General purpose Embree ray tracing model. More...

#include <EmbreeShapeModel.h>

Inheritance diagram for Isis::EmbreeShapeModel:

Collaboration diagram for Isis::EmbreeShapeModel:

Public Member Functions
	EmbreeShapeModel ()
	Default constructor sets type to a TIN.

	EmbreeShapeModel (Target target, Pvl &pvl, EmbreeTargetManager targetManager)
	Constructor provided for instantiation from an ISIS cube.

	EmbreeShapeModel (Target target, const QString &shapefile, EmbreeTargetManager targetManager)
	Constructor provided for instantiation from a file.

virtual	~EmbreeShapeModel ()
	Destructor that notifies the target shape manager that the target shape is no longer in use.

virtual bool	intersectSurface (std::vector< double > observerPos, std::vector< double > lookDirection)
	This method computes an intercept point given an observer location and look direction using the Embree model.

virtual bool	intersectSurface (const Latitude &lat, const Longitude &lon, const std::vector< double > &observerPos, const bool &backCheck=true)
	Compute intersection of surface vector direction from observer with occulusion.

virtual bool	intersectSurface (const SurfacePoint &surfpt, const std::vector< double > &observerPos, const bool &backCheck=true)
	Compute intersection of surface point from observer with occulusion.

virtual void	clearSurfacePoint ()
	Flag that the ShapeModel does not have a surface point or normal.

virtual bool	isDEM () const
	Indicates that this shape model is not from a DEM.

double	getTolerance () const
	Get the tolerance used when checking if the stored surface point is visible.

void	setTolerance (const double &tolerance)
	Set the tolerance used when checking if the stored surface point is visible.

virtual void	calculateDefaultNormal ()
	Return the surface normal of the ellipsoid as the default.

virtual void	calculateLocalNormal (QVector< double * > cornerNeighborPoints)
	Compute the normal for a local region of surface points.

virtual void	calculateSurfaceNormal ()
	Return the surface normal of the ellipsoid.

QVector< double >	ellipsoidNormal ()
	Compute the true surface normal vector of an ellipsoid.

virtual double	incidenceAngle (const std::vector< double > &uB)
	Computes and returns incidence angle, in degrees, given the illuminator position.

virtual Distance	localRadius (const Latitude &lat, const Longitude &lon)
	Determine radius at a given lat/lon grid point.

virtual bool	isVisibleFrom (const std::vector< double > observerPos, const std::vector< double > lookDirection)
	Check if the current internalized surface point is visible from an observer position and look direction.

void	Initialize ()
	Initializes the ShapeModel private variables.

virtual SurfacePoint *	surfaceIntersection () const
	Returns the surface intersection for this ShapeModel.

bool	hasIntersection ()
	Returns intersection status.

bool	hasNormal () const
	Returns surface point normal status.

bool	hasLocalNormal () const
	Returns surface point local normal status.

virtual double	emissionAngle (const std::vector< double > &sB)
	Computes and returns emission angle, in degrees, given the observer position.

virtual double	phaseAngle (const std::vector< double > &sB, const std::vector< double > &uB)
	Computes and returns phase angle, in degrees, given the positions of the observer and illuminator.

QString	name () const
	Gets the shape name.

void	setHasIntersection (bool b)
	Sets the flag to indicate whether this ShapeModel has an intersection.

virtual void	setSurfacePoint (const SurfacePoint &surfacePoint)
	Set surface intersection point.

virtual std::vector< double >	normal ()
	Returns the surface normal at the current intersection point.

virtual std::vector< double >	localNormal ()
	Returns the local surface normal at the current intersection point.

Protected Member Functions
void	setNormal (const std::vector< double >)
	Sets the surface normal for the currect intersection point.

void	setNormal (const double a, const double b, const double c)
	Sets the surface normal for the currect intersection point.

void	setLocalNormal (const std::vector< double >)
	Sets the local normal for the currect intersection point.

void	setLocalNormal (const double a, const double b, const double c)
	Sets the local normal for the currect intersection point.

void	setName (QString name)
	Sets the shape name.

void	calculateEllipsoidalSurfaceNormal ()
	Calculates the ellipsoidal surface normal.

bool	hasEllipsoidIntersection ()
	Returns the status of the ellipsoid model intersection.

bool	intersectEllipsoid (const std::vector< double > observerPosRelativeToTarget, const std::vector< double > &observerLookVectorToTarget)
	Finds the intersection point on the ellipsoid model using the given position of the observer (spacecraft) and direction vector from the observer to the target (body).

bool	hasValidTarget () const
	Returns the status of the target.

std::vector< Distance >	targetRadii () const
	Returns the radii of the body in km.

void	setHasNormal (bool status)
	Sets the flag to indicate whether this ShapeModel has a surface normal.

void	setHasLocalNormal (bool status)
	Sets the flag to indicate whether this ShapeModel has a local normal.

double	resolution ()
	Convenience method to get pixel resolution (m/pix) at current intersection point.

