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Modified CSM setImage to intersect the shape model #4266

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Feb 1, 2021
Merged

Modified CSM setImage to intersect the shape model #4266

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bae6dca
Fixed scaling issue in setImage
jessemapel Jan 31, 2021
81aea06
Added shape model intersection
jessemapel Jan 31, 2021
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168 changes: 95 additions & 73 deletions isis/src/base/objs/CSMCamera/CSMCamera.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -88,46 +88,50 @@ namespace Isis {
}


// TODO make this an iterative technique that updates the locus each iteration
bool CSMCamera::SetImage(const double sample, const double line) {
csm::ImageCoord imagePt;
isisToCsmPixel(p_alphaCube->AlphaLine(line), p_alphaCube->AlphaSample(sample), imagePt);
double achievedPrecision = 0;
csm::WarningList warnings;

// move to protected?
p_childSample = sample;
p_childLine = line;
// p_pointComputed = true;

// if (p_projection == NULL || p_ignoreProjection) {
double parentSample = p_alphaCube->AlphaSample(sample);
double parentLine = p_alphaCube->AlphaLine(line);
// bool success = false;

double height = 10.0;
csm::ImageCoord imagePt(parentLine, parentSample);

// do image to ground with csm
csm::EcefCoord result = m_model->imageToGround(imagePt, height);

// Set X, Y, Z in surface point
double naifValues[3] = {result.x, result.y, result.z};
target()->shape()->surfaceIntersection()->FromNaifArray(naifValues);

// check set of coordinate:
double test[3];
Coordinate(test);
// std::cout << "TEST: " << test[0] << ", " << test[1] << ", " << test[2] << std::endl;
// std::cout << "UniversalLatitude: " << UniversalLatitude() << std::endl;
csm::EcefLocus imageLocus;
try {
imageLocus = m_model->imageToRemoteImagingLocus(imagePt,
0.001,
&achievedPrecision,
&warnings);
}
catch (csm::Error &e) {
return false;
}

// get a lat, lon and store in variables
// (1) how to get lat/lon
// (2) which variables to store in
// Check for issues on the CSM end
if (achievedPrecision > 0.001) {
return false;
}
if (!warnings.empty()) {
for (csm::Warning warning : warnings) {
if (warning.getWarning() == csm::Warning::IMAGE_COORD_OUT_OF_BOUNDS){
return false;
}
}
}

// fill in whatever stuff ISIS needs from this
// }
// else {
// handle projected case
// }
// ISIS sensors work in Kilometers, CSM works in meters
std::vector<double> obsPosition = {imageLocus.point.x / 1000.0,
imageLocus.point.y / 1000.0,
imageLocus.point.z / 1000.0};
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I would like to put this through the csm->ISIS conversion but I'm concerned about it being slow and it still requires making a surface point and specifying that it's in meters. So, it's still prone to errors for unit conversions.

std::vector<double> locusVec = {imageLocus.direction.x,
imageLocus.direction.y,
imageLocus.direction.z};
if(!target()->shape()->intersectSurface(obsPosition, locusVec)) {
return false;
}

// std::cout << "Hello World!" << std::endl;
// how to do this -- csm returns the _closest pixel_ to the intersection
// If we are here then everything went well so save the pixel and return true
p_childSample = sample;
p_childLine = line;
return true;
}

Expand All @@ -143,7 +147,6 @@ namespace Isis {


bool CSMCamera::SetGround(Latitude latitude, Longitude longitude) {
std::cout << "Lat lon set ground" << std::endl;
ShapeModel *shape = target()->shape();
Distance localRadius;

