CsmSensor.cpp

 
/* SPDX-License-Identifier: CC0-1.0 */
#include "CsmSensor.h"
 
#include "RasterGM.h"
 
#include "Orientations.h"
 
#include "csm.h"
 
using namespace std;
 
namespace Isis {
  CsmSensor::CsmSensor(csm::RasterGM* cam, ale::Orientations *j2000Rot) {
    m_cam = cam;
    m_j2000Rot = j2000Rot;
  }
 
 
  SensorUtilities::ObserverState CsmSensor::getState(const SensorUtilities::ImagePt &imagePoint) {
 
    csm::ImageCoord csmImagePt(imagePoint.line, imagePoint.sample);
 
    double sensorTime = m_cam->getImageTime(csmImagePt);
 
    csm::EcefLocus locus = m_cam->imageToRemoteImagingLocus(csmImagePt);
 
    SensorUtilities::Vec lookVec = {locus.direction.x, locus.direction.y, locus.direction.z};
 
    ale::Vec3d aleLookVec = {locus.direction.x, locus.direction.y, locus.direction.z};
    ale::Vec3d aleJ2000LookVec = m_j2000Rot->rotateVectorAt(sensorTime, aleLookVec);
    SensorUtilities::Vec lookVecJ2000 = {aleJ2000LookVec.x, aleJ2000LookVec.y, aleJ2000LookVec.z};
 
    SensorUtilities::Vec sensorPos = {locus.point.x, locus.point.y, locus.point.z};
 
    SensorUtilities::ObserverState sensorState = {
          lookVec,
          lookVecJ2000,
          sensorPos,
          sensorTime,
          imagePoint};
 
    return sensorState;
  }
 
 
  SensorUtilities::ObserverState CsmSensor::getState(const SensorUtilities::GroundPt3D &groundPt) {
    SensorUtilities::Vec groundCoord = SensorUtilities::sphericalToRect(groundPt);
    csm::EcefCoord csmGroundPt = {groundCoord.x, groundCoord.y, groundCoord.z};
    csm::ImageCoord csmImagePt = m_cam->groundToImage(csmGroundPt);
    SensorUtilities::ImagePt imagePoint = {csmImagePt.line, csmImagePt.samp};
    return getState(imagePoint);
  }
 
}