Private Member Functions
void	updateIntersection (const RayHitInformation hitInfo)
	Update the ShapeModel given an intersection and normal.

RTCMultiHitRay	latlonToRay (const Latitude &lat, const Longitude &lon) const
	Given a latitude and longitude, create a ray that goes from the origin of the target through that latitude and longitude.

RTCMultiHitRay	pointToRay (const SurfacePoint &point) const
	Given a surface point, create a ray that goes from the origin of the target to the surface point.

QVector< RayHitInformation >	sortHits (RTCMultiHitRay &ray, LinearAlgebra::Vector &observer)
	Sort all intersections by a ray based on distance to a point.

Private Attributes
EmbreeTargetShape *	m_targetShape

EmbreeTargetManager *	m_targetManager
	!< The target body and Embree objects for intersection.

double	m_tolerance
	!< This manages EmbreeTargetShapes to allow for sharing of them between EmbreeShapeModels and deletes them when no longer needed.

QString	m_shapeFile
	!< Tolerance for checking visibility.

bool	m_hasEllipsoidIntersection
	Indicates the ellipsoid was successfully intersected.

bool	m_hasIntersection
	indicates good intersection exists

bool	m_hasNormal
	indicates normal has been computed

bool	m_hasLocalNormal
	indicates local normal has been computed

std::vector< double >	m_normal
	Surface normal of current intersection point.

std::vector< double >	m_localNormal
	Local normal of current intersection point.

QString *	m_name

SurfacePoint *	m_surfacePoint
	< Name of the shape

Target *	m_target

Detailed Description

General purpose Embree ray tracing model.

Author: 2017-04-22 Jesse Mapel and Jeannie Backer

History

2017-04-22 Jesse Mapel and Jeannie Backer - Original Version

2018-05-01 Christopher Combs - Removed emissionAngle function to fix issues with using ellipsoids to find normals. Fixes #5387.

Definition at line 37 of file EmbreeShapeModel.h.

Constructor & Destructor Documentation

◆ EmbreeShapeModel() [1/3]

Isis::EmbreeShapeModel::EmbreeShapeModel ( )

Default constructor sets type to a TIN.

Definition at line 33 of file EmbreeShapeModel.cpp.

References Isis::ShapeModel::setName().

◆ EmbreeShapeModel() [2/3]

Isis::EmbreeShapeModel::EmbreeShapeModel	(	Target *	target,
		Pvl &	pvl,
		EmbreeTargetManager *	targetManager )

Constructor provided for instantiation from an ISIS cube.

This constructor is typically used for and ISIS cube that has been initialized by spiceinit. The target shape file will be read from the Pvl label.

Parameters

target	Target object describing the observed body
pvl	ISIS Cube label. The target shape file will be extracted from the Kernels group
targetManager	The target shape manager that will manage the target shape

Definition at line 62 of file EmbreeShapeModel.cpp.

References Isis::EmbreeTargetManager::create(), Isis::PvlContainer::hasKeyword(), m_shapeFile, m_targetManager, Isis::ShapeModel::setName(), Isis::PvlObject::Traverse, and Isis::IException::User.

◆ EmbreeShapeModel() [3/3]

Isis::EmbreeShapeModel::EmbreeShapeModel	(	Target *	target,
		const QString &	shapefile,
		EmbreeTargetManager *	targetManager )

Constructor provided for instantiation from a file.

Parameters

target	Target object describing the observed body
shapefile	The targe shape file to use
targetManager	The target shape manager that will manage the target shape

Definition at line 109 of file EmbreeShapeModel.cpp.

References Isis::EmbreeTargetManager::create(), m_shapeFile, m_targetManager, Isis::ShapeModel::setName(), and Isis::IException::User.

◆ ~EmbreeShapeModel()

Isis::EmbreeShapeModel::~EmbreeShapeModel ( )

virtual

Destructor that notifies the target shape manager that the target shape is no longer in use.

See also: EmbreeTargetManager::free

Definition at line 146 of file EmbreeShapeModel.cpp.

References Isis::EmbreeTargetManager::free(), m_shapeFile, and m_targetManager.

