Commit c97ec71a authored by Jesse Mapel's avatar Jesse Mapel Committed by jlaura
Browse files

Fixed reading junk data, also cleaned up groundToImage (#202) 

* Fixed reading junk data when interpolating postion and velocity

* Fixed ground to image not using height in checks

* Removed old bisection method check in ground to image
parent 1028b665

src/UsgsAstroLsSensorModel.cpp

+7 −14
Original line number Diff line number Diff line
@@ -479,8 +479,10 @@ csm::ImageCoord UsgsAstroLsSensorModel::groundToImage( 
   else {

      --approxNextPoint.line;

   }

   csm::EcefCoord approxIntersect = imageToGround(approxPoint, 0);

   csm::EcefCoord approxNextIntersect = imageToGround(approxNextPoint, 0);

   double height, aPrec;

   computeElevation(ground_pt.x, ground_pt.y, ground_pt.z, height, aPrec, desired_precision);

   csm::EcefCoord approxIntersect = imageToGround(approxPoint, height);

   csm::EcefCoord approxNextIntersect = imageToGround(approxNextPoint, height);

   double lineDX = approxNextIntersect.x - approxIntersect.x;

   double lineDY = approxNextIntersect.y - approxIntersect.y;

   double lineDZ = approxNextIntersect.z - approxIntersect.z;
@@ -495,15 +497,6 @@ csm::ImageCoord UsgsAstroLsSensorModel::groundToImage( 
   double firstOffset = computeViewingPixel(firstTime, ground_pt, adj, pixelPrec/2).line - 0.5;

   double lastOffset = computeViewingPixel(lastTime, ground_pt, adj, pixelPrec/2).line - 0.5;



   // Check if both offsets have the same sign.

   // This means there is not guaranteed to be a zero.

   if ((firstOffset > 0) != (lastOffset < 0)) {

        throw csm::Warning(

           csm::Warning::IMAGE_COORD_OUT_OF_BOUNDS,

           "The image coordinate is out of bounds of the image size.",

           "UsgsAstroLsSensorModel::groundToImage");

   }



   // Start secant method search

   for (int it = 0; it < 30; it++) {

      double nextTime = ((firstTime * lastOffset) - (lastTime * firstOffset))
@@ -565,7 +558,7 @@ csm::ImageCoord UsgsAstroLsSensorModel::groundToImage( 
   calculatedPixel.line += closestLine;



   // Reintersect to ensure the image point actually views the ground point.

   csm::EcefCoord calculatedPoint = imageToGround(calculatedPixel, 0);

   csm::EcefCoord calculatedPoint = imageToGround(calculatedPixel, height);

   double dx = ground_pt.x - calculatedPoint.x;

   double dy = ground_pt.y - calculatedPoint.y;

   double dz = ground_pt.z - calculatedPoint.z;
@@ -2111,10 +2104,10 @@ void UsgsAstroLsSensorModel::getAdjSensorPosVel( 
   if (m_platformFlag == 0)

      nOrder = 4;

   double sensPosNom[3];

   lagrangeInterp(m_numPositions, &m_positions[0], m_t0Ephem, m_dtEphem,

   lagrangeInterp(m_numPositions/3, &m_positions[0], m_t0Ephem, m_dtEphem,

      time, 3, nOrder, sensPosNom);

   double sensVelNom[3];

   lagrangeInterp(m_numPositions, &m_velocities[0], m_t0Ephem, m_dtEphem,

   lagrangeInterp(m_numPositions/3, &m_velocities[0], m_t0Ephem, m_dtEphem,

      time, 3, nOrder, sensVelNom);

   // Compute rotation matrix from ICR to ECF