Expand All @@ -160,19 +163,11 @@ namespace Isis {
return false;
}

// std::cout << "Lat: " << latitude.degrees() << std::endl;
// std::cout << "Lon: " << longitude.degrees() << std::endl;
// std::cout << "Rad: " << localRadius.meters() << std::endl;

return SetGround(SurfacePoint(latitude, longitude, localRadius));
}


bool CSMCamera::SetGround(const SurfacePoint & surfacePt) {
std::cout << "surface point set ground" << std::endl;
std::cout << "Lat: " << surfacePt.GetLatitude().degrees() << std::endl;
std::cout << "Lon: " << surfacePt.GetLongitude().degrees() << std::endl;
std::cout << "Rad: " << surfacePt.GetLocalRadius().meters() << std::endl;
ShapeModel *shape = target()->shape();
if (!surfacePt.Valid()) {
shape->clearSurfacePoint();
Expand All @@ -185,23 +180,19 @@ namespace Isis {
csm::ImageCoord imagePt;
double achievedPrecision = 0;
csm::WarningList warnings;
csm::EcefCoord groundPt(surfacePt.GetX().meters(), surfacePt.GetY().meters(), surfacePt.GetZ().meters());
std::cout << "Ground point: " << groundPt.x << ", " << groundPt.y << ", " << groundPt.z << std::endl;
csm::EcefCoord groundPt = isisToCsmGround(surfacePt);
try {
imagePt = m_model->groundToImage(groundPt, 0.01, &achievedPrecision, &warnings);
}
catch (csm::Error &e) {
std::cout << "Errored with error: " << e.getMessage() << std::endl;
validBackProject = false;
}
if (achievedPrecision > 0.01) {
std::cout << "Failed to achieve precision of 0.1. Precision: " << achievedPrecision << std::endl;
validBackProject = false;
}
if (!warnings.empty()) {
for (csm::Warning warning : warnings) {
if (warning.getWarning() == csm::Warning::IMAGE_COORD_OUT_OF_BOUNDS){
std::cout << "Failed to back project warning." << std::endl;
validBackProject = false;
}
}
Expand All @@ -215,13 +206,11 @@ namespace Isis {
sensorPositionBodyFixed(line, sample),
true);
if (!shape->hasIntersection()) {
std::cout << "Back projection occluded" << std::endl;
validBackProject = false;
}

// If the back projection was successful, then save it
if (validBackProject) {
std::cout << "Successfully back projects to : " << line << ", " << sample << std::endl;
p_childSample = p_alphaCube->BetaSample(sample);
p_childLine = p_alphaCube->BetaLine(line);
p_pointComputed = true;
Expand All @@ -234,15 +223,6 @@ namespace Isis {
return false;
}

void CSMCamera::isisToCsmPixel(double line, double sample, csm::ImageCoord &csmPixel) {
csmPixel.line = line - 0.5;
csmPixel.samp = sample - 0.5;
}
void CSMCamera::csmToIsisPixel(csm::ImageCoord csmPixel, double &line, double &sample) {
line = csmPixel.line + 0.5;
sample = csmPixel.samp + 0.5;
}


double CSMCamera::LineResolution() {
vector<double> imagePartials = ImagePartials();
Expand All @@ -251,13 +231,15 @@ namespace Isis {
imagePartials[4]*imagePartials[4]);
}


double CSMCamera::SampleResolution() {
vector<double> imagePartials = ImagePartials();
return sqrt(imagePartials[1]*imagePartials[1] +
imagePartials[3]*imagePartials[3] +
imagePartials[5]*imagePartials[5]);
}


double CSMCamera::PixelResolution() {
// Redo the line and sample resolution calculations because it avoids
// a call to ImagePartials which could be a costly call
Expand All @@ -271,10 +253,12 @@ namespace Isis {
return (sampRes + lineRes) / 2.0;
}


double CSMCamera::ObliqueLineResolution() {
return LineResolution();
}


double CSMCamera::ObliqueSampleResolution() {
return SampleResolution();
}
Expand All @@ -289,6 +273,7 @@ namespace Isis {
return p_alphaCube->AlphaLine(Line());
}


double CSMCamera::parentSample() {
return p_alphaCube->AlphaSample(Sample());
}
Expand Down Expand Up @@ -329,19 +314,11 @@ namespace Isis {
}


// Need to override because Camera::SetGround(SurfacePoint) calls the GroundMap which we don't have
//bool CSMCamera::SetGround(){
// return false;
// }