Member Function Documentation

◆ calculateDefaultNormal()

void Isis::EmbreeShapeModel::calculateDefaultNormal ( )

virtual

Return the surface normal of the ellipsoid as the default.

Implements Isis::ShapeModel.

Definition at line 516 of file EmbreeShapeModel.cpp.

References calculateSurfaceNormal().

Referenced by incidenceAngle().

◆ calculateEllipsoidalSurfaceNormal()

void Isis::ShapeModel::calculateEllipsoidalSurfaceNormal ( )

protectedinherited

Calculates the ellipsoidal surface normal.

Definition at line 142 of file ShapeModel.cpp.

References Isis::ShapeModel::m_hasIntersection, Isis::ShapeModel::m_hasNormal, Isis::ShapeModel::m_normal, Isis::IException::Programmer, and Isis::ShapeModel::surfaceIntersection().

◆ calculateLocalNormal()

void Isis::EmbreeShapeModel::calculateLocalNormal ( QVector< double * > neighborPoints )

virtual

Compute the normal for a local region of surface points.

This method will calculate the surface normal of an assumed very local region of points. This method is provided to fullfil the specs of the ShapeModel class but this approach is not the most efficent means to accomplish this for a pre-exising intercept point. See setLocalNormalFromIntercept() for this.

The ShapeModel class makes the assumption that the four pixel corners of the center intercept point forms a plane from which a surface normal can be computed. For the Naif DSK plate model, we have already identified the plate (see m_intercept) from the DSK plate model (m_model) of the intercept point that provides it directly. That is what setLocalNormalFromIntercept() provides.

So, this implementation will compute the centroid of the neighboring points and make a determination if it intercepts the current intercept plate as defined by m_intercept - if it is valid. If it does not exist or does not intercept the plate, a new intercept point is computed and returned here.

Author: 2017-03-27 Kris Becker

Parameters

neighborPoints Input body-fixed points to compute normal for

Implements Isis::ShapeModel.

Definition at line 502 of file EmbreeShapeModel.cpp.

References Isis::ShapeModel::hasIntersection(), and Isis::IException::Programmer.

◆ calculateSurfaceNormal()

void Isis::EmbreeShapeModel::calculateSurfaceNormal ( )

virtual

Return the surface normal of the ellipsoid.

Implements Isis::ShapeModel.

Definition at line 525 of file EmbreeShapeModel.cpp.

References ellipsoidNormal(), and Isis::ShapeModel::setNormal().

Referenced by calculateDefaultNormal().

◆ clearSurfacePoint()

void Isis::EmbreeShapeModel::clearSurfacePoint ( )

virtual

Flag that the ShapeModel does not have a surface point or normal.

Note: This does not actually delete the surface point or normal stored by the parent ShapeModel class, it just sets the flags to false.

Reimplemented from Isis::ShapeModel.

Definition at line 385 of file EmbreeShapeModel.cpp.

References Isis::ShapeModel::clearSurfacePoint(), Isis::ShapeModel::setHasLocalNormal(), and Isis::ShapeModel::setHasNormal().

Referenced by intersectSurface(), intersectSurface(), and intersectSurface().

◆ ellipsoidNormal()

QVector< double > Isis::EmbreeShapeModel::ellipsoidNormal ( )

Compute the true surface normal vector of an ellipsoid.

This routine is used instead of the one provided by the ShapeModel implementation. This is primarly because ShapeModel::calculateEllipsoidalSurfaceNormal() it is only suitable for a spheroid. This implementation is intended for irregular bodies so we expect triaxial ellipsoids.

Author: 2017-03-27 Kris Becker

Returns: QVector<double> Normal vector at the intercept point relative to the ellipsoid (not the plate model)

Definition at line 546 of file EmbreeShapeModel.cpp.

References Isis::NaifStatus::CheckErrors(), Isis::ShapeModel::hasIntersection(), Isis::ShapeModel::hasValidTarget(), Isis::IException::Programmer, Isis::ShapeModel::surfaceIntersection(), and Isis::ShapeModel::targetRadii().

Referenced by calculateSurfaceNormal().

◆ emissionAngle()

double Isis::ShapeModel::emissionAngle ( const std::vector< double > & observerBodyFixedPosition )

virtualinherited

Computes and returns emission angle, in degrees, given the observer position.

Emission Angle: The angle between the surface normal vector at the intersection point and the vector from the intersection point to the observer (usually the spacecraft). The emission angle varies from 0 degrees when the observer is viewing the sub-spacecraft point (nadir viewing) to 90 degrees when the intercept is tangent to the surface of the target body. Thus, higher values of emission angle indicate more oblique viewing of the target.

