Added intersectSurface to NaifDskShape so the intercept point would b…

CHANGELOG.md

@@ -37,7 +37,9 @@ release.
 - Added check to determine if poles were a valid projection point in ImagePolygon when generating footprint for a map projected image. [#4390](https://github.com/USGS-Astrogeology/ISIS3/issues/4390)
 - Updated the LRO photometry application Lronacpho, to use by default the current 2019 photometric model (LROC_Empirical). The model's coefficients are found in the PVL file that exists in the LRO data/mission/calibration directory. If the old parameter file is provided, the old algorithm(2014) will be used. This functionality is desired for calculation comparisons. Issue: [#4512](https://github.com/USGS-Astrogeology/ISIS3/issues/4512), PR: [#4519](https://github.com/USGS-Astrogeology/ISIS3/pull/4519)
 - Added a new application, framestitch, for stitching even and odd push frame images back together prior to processing in other applications. [4924](https://github.com/USGS-Astrogeology/ISIS3/issues/4924)
+- Corrected issue where footprintinit would fail with a segmentation error. [4943](https://github.com/USGS-Astrogeology/ISIS3/issues/4943)
 - Added changes to lronaccal to use time-dependent dark files for dark correction and use of specific dark files for images with exp code of zero. Also added GTests for lronaccal and refactored code to make callable. Added 3 truth cubes to testing directory.  PR[#4520](https://github.com/USGS-Astrogeology/ISIS3/pull/4520)
+
 ### Changed
 - Updated the LRO calibration application Lrowaccal to add a units label to the RadiometricType keyword of the Radiometry group in the output cube label if the RadiometricType parameter is Radiance. No functionality is changed if the RadiometricType parameter is IOF. Lrowaccal has also been refactored to be callable for testing purposes. Issue: [#4939](https://github.com/USGS-Astrogeology/ISIS3/issues/4939), PR: [#4940](https://github.com/USGS-Astrogeology/ISIS3/pull/4940)
 

isis/src/base/objs/NaifDskShape/NaifDskShape.cpp

@@ -43,6 +43,7 @@ namespace Isis {
     setName("DSK");
   }
 
+
   /**
    * @brief Constructor provided for instantiation from an ISIS cube
    *
@@ -85,6 +86,7 @@ namespace Isis {
 
   }
 
+
   /**
    * @brief Constructor for creating new shape model from the same DSK file
    *
@@ -144,6 +146,37 @@ namespace Isis {
     return ( success );
   }
 
+
+  /**
+  * @brief Compute surface intersection with optional occlusion check
+  *
+  * This method sets the surface point at the given latitude, longitude. The
+  * derived model is called to get the radius at that location to complete the
+  * accuracy of the surface point, them the derived method is called to complete
+  * the intersection.
+  *
+  * @author 2022-07-14 Stuart Sides, Jesse Mapel
+  *
+  * @param surfpt       Absolute point on the surface to check
+  * @param observerPos  Position of the observer
+  * @param backCheck    Flag to indicate occlusion check
+  *
+  * @return bool        True if the intersection point is valid (visable)
+  */
+  bool NaifDskShape::intersectSurface(const SurfacePoint &surfpt,
+                                    const std::vector<double> &observerPos,
+                                    const bool &backCheck) {
+
+    std::vector<double> look(3);
+    look[0] = surfpt.GetX().kilometers() - observerPos[0];
+    look[1] = surfpt.GetY().kilometers() - observerPos[1];
+    look[2] = surfpt.GetZ().kilometers() - observerPos[2];
+
+    return intersectSurface(observerPos, look);
+
+  }
+
+
   /**
    * @brief Determine DEM radius at a given lat/lon grid point
    *
@@ -167,6 +200,7 @@ namespace Isis {
     return (Distance());
   }
 
+
   /**
    * @brief Set the normal vector to the intercept point normal
    *
@@ -229,7 +263,6 @@ namespace Isis {
    * @param neighborPoints Input body-fixed points to compute normal for
    */
   void NaifDskShape::calculateLocalNormal(QVector<double *> neighborPoints) {
-
     // Sanity check
     if ( !hasIntersection() ) { // hasIntersection()  <==>  !m_intercept.isNull()
       QString mess = "Intercept point does not exist - cannot provide normal vector";
@@ -247,13 +280,15 @@ namespace Isis {
      calculateSurfaceNormal();
   }
 
+
   /** Return the surface normal of the ellipsi=oud */
   void NaifDskShape::calculateSurfaceNormal() {
     // ShapeModel (parent class) throws error if no intersection
     setNormal(ellipsoidNormal().toStdVector());// this takes care of setHasNormal(true);
     return;
   }
 
