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Initial steps to modularize UsgsAstroLsSensorModel::losToEcf #169

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merged 9 commits into from
Feb 12, 2019
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Initial steps to modularize UsgsAstroLsSensorModel::losToEcf #169

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bda7120
Initial steps to modularize losToEcf in UsgsAstroLsSensorModel
krlberry Feb 11, 2019
ca3afa1
Try changing line endings
krlberry Feb 12, 2019
d633ea4
Re-converted line endings to dos
krlberry Feb 12, 2019
7181c77
Modularize some of computeViewingPixel
krlberry Feb 12, 2019
b7efba6
Cleanup
krlberry Feb 12, 2019
fc277b5
Reconvert to dos line endings
krlberry Feb 12, 2019
2ddaf54
Reformat member variables in header and switch more to use const pass…
krlberry Feb 12, 2019
e26edd2
Updates in response to code review (part 1)
krlberry Feb 12, 2019
a6988a9
Update calculateRotationMatrixFromQuaternions -- removed invert param…
krlberry Feb 12, 2019
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Updates in response to code review (part 1)
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@krlberry
krlberry committed Feb 12, 2019
commit e26edd21f37a60edd85e5bf2fc79ffec4ee179d2
18 changes: 11 additions & 7 deletions include/usgscsm/UsgsAstroLsSensorModel.h
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Original file line number Diff line number Diff line change
Expand Up @@ -919,22 +919,26 @@ class UsgsAstroLsSensorModel : public csm::RasterGM, virtual public csm::Settabl
// methods pulled out of los2ecf

void computeDistortedFocalPlaneCoordinates(
const double& lineUSGS,
const double& sampleUSGS,
double &distortedLine,
const double& line,
const double& sample,
double& distortedLine,
double& distortedSample) const;
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We should get rid of all the USGS/isis variable names. I'd much rather see lineCCD, sampleCCD than lineUSGS, sampleUSGS.

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👍


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;
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This needs to be a reference to return properly?

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This is how UsgsAstroLsSensorModel::determineSensorCovarianceInImageSpace made use of it's array (sensor_cov) and successfully uses it in the same way (updating it within the method call).

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@jessemapel Doesn't this implicitly pass a pointer to the first element of the array? It's not exactly the same thing as pass by reference, but doesn't it function similarly in practice?

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@kberryUSGS That's right, I forgot about how arrays are passed around.


void createCameraLookVector(
const double& undistortedFocalPlaneX,
const double& undistortedFocalPlaneY,
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88 changes: 46 additions & 42 deletions src/UsgsAstroLsSensorModel.cpp
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Expand Up @@ -1658,25 +1658,23 @@ 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;
double p11 = m11 / determinant;
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
Expand All @@ -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;
};


Expand Down Expand Up @@ -1753,34 +1751,40 @@ 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;
double euler[3];
double nTime = aTime / m_halfTime;
double nTime2 = nTime * nTime;
euler[0] =
(getValue(6, adj) + getValue(9, adj)* nTime + getValue(12, adj)* nTime2) / m_flyingHeight;
euler[1] =
(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;
double euler[3];
double nTime = aTime / m_halfTime;
double nTime2 = nTime * nTime;
euler[0] =
(getValue(6, adj) + getValue(9, adj)* nTime + getValue(12, adj)* nTime2) / m_flyingHeight;
euler[1] =
(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;

calculateRotationMatrixFromEuler(euler, attCorr);
}


Expand Down