Parameters

observerBodyFixedPosition Three dimensional position of the observer, in the coordinate system of the target body.

Returns: The emission angle, in decimal degrees.

Reimplemented in Isis::PlaneShape.

Definition at line 187 of file ShapeModel.cpp.

References Isis::ShapeModel::hasNormal(), Isis::ShapeModel::m_normal, Isis::RAD2DEG, and Isis::ShapeModel::surfaceIntersection().

Referenced by Isis::ShapeModel::isVisibleFrom().

◆ getTolerance()

double Isis::EmbreeShapeModel::getTolerance ( ) const

Get the tolerance used when checking if the stored surface point is visible.

Returns: double The tolerance in kilometers

See also: isVisibleFrom

Definition at line 734 of file EmbreeShapeModel.cpp.

References m_tolerance.

Referenced by isVisibleFrom().

◆ hasEllipsoidIntersection()

bool Isis::ShapeModel::hasEllipsoidIntersection ( )

protectedinherited

Returns the status of the ellipsoid model intersection.

Returns: bool Indicates whether this shape model has a valid ellipsoid intersection.

Definition at line 215 of file ShapeModel.cpp.

References Isis::ShapeModel::m_hasEllipsoidIntersection.

◆ hasIntersection()

bool Isis::ShapeModel::hasIntersection ( )

inherited

Returns intersection status.

Returns: bool Indicates whether this ShapeModel has an intersection.

Definition at line 370 of file ShapeModel.cpp.

References Isis::ShapeModel::m_hasIntersection.

Referenced by Isis::DemShape::calculateDefaultNormal(), Isis::BulletShapeModel::calculateLocalNormal(), Isis::EllipsoidShape::calculateLocalNormal(), calculateLocalNormal(), Isis::NaifDskShape::calculateLocalNormal(), Isis::BulletShapeModel::ellipsoidNormal(), ellipsoidNormal(), Isis::NaifDskShape::ellipsoidNormal(), intersectSurface(), Isis::BulletShapeModel::intersectSurface(), intersectSurface(), Isis::BulletShapeModel::intersectSurface(), Isis::DemShape::intersectSurface(), intersectSurface(), Isis::EquatorialCylindricalShape::intersectSurface(), Isis::ShapeModel::isVisibleFrom(), Isis::CSMCamera::SetGround(), Isis::Sensor::SetGroundLocal(), Isis::BulletShapeModel::setLocalNormalFromIntercept(), and Isis::NaifDskShape::setLocalNormalFromIntercept().

◆ hasLocalNormal()

bool Isis::ShapeModel::hasLocalNormal ( ) const

inherited

Returns surface point local normal status.

Returns: Indicates whether this ShapeModel has a surface normal.

Definition at line 390 of file ShapeModel.cpp.

References Isis::ShapeModel::m_hasLocalNormal.

◆ hasNormal()

bool Isis::ShapeModel::hasNormal ( ) const

inherited

Returns surface point normal status.

Returns: Indicates whether this ShapeModel has a surface normal.

Definition at line 380 of file ShapeModel.cpp.

References Isis::ShapeModel::m_hasNormal.

Referenced by Isis::ShapeModel::emissionAngle(), incidenceAngle(), and Isis::ShapeModel::incidenceAngle().

◆ hasValidTarget()

bool Isis::ShapeModel::hasValidTarget ( ) const

protectedinherited

Returns the status of the target.

If it is NULL, this method returns false.

Returns: Indicates whether the target is valid.

Definition at line 479 of file ShapeModel.cpp.

Referenced by Isis::BulletShapeModel::ellipsoidNormal(), ellipsoidNormal(), Isis::NaifDskShape::ellipsoidNormal(), Isis::ShapeModel::resolution(), and Isis::ShapeModel::targetRadii().

◆ incidenceAngle()

double Isis::EmbreeShapeModel::incidenceAngle ( const std::vector< double > & illuminatorBodyFixedPosition )

virtual

Computes and returns incidence angle, in degrees, given the illuminator position.

The surface normal vector is calculated using an ellipsoid, not the local normal of the actual target shape.

Incidence Angle: The angle between the surface normal vector at the intersection point and the vector from the intersection point to the illuminator (usually the sun).

Note: this method does not use the surface model.

Parameters

illuminatorBodyFixedPosition Three dimensional position for the illuminator, in the body-fixed coordinate system.