/**
* Returns the pixel ifov offsets from center of pixel. For vims this will be a rectangle or
* square, depending on the sampling mode. The first vertex is the top left.
*
* @internal
* @history 2013-08-09 Tracie Sucharski - Add more vertices along each edge. This might need
* to be a user parameter evenually? Might be dependent on resolution.
* The CSM API does not support this type of internal information about the sensor.
*/
QList<QPointF> CSMCamera::PixelIfovOffsets() {
QString msg = "Pixel Field of View is not computable for a CSM camera model.";
Expand Down Expand Up @@ -378,9 +355,7 @@ namespace Isis {
* z WRT sample
*/
vector<double> CSMCamera::ImagePartials(SurfacePoint groundPoint) {
csm::EcefCoord groundCoord(groundPoint.GetX().meters(),
groundPoint.GetY().meters(),
groundPoint.GetZ().meters());
csm::EcefCoord groundCoord = isisToCsmGround(groundPoint);
vector<double> groundPartials = m_model->computeGroundPartials(groundCoord);

// Jacobian format is
Expand Down Expand Up @@ -409,7 +384,6 @@ namespace Isis {
// Spice::init() creates a Target in such a way that requires spice data / tables, so
// this works around that.
Target *CSMCamera::setTarget(Pvl label) {
std::cout << "running set target" << std::endl;
Target *target = new Target();
PvlGroup &inst = label.findGroup("Instrument", Pvl::Traverse);
QString targetName = inst["TargetName"][0];
Expand All @@ -432,6 +406,54 @@ namespace Isis {
target->setShapeEllipsoid();
return target;
}


/**
* Convert an ISIS pixel coordinate to a CSM pixel coordinate.
* The ISIS image origin is (0.5, 0.5), the CSM image origin is (0, 0). This
* function accounts for that and wraps the coordinate in a csm::ImageCoord.
*/
void CSMCamera::isisToCsmPixel(double line, double sample, csm::ImageCoord &csmPixel) {
csmPixel.line = line - 0.5;
csmPixel.samp = sample - 0.5;
}


/**
* Convert a CSM pixel coordinate to an ISIS pixel coordinate.
* The ISIS image origin is (0.5, 0.5), the CSM image origin is (0, 0). This
* function accounts for that and unpacks the csm::ImageCoord.
*/
void CSMCamera::csmToIsisPixel(csm::ImageCoord csmPixel, double &line, double &sample) {
line = csmPixel.line + 0.5;
sample = csmPixel.samp + 0.5;
}


/**
* Convert an ISIS ground point into a CSM ground point.
* ISIS ground points can be created from and converted to many different
* units and coordinate systems. CSM ground points are always rectangular,
* body-fixed coordinates in meters.
*/
csm::EcefCoord CSMCamera::isisToCsmGround(const SurfacePoint &groundPt) {
return csm::EcefCoord(groundPt.GetX().meters(),
groundPt.GetY().meters(),
groundPt.GetZ().meters());
}


/**
* Convert a CSM ground point into an ISIS ground point.
* ISIS ground points can be created from and converted to many different
* units and coordinate systems. CSM ground points are always rectangular,
* body-fixed coordinates in meters.
*/
SurfacePoint CSMCamera::csmToIsisGround(const csm::EcefCoord &groundPt) {
return SurfacePoint(Displacement(groundPt.x, Displacement::Meters),
Displacement(groundPt.y, Displacement::Meters),
Displacement(groundPt.z, Displacement::Meters));
}
}

// Plugin
Expand Down
2 changes: 2 additions & 0 deletions isis/src/base/objs/CSMCamera/CSMCamera.h
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -98,6 +98,8 @@ namespace Isis {

void isisToCsmPixel(double line, double sample, csm::ImageCoord &csmPixel);
void csmToIsisPixel(csm::ImageCoord csmPixel, double &line, double &sample);
csm::EcefCoord isisToCsmGround(const SurfacePoint &groundPt);
SurfacePoint csmToIsisGround(const csm::EcefCoord &groundPt);

virtual std::vector<double> ImagePartials(SurfacePoint groundPoint);
virtual std::vector<double> ImagePartials();
Expand Down