Commit e26edd21 authored by Kristin's avatar Kristin
Browse files

Updates in response to code review (part 1)

parent 2ddaf548

include/usgscsm/UsgsAstroLsSensorModel.h

+11 −7
Original line number Diff line number Diff line
@@ -919,22 +919,26 @@ private: 
   // methods pulled out of los2ecf



   void computeDistortedFocalPlaneCoordinates(

       const double& lineUSGS, 

       const double& sampleUSGS, 

       const double& line, 

       const double& sample, 

       double& distortedLine, 

       double& distortedSample) const;



   void computeUndistortedFocalPlaneCoordinates(

       const double& isisNatFocalPlaneX, 

       const double& isisNatFocalPlaneY, 

       double& isisFocalPlaneX, 

       double& isisFocalPlaneY) const; 

       const double& distortedFocalPlaneX, 

       const double& distortedFocalPlaneY, 

       double& undistortedFocalPlaneX, 

       double& undistortedFocalPlaneY) const; 



   void calculateRotationMatrixFromQuaternions(

       const double& time, 

       const bool& invert, 

       double cameraToBody[9]) const;



   void calculateRotationMatrixFromEuler(

       double euler[], 

       double rotationMatrix[]) const;



   void createCameraLookVector(

       const double& undistortedFocalPlaneX, 

       const double& undistortedFocalPlaneY,

src/UsgsAstroLsSensorModel.cpp

+46 −42
Original line number Diff line number Diff line
@@ -1658,14 +1658,14 @@ double UsgsAstroLsSensorModel::getValue( 
// **************************************************************************



// 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)

void UsgsAstroLsSensorModel::computeDistortedFocalPlaneCoordinates(const double& line, const double& sample, double& distortedLine, double& distortedSample) const{

  double isisDetSample = (sample - 1.0)

      * m_detectorSampleSumming + m_startingSample;

  double m11 = m_iTransL[1];

  double m12 = m_iTransL[2];

  double m21 = m_iTransS[1];

  double m22 = m_iTransS[2];

  double t1 = lineUSGS + m_detectorLineOffset

  double t1 = line + m_detectorLineOffset

               - m_detectorLineOrigin - m_iTransL[0];

  double t2 = isisDetSample - m_detectorSampleOrigin - m_iTransS[0];

  double determinant = m11 * m22 - m12 * m21;
@@ -1673,10 +1673,8 @@ void UsgsAstroLsSensorModel::computeDistortedFocalPlaneCoordinates(const double& 
  double p12 = -m12 / determinant;

  double p21 = -m21 / determinant;

  double p22 = m22 / determinant;

  double isisNatFocalPlaneX = p11 * t1 + p12 * t2;

  double isisNatFocalPlaneY = p21 * t1 + p22 * t2;

  distortedLine = isisNatFocalPlaneX; 

  distortedSample = isisNatFocalPlaneY; 

  distortedLine = p11 * t1 + p12 * t2;

  distortedSample = p21 * t1 + p22 * t2;

}



// Compute un-distorted image coordinates in mm / apply lens distortion correction
@@ -1701,16 +1699,16 @@ void UsgsAstroLsSensorModel::computeUndistortedFocalPlaneCoordinates(const doubl 




// Define imaging ray in image space (In other words, create a look vector in camera space)

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

   losIsis[0] = -undistortedFocalPlaneX * m_isisZDirection;

   losIsis[1] = -undistortedFocalPlaneY * m_isisZDirection;

   losIsis[2] = -m_focal * (1.0 - getValue(15, adj) / m_halfSwath);

   double isisMag = sqrt(losIsis[0] * losIsis[0]

      + losIsis[1] * losIsis[1]

      + losIsis[2] * losIsis[2]);

   losIsis[0] /= isisMag;

   losIsis[1] /= isisMag;

   losIsis[2] /= isisMag;

void UsgsAstroLsSensorModel::createCameraLookVector(const double& undistortedFocalPlaneX, const double& undistortedFocalPlaneY, const std::vector<double>& adj, double cameraLook[]) const{

   cameraLook[0] = -undistortedFocalPlaneX * m_isisZDirection;

   cameraLook[1] = -undistortedFocalPlaneY * m_isisZDirection;

   cameraLook[2] = -m_focal * (1.0 - getValue(15, adj) / m_halfSwath);

   double magnitude = sqrt(cameraLook[0] * cameraLook[0]

                  + cameraLook[1] * cameraLook[1]

                  + cameraLook[2] * cameraLook[2]);

   cameraLook[0] /= magnitude;

   cameraLook[1] /= magnitude;

   cameraLook[2] /= magnitude;

};
@@ -1753,6 +1751,26 @@ void UsgsAstroLsSensorModel::calculateRotationMatrixFromQuaternions(const double 
  rotationMatrix[8] = -q[0] * q[0] - q[1] * q[1] + q[2] * q[2] + q[3] * q[3];

};



// Calculates a rotation matrix from Euler angles

void UsgsAstroLsSensorModel::calculateRotationMatrixFromEuler(double euler[], 

                                                              double rotationMatrix[]) const {

  double cos_a = cos(euler[0]);

  double sin_a = sin(euler[0]);

  double cos_b = cos(euler[1]);

  double sin_b = sin(euler[1]);

  double cos_c = cos(euler[2]);

  double sin_c = sin(euler[2]);



  rotationMatrix[0] = cos_b * cos_c;

  rotationMatrix[1] = -cos_a * sin_c + sin_a * sin_b * cos_c;

  rotationMatrix[2] = sin_a * sin_c + cos_a * sin_b * cos_c;

  rotationMatrix[3] = cos_b * sin_c;

  rotationMatrix[4] = cos_a * cos_c + sin_a * sin_b * sin_c;

  rotationMatrix[5] = -sin_a * cos_c + cos_a * sin_b * sin_c;

  rotationMatrix[6] = -sin_b;

  rotationMatrix[7] = sin_a * cos_b;

  rotationMatrix[8] = cos_a * cos_b;

}



void UsgsAstroLsSensorModel::calculateAttitudeCorrection(const double& time, const std::vector<double>& adj, double attCorr[9]) const {

  double aTime = time - m_t0Quat;
@@ -1765,22 +1783,8 @@ void UsgsAstroLsSensorModel::calculateAttitudeCorrection(const double& time, con 
    (getValue(7, adj) + getValue(10, adj)* nTime + getValue(13, adj)* nTime2) / m_flyingHeight;

  euler[2] =

    (getValue(8, adj) + getValue(11, adj)* nTime + getValue(14, adj)* nTime2) / m_halfSwath;

    double cos_a = cos(euler[0]);

    double sin_a = sin(euler[0]);

    double cos_b = cos(euler[1]);

    double sin_b = sin(euler[1]);

    double cos_c = cos(euler[2]);

    double sin_c = sin(euler[2]);

  

    attCorr[0] = cos_b * cos_c;

    attCorr[1] = -cos_a * sin_c + sin_a * sin_b * cos_c;

    attCorr[2] = sin_a * sin_c + cos_a * sin_b * cos_c;

    attCorr[3] = cos_b * sin_c;

    attCorr[4] = cos_a * cos_c + sin_a * sin_b * sin_c;

    attCorr[5] = -sin_a * cos_c + cos_a * sin_b * sin_c;

    attCorr[6] = -sin_b;

    attCorr[7] = sin_a * cos_b;

    attCorr[8] = cos_a * cos_b;

  calculateRotationMatrixFromEuler(euler, attCorr);

}