Returns: double Incidence angle, in degrees.

Reimplemented from Isis::ShapeModel.

Definition at line 597 of file EmbreeShapeModel.cpp.

References calculateDefaultNormal(), Isis::ShapeModel::hasNormal(), Isis::ShapeModel::incidenceAngle(), Isis::ShapeModel::localNormal(), Isis::ShapeModel::normal(), and Isis::ShapeModel::setNormal().

◆ Initialize()

void Isis::ShapeModel::Initialize ( )

inherited

Initializes the ShapeModel private variables.

Definition at line 65 of file ShapeModel.cpp.

References Isis::ShapeModel::m_hasEllipsoidIntersection, Isis::ShapeModel::m_hasIntersection, Isis::ShapeModel::m_hasLocalNormal, Isis::ShapeModel::m_hasNormal, Isis::ShapeModel::m_localNormal, Isis::ShapeModel::m_normal, and Isis::ShapeModel::m_surfacePoint.

Referenced by Isis::ShapeModel::ShapeModel(), and Isis::ShapeModel::ShapeModel().

◆ intersectEllipsoid()

bool Isis::ShapeModel::intersectEllipsoid	(	const std::vector< double >	observerBodyFixedPosition,
		const std::vector< double > &	observerLookVectorToTarget )

protectedinherited

Finds the intersection point on the ellipsoid model using the given position of the observer (spacecraft) and direction vector from the observer to the target (body).

Parameters

observerBodyFixedPosition	Three dimensional position of the observer, in the coordinate system of the target body.
observerLookVectorToTarget	Three dimensional direction vector from the observer to the target.

Returns: bool Indicates whether this shape model found a valid ellipsoid intersection.

Definition at line 269 of file ShapeModel.cpp.

References Isis::NaifStatus::CheckErrors(), Isis::ShapeModel::clearSurfacePoint(), Isis::SurfacePoint::FromNaifArray(), Isis::ShapeModel::m_hasEllipsoidIntersection, Isis::ShapeModel::m_hasIntersection, Isis::ShapeModel::m_surfacePoint, and Isis::ShapeModel::targetRadii().

Referenced by Isis::DemShape::intersectSurface(), and Isis::EllipsoidShape::intersectSurface().

◆ intersectSurface() [1/3]

bool Isis::EmbreeShapeModel::intersectSurface	(	const Latitude &	lat,
		const Longitude &	lon,
		const std::vector< double > &	observerPos,
		const bool &	backCheck = true )

virtual

Compute intersection of surface vector direction from observer with occulusion.

This method computes a surface intersection point at a given latitude and longitude. All surface points at that latitude and longitude are collected and then the intersect that is non-occluded and closest to the observer is saved. The unit surface normal is also saved.

If occlusion is not checked, then the closest intersection to the observer is saved along with the unit surface normal.

Parameters

lat	The latitude of the surface intersection
lon	The longitude of the surface intersection
observerPos	The position of the observer for occlusion checks
backCheck	If occlusion should be checked

Returns: bool If an intersection was found

Reimplemented from Isis::ShapeModel.

Definition at line 207 of file EmbreeShapeModel.cpp.

References clearSurfacePoint(), Isis::ShapeModel::hasIntersection(), Isis::EmbreeTargetShape::intersectRay(), Isis::EmbreeTargetShape::isOccluded(), latlonToRay(), Isis::LinearAlgebra::magnitude(), Isis::LinearAlgebra::normalize(), sortHits(), updateIntersection(), and Isis::LinearAlgebra::vector().

◆ intersectSurface() [2/3]

bool Isis::EmbreeShapeModel::intersectSurface	(	const SurfacePoint &	surfpt,
		const std::vector< double > &	observerPos,
		const bool &	backCheck = true )

virtual

Compute intersection of surface point from observer with occulusion.

Compute the intersection point closest to a surface point. If occlusion is checked, then the intersection that is both closest to the surface point and non-occluded is saved. If occlusion is not checked, then the intersection closest to the surface point is saved.

The unit surface normal is also saved when an intersection is saved.

Parameters

surfpt	Surface intercept point
observerPos	Observer to check occlusion
backCheck	If occlusion should be checked

Returns: bool If an intersection was found

Reimplemented from Isis::ShapeModel.

Definition at line 285 of file EmbreeShapeModel.cpp.

References clearSurfacePoint(), Isis::ShapeModel::hasIntersection(), Isis::EmbreeTargetShape::intersectRay(), Isis::EmbreeTargetShape::isOccluded(), Isis::LinearAlgebra::magnitude(), Isis::LinearAlgebra::normalize(), pointToRay(), sortHits(), updateIntersection(), and Isis::LinearAlgebra::vector().