+
   /**
    * @brief Compute the true surface normal vector of an ellipsoid
    *
@@ -300,11 +335,13 @@ namespace Isis {
     return (norm);
   }
 
+
   /** Returns a direct reference to the DSK plate model file interface */
   const NaifDskPlateModel &NaifDskShape::model() const {
     return (m_model);
   }
 
+
   /**
    * @brief Returns a pointer to the current intercept
    *
@@ -321,4 +358,4 @@ namespace Isis {
     return ( m_intercept.data() );
   }
 
-}; // namespace Isis
+}; // namespace Isis 

isis/src/base/objs/NaifDskShape/NaifDskShape.h

@@ -56,6 +56,10 @@ namespace Isis {
       bool intersectSurface(std::vector<double> observerPos,
                             std::vector<double> lookDirection);
 
+      bool intersectSurface(const SurfacePoint &surfpt,
+                            const std::vector<double> &observerPos,
+                            const bool &backCheck=true);
+
       // Calculate the default normal of the current intersection point
       void calculateDefaultNormal();
 
@@ -73,6 +77,7 @@ namespace Isis {
       const NaifDskPlateModel &model() const;
       const Intercept *intercept() const;
 
+
     private:
       // Disallow copying because ShapeModel is not copyable
       NaifDskShape(const NaifDskShape &model);

isis/src/base/objs/NaifDskShape/NaifDskShape.truth

@@ -11,6 +11,11 @@ Intersection successful?  "No"
 Construct NaifDskShape object from cube labels with ShapeModel=DSK file.
 Try to intersect surface at obsPos (0,0,1000) and lookDir (0,-1,-1)
 Intersection successful?      "No"
+Try to intersect surface at obsPos (1000,0,0) and lookDir (-1,0,0)
+Intercept X =  0.28911
+Intercept Y =  0
+Intercept Z =  0
+Intersection successful?      "Yes"
 
 Construct NaifDskShape object from cube labels with ElevationModel=DSK file.
 Try to intersect surface at obsPos (1000,0,0) and lookDir (-1,0,0)
@@ -49,7 +54,6 @@ Construct NaifDskShape object from cube labels with ShapeModel=Null.
 **USER ERROR** NAIF DSK file [Null] does not exist.
 
 Thrown by setLocalNormalFromIntercept() - Failed to find intercept. 
-**PROGRAMMER ERROR** Intercept point does not exist - cannot provide normal vector.
 
 Thrown by calculateLocalNormal() - Failed to find intercept for normal vector. 
 **PROGRAMMER ERROR** Intercept point does not exist - cannot provide normal vector.

isis/src/base/objs/NaifDskShape/unitTest.cpp

@@ -80,6 +80,18 @@ int main(int argc, char *argv[]) {
     success = shapeModelFromPvlShape.intersectSurface(obsPos, lookDir);
     qDebug() << "Intersection successful?     " << toString(success);
 
+    qDebug() << "Try to intersect surface at obsPos (1000,0,0) and lookDir (-1,0,0)";
+    obsPos[0]  = 1000.0;  obsPos[1]  = 0.0;   obsPos[2]  = 0.0;
+    lookDir[0] = -1.0;  lookDir[1] = 0.0;  lookDir[2] = 0.0;
+    success = shapeModelFromPvlShape.intersectSurface(obsPos, lookDir);
+    if (success) {
+      SurfacePoint *point = shapeModelFromPvlShape.surfaceIntersection();
+      qDebug() << "Intercept X = " << point->DisplacementToDouble(point->GetX(), SurfacePoint::Kilometers);
+      qDebug() << "Intercept Y = " << point->DisplacementToDouble(point->GetY(), SurfacePoint::Kilometers);
+      qDebug() << "Intercept Z = " << point->DisplacementToDouble(point->GetZ(), SurfacePoint::Kilometers);
+    }
+    qDebug() << "Intersection successful?     " << toString(success);
+
     qDebug() << "";
     qDebug() << "Construct NaifDskShape object from cube labels with ElevationModel=DSK file.";    
     Pvl pvlWithElevation("./st_2530292409_v_DskElevationModel.lbl");
@@ -161,7 +173,6 @@ int main(int argc, char *argv[]) {
              << QVector<double>::fromStdVector(shapeModelFromPvlElevation.normal());
     qDebug() << "";
 
-
     qDebug() << "================================= Error Throws ==================================";
     qDebug() << "Construct NaifDskShape object from cube labels with ShapeModel=Null.";    
     try {