_offsetSamples;

  double sampleUSGSFull = sampleCSMFull + 0.5;

  // why don't we apply a line offset? 

  double fractionalLine = csmLine - floor(csmLine) - 0.5;



  usgsSample = sampleUSGSFull;

  usgsLine = fractionalLine; 

}





// Compute distorted focalPlane coordinates in mm

void UsgsAstroLsSensorModel::computeDistortedFocalPlaneCoordinates(const double& lineUSGS, const double& sampleUSGS, double &distortedLine, double& distortedSample) const{

  double isisDetSample = (sampleUSGS - 1.0)
@@ -1836,37 +1822,37 @@ void UsgsAstroLsSensorModel::losToEcf( 
   computeUndistortedFocalPlaneCoordinates(isisNatFocalPlaneX, isisNatFocalPlaneY, isisFocalPlaneX, isisFocalPlaneY);

   

  // Define imaging ray (look vector) in camera space

   double losIsis[3];

   createCameraLookVector(isisFocalPlaneX, isisFocalPlaneY, adj, losIsis);

   double cameraLook[3];

   createCameraLookVector(isisFocalPlaneX, isisFocalPlaneY, adj, cameraLook);



   // Apply attitude correction

   double attCorr[9];

   calculateAttitudeCorrection(time, adj, attCorr); 



   double cameraLook[3];

   cameraLook[0] = attCorr[0] * losIsis[0] 

                 + attCorr[1] * losIsis[1]

                 + attCorr[2] * losIsis[2];

   cameraLook[1] = attCorr[3] * losIsis[0] 

                 + attCorr[4] * losIsis[1]

                 + attCorr[5] * losIsis[2];

   cameraLook[2] = attCorr[6] * losIsis[0] 

                 + attCorr[7] * losIsis[1]

                 + attCorr[8] * losIsis[2];

   double correctedCameraLook[3];

   correctedCameraLook[0] = attCorr[0] * cameraLook[0] 

                          + attCorr[1] * cameraLook[1]

                          + attCorr[2] * cameraLook[2];

   correctedCameraLook[1] = attCorr[3] * cameraLook[0] 

                          + attCorr[4] * cameraLook[1]

                          + attCorr[5] * cameraLook[2];

   correctedCameraLook[2] = attCorr[6] * cameraLook[0] 

                          + attCorr[7] * cameraLook[1]

                          + attCorr[8] * cameraLook[2];



// Rotate the look vector into the body fixed frame from the camera reference frame by applying the rotation matrix from the sensor quaternions

   double cameraToBody[9];

   calculateRotationMatrixFromQuaternions(time, false, cameraToBody);



   bodyLookX = cameraToBody[0] * cameraLook[0] 

             + cameraToBody[1] * cameraLook[1]

             + cameraToBody[2] * cameraLook[2];

   bodyLookY = cameraToBody[3] * cameraLook[0] 

             + cameraToBody[4] * cameraLook[1]

             + cameraToBody[5] * cameraLook[2];

   bodyLookZ = cameraToBody[6] * cameraLook[0] 

             + cameraToBody[7] * cameraLook[1]

             + cameraToBody[8] * cameraLook[2];

   bodyLookX = cameraToBody[0] * correctedCameraLook[0] 

             + cameraToBody[1] * correctedCameraLook[1]

             + cameraToBody[2] * correctedCameraLook[2];

   bodyLookY = cameraToBody[3] * correctedCameraLook[0] 

             + cameraToBody[4] * correctedCameraLook[1]

             + cameraToBody[5] * correctedCameraLook[2];

   bodyLookZ = cameraToBody[6] * correctedCameraLook[0] 

             + cameraToBody[7] * correctedCameraLook[1]

             + cameraToBody[8] * correctedCameraLook[2];

}