◆ intersectSurface() [3/3]

bool Isis::EmbreeShapeModel::intersectSurface	(	std::vector< double >	observerPos,
		std::vector< double >	lookDirection )

virtual

This method computes an intercept point given an observer location and look direction using the Embree model.

This also saves the surface normal.

Parameters

observerPos	Position of observer in body-fixed kilometers
lookDirection	Unit look direction from the observer

Returns: bool If an intercept was found

Implements Isis::ShapeModel.

Definition at line 162 of file EmbreeShapeModel.cpp.

References clearSurfacePoint(), Isis::EmbreeTargetShape::getHitInformation(), Isis::ShapeModel::hasIntersection(), Isis::EmbreeTargetShape::intersectRay(), Isis::ShapeModel::setHasIntersection(), and updateIntersection().

◆ isDEM()

bool Isis::EmbreeShapeModel::isDEM ( ) const

virtual

Indicates that this shape model is not from a DEM.

Since this method returns false for this class, the Camera class will not calculate the local normal using neighbor points.

Returns: bool Indicates that this is not a DEM shape model.

Implements Isis::ShapeModel.

Definition at line 435 of file EmbreeShapeModel.cpp.

◆ isVisibleFrom()

bool Isis::EmbreeShapeModel::isVisibleFrom	(	const std::vector< double >	observerPos,
		const std::vector< double >	lookDirection )

virtual

Check if the current internalized surface point is visible from an observer position and look direction.

A new intersection is calculated using the observer and look direction. If, the distance between the surface point and new intersection is less than the tolerance, then the surface point is considered to be visible.

Parameters

observerPos	The position of the observer
lookDirection	The look direction of the observer

Reimplemented from Isis::ShapeModel.

Definition at line 450 of file EmbreeShapeModel.cpp.

References Isis::EmbreeTargetShape::getHitInformation(), getTolerance(), Isis::EmbreeTargetShape::intersectRay(), Isis::LinearAlgebra::magnitude(), Isis::ShapeModel::surfaceIntersection(), and Isis::LinearAlgebra::vector().

◆ latlonToRay()

RTCMultiHitRay Isis::EmbreeShapeModel::latlonToRay	(	const Latitude &	lat,
		const Longitude &	lon ) const

private

Given a latitude and longitude, create a ray that goes from the origin of the target through that latitude and longitude.

The ray length is set to the maximum distance in the scene to ensure that it intersects all points at that latitude and longitude.

Parameters

lat	The latitude for the ray to pass through
lon	The longitude for the ray to pass through

Returns: RTCMultiHitRay A ray from the origin of the target through the given latitude and longitude.

Definition at line 634 of file EmbreeShapeModel.cpp.

References Isis::EmbreeTargetShape::maximumSceneDistance().

Referenced by intersectSurface(), and localRadius().

◆ localNormal()

std::vector< double > Isis::ShapeModel::localNormal ( )

virtualinherited

Returns the local surface normal at the current intersection point.

Note: This method will throw an error if the normal doesn't exist. Use the hasLocalNormal() method to verify before calling this method.

See also: hasLocalNormal()

Returns: A local surface normal vector, if it exists.

Definition at line 432 of file ShapeModel.cpp.

References Isis::ShapeModel::m_hasLocalNormal, Isis::ShapeModel::m_localNormal, and Isis::IException::Unknown.

Referenced by Isis::EllipsoidShape::calculateSurfaceNormal(), and incidenceAngle().

◆ localRadius()

Distance Isis::EmbreeShapeModel::localRadius	(	const Latitude &	lat,
		const Longitude &	lon )

virtual

Determine radius at a given lat/lon grid point.

@NOTE this call does not update the internal state of the intercept point. Use intersectSurface(lat, lon) for that.

Parameters

lat	Latitude coordinate of grid point
lon	Longitude coordinate of grid point

Returns: Distance Radius value of the intercept grid point

Implements Isis::ShapeModel.

Definition at line 404 of file EmbreeShapeModel.cpp.

References Isis::EmbreeTargetShape::getHitInformation(), Isis::EmbreeTargetShape::intersectRay(), Isis::Distance::Kilometers, latlonToRay(), and Isis::LinearAlgebra::magnitude().

◆ name()

QString Isis::ShapeModel::name ( ) const

inherited

Gets the shape name.

Returns: QString The name of the ShapeModel.

