IsisSensor.cpp

 
/* SPDX-License-Identifier: CC0-1.0 */
#include "IsisSensor.h"
 
#include "Angle.h"
#include "Camera.h"
#include "Distance.h"
#include "iTime.h"
#include "Latitude.h"
#include "Longitude.h"
#include "SurfacePoint.h"
 
using namespace std;
 
namespace Isis {
  IsisSensor::IsisSensor(Camera* cam) {
    m_cam = cam;
  }
 
 
  SensorUtilities::ObserverState IsisSensor::getState(const SensorUtilities::ImagePt &imagePoint) {
 
    // These image coordinates are in ISIS pixels; (0.5, 0.5, 1) is the origin.
    double oldLine =  m_cam->Line();
    double oldSample = m_cam->Sample();
    int oldBand = m_cam->Band();
    double newLine = imagePoint.line + 0.5;
    double newSample = imagePoint.sample + 0.5;
    int newBand = imagePoint.band + 1;
 
    bool imagePtChanged = oldLine != newLine ||
                          oldSample != newSample ||
                          (!m_cam->IsBandIndependent() && oldBand != newBand);
    if (imagePtChanged) {
      m_cam->SetBand(newBand);
      m_cam->SetImage(newSample, newLine);
    }
 
    vector<double> lookBF = m_cam->lookDirectionBodyFixed();
    SensorUtilities::Vec lookVec = {lookBF[0], lookBF[1], lookBF[2]};
 
    vector<double> lookJ2000 = m_cam->lookDirectionJ2000();
    SensorUtilities::Vec lookVecJ2000 = {lookJ2000[0], lookJ2000[1], lookJ2000[2]};
 
    vector<double> posBF(3);
    m_cam->instrumentBodyFixedPosition(&posBF[0]);
    // Conver to meters from ISIS's Km
    SensorUtilities::Vec sensorPos = {1000 * posBF[0], 1000 * posBF[1], 1000 * posBF[2]};
 
    double sensorTime = m_cam->time().Et();
 
    SensorUtilities::ObserverState sensorState = {
          lookVec,
          lookVecJ2000,
          sensorPos,
          sensorTime,
          imagePoint};
 
    if (imagePtChanged) {
      m_cam->SetBand(oldBand);
      m_cam->SetImage(oldSample, oldLine);
    }
    return sensorState;
  }
 
 
  SensorUtilities::ObserverState IsisSensor::getState(const SensorUtilities::GroundPt3D &groundPt) {
    SurfacePoint oldGroundPt = m_cam->GetSurfacePoint();
    SurfacePoint newGroundPt = SurfacePoint(
          Latitude(groundPt.lat, Angle::Radians),
          Longitude(groundPt.lon, Angle::Radians),
          Distance(groundPt.radius, Distance::Meters));
    // For consistency with ISIS, reset with the image point
    double oldLine =  m_cam->Line();
    double oldSample = m_cam->Sample();
    double oldBand = m_cam->Band();
 
    bool groundPtChanged = !(oldGroundPt == newGroundPt);
 
    if (groundPtChanged) {
      m_cam->SetGround(newGroundPt);
    }
 
    vector<double> lookBF = m_cam->lookDirectionBodyFixed();
    SensorUtilities::Vec lookVec = {lookBF[0], lookBF[1], lookBF[2]};
 
    vector<double> lookJ2000 = m_cam->lookDirectionJ2000();
    SensorUtilities::Vec lookVecJ2000 = {lookJ2000[0], lookJ2000[1], lookJ2000[2]};
 
    vector<double> posBF(3);
    m_cam->instrumentBodyFixedPosition(&posBF[0]);
    // Conver to meters from ISIS's Km
    SensorUtilities::Vec sensorPos = {1000 * posBF[0], 1000 * posBF[1], 1000 * posBF[2]};
 
    double sensorTime = m_cam->time().Et();
 
    SensorUtilities::ImagePt imagePoint = {
          m_cam->Line() - 0.5,
          m_cam->Sample() - 0.5,
          m_cam->Band() - 1};
 
    SensorUtilities::ObserverState sensorState = {
          lookVec,
          lookVecJ2000,
          sensorPos,
          sensorTime,
          imagePoint};
 
    if (groundPtChanged) {
      m_cam->SetBand(oldBand);
      m_cam->SetImage(oldSample, oldLine);
    }
 
    return sensorState;
  }
 
}