Definition at line 620 of file ShapeModel.cpp.

Referenced by Isis::Spice::init(), Isis::Target::restoreShape(), Isis::Camera::SetGround(), Isis::CSMCamera::SetGround(), Isis::Camera::SetImageMapProjection(), and Isis::ShapeModel::setName().

◆ normal()

std::vector< double > Isis::ShapeModel::normal ( )

virtualinherited

Returns the surface normal at the current intersection point.

Note: This method will throw an error if the normal doesn't exist. Use the hasNormal() method to verify before calling this method.

See also: hasNormal()

Returns: A surface normal vector, if it exists.

Definition at line 413 of file ShapeModel.cpp.

References Isis::ShapeModel::m_hasNormal, Isis::ShapeModel::m_normal, and Isis::IException::Unknown.

Referenced by Isis::DemShape::calculateDefaultNormal(), Isis::DemShape::calculateLocalNormal(), Isis::EllipsoidShape::calculateLocalNormal(), incidenceAngle(), Isis::IsisShape::intersect(), Isis::ShapeModel::setLocalNormal(), Isis::BulletShapeModel::setLocalNormalFromIntercept(), Isis::ShapeModel::setNormal(), and Isis::BulletShapeModel::updateShapeModel().

◆ phaseAngle()

double Isis::ShapeModel::phaseAngle	(	const std::vector< double > &	observerBodyFixedPosition,
		const std::vector< double > &	illuminatorBodyFixedPosition )

virtualinherited

Computes and returns phase angle, in degrees, given the positions of the observer and illuminator.

Phase Angle: The angle between the vector from the intersection point to the observer (usually the spacecraft) and the vector from the intersection point to the illuminator (usually the sun).

Parameters

observerBodyFixedPosition	Three dimensional position of the observer, in the coordinate system of the target body.
illuminatorBodyFixedPosition	Three dimensional position for the illuminator, in the body-fixed coordinate system.

Returns: double Phase angle, in degrees.

Definition at line 326 of file ShapeModel.cpp.

References Isis::RAD2DEG, and Isis::ShapeModel::surfaceIntersection().

◆ pointToRay()

RTCMultiHitRay Isis::EmbreeShapeModel::pointToRay ( const SurfacePoint & surfpt ) const

private

Given a surface point, create a ray that goes from the origin of the target to the surface point.

Parameters

surfpt The surface point for the ray to pass through

Returns: RTCMultiHitRay A ray from the origin of the target to the given surface point.

Definition at line 664 of file EmbreeShapeModel.cpp.

References Isis::RTCMultiHitRay::lastHit, Isis::LinearAlgebra::normalize(), and Isis::LinearAlgebra::vector().

Referenced by intersectSurface().

◆ resolution()

double Isis::ShapeModel::resolution ( )

protectedinherited

Convenience method to get pixel resolution (m/pix) at current intersection point.

Returns: @double The pixel resolution at the surface intersection.

Definition at line 681 of file ShapeModel.cpp.

References Isis::ShapeModel::hasValidTarget(), Isis::ShapeModel::m_hasIntersection, Isis::IException::Programmer, Isis::Spice::resolution(), and Isis::Target::spice().

Referenced by Isis::DemShape::intersectSurface().

◆ setHasIntersection()

void Isis::ShapeModel::setHasIntersection ( bool b )

inherited

Sets the flag to indicate whether this ShapeModel has an intersection.

Parameters

b	Indicates whether there is an intersection.

Definition at line 631 of file ShapeModel.cpp.

References Isis::ShapeModel::m_hasIntersection, Isis::ShapeModel::setHasLocalNormal(), and Isis::ShapeModel::setHasNormal().

Referenced by Isis::ShapeModel::clearSurfacePoint(), Isis::DemShape::intersectSurface(), intersectSurface(), Isis::EquatorialCylindricalShape::intersectSurface(), Isis::PlaneShape::intersectSurface(), Isis::Camera::RawFocalPlanetoImage(), Isis::CSMCamera::SetGround(), Isis::Sensor::SetGroundLocal(), Isis::Camera::SetImageMapProjection(), and updateIntersection().

◆ setHasLocalNormal()

void Isis::ShapeModel::setHasLocalNormal ( bool status )

protectedinherited

Sets the flag to indicate whether this ShapeModel has a local normal.

Parameters

status Indicates whether there is a normal.

Definition at line 670 of file ShapeModel.cpp.

References Isis::ShapeModel::m_hasLocalNormal.

Referenced by Isis::DemShape::calculateLocalNormal(), Isis::EllipsoidShape::calculateLocalNormal(), clearSurfacePoint(), Isis::ShapeModel::setHasIntersection(), Isis::ShapeModel::setSurfacePoint(), and Isis::BulletShapeModel::updateShapeModel().

◆ setHasNormal()

void Isis::ShapeModel::setHasNormal ( bool status )

protectedinherited

Sets the flag to indicate whether this ShapeModel has a surface normal.

Parameters

status Indicates whether there is a normal.

Definition at line 660 of file ShapeModel.cpp.

References Isis::ShapeModel::m_hasNormal.

Referenced by Isis::DemShape::calculateDefaultNormal(), clearSurfacePoint(), Isis::ShapeModel::setHasIntersection(), and Isis::ShapeModel::setSurfacePoint().

◆ setLocalNormal() [1/2]

void Isis::ShapeModel::setLocalNormal	(	const double	a,
		const double	b,
		const double	c )

protectedinherited

Sets the local normal for the currect intersection point.

Note: This method will throw an error if this ShapeModel doesn't have and intersection. Use the hasIntersection() method to verify before calling this method.

See also: hasIntersection()

Parameters

a	First coordinate value for the three dimensional local normal.
b	Second coordinate value for the three dimensional local normal.
c	Third coordinate value for the three dimensional local normal.

Definition at line 590 of file ShapeModel.cpp.

References Isis::ShapeModel::m_hasIntersection, Isis::ShapeModel::m_hasLocalNormal, Isis::ShapeModel::m_localNormal, and Isis::IException::Unknown.

◆ setLocalNormal() [2/2]

void Isis::ShapeModel::setLocalNormal ( const std::vector< double > normal )

protectedinherited

Sets the local normal for the currect intersection point.

Note: This method will throw an error if this ShapeModel doesn't have an intersection. Use the hasIntersection() method to verify before calling this method.

See also: hasIntersection()

Parameters

normal Three dimensional local normal vector.

Definition at line 539 of file ShapeModel.cpp.

References Isis::ShapeModel::m_hasIntersection, Isis::ShapeModel::m_hasLocalNormal, Isis::ShapeModel::m_localNormal, Isis::ShapeModel::normal(), and Isis::IException::Unknown.

Referenced by Isis::DemShape::calculateLocalNormal(), Isis::EllipsoidShape::calculateLocalNormal(), Isis::BulletShapeModel::setLocalNormalFromIntercept(), Isis::NaifDskShape::setLocalNormalFromIntercept(), and Isis::BulletShapeModel::updateShapeModel().

◆ setName()

void Isis::ShapeModel::setName ( QString name )

protectedinherited

Sets the shape name.

Parameters

name	The name of the ShapeModel.

Definition at line 609 of file ShapeModel.cpp.

References Isis::ShapeModel::name().

Referenced by Isis::BulletShapeModel::BulletShapeModel(), Isis::BulletShapeModel::BulletShapeModel(), Isis::BulletShapeModel::BulletShapeModel(), Isis::DemShape::DemShape(), Isis::DemShape::DemShape(), Isis::EllipsoidShape::EllipsoidShape(), Isis::EllipsoidShape::EllipsoidShape(), EmbreeShapeModel(), EmbreeShapeModel(), EmbreeShapeModel(), Isis::EquatorialCylindricalShape::EquatorialCylindricalShape(), Isis::NaifDskShape::NaifDskShape(), Isis::NaifDskShape::NaifDskShape(), Isis::PlaneShape::PlaneShape(), Isis::PlaneShape::PlaneShape(), and Isis::PlaneShape::PlaneShape().

◆ setNormal() [1/2]

void Isis::ShapeModel::setNormal	(	const double	a,
		const double	b,
		const double	c )

protectedinherited

Sets the surface normal for the currect intersection point.

Note: This method will throw an error if this ShapeModel doesn't have and intersection. Use the hasIntersection() method to verify before calling this method.

See also: hasIntersection()

Parameters

a	First coordinate value for the three dimensional surface normal.
b	Second coordinate value for the three dimensional surface normal.
c	Third coordinate value for the three dimensional surface normal.

Definition at line 564 of file ShapeModel.cpp.

References Isis::ShapeModel::m_hasIntersection, Isis::ShapeModel::m_hasNormal, Isis::ShapeModel::m_normal, and Isis::IException::Unknown.

◆ setNormal() [2/2]

void Isis::ShapeModel::setNormal ( const std::vector< double > normal )

protectedinherited

Sets the surface normal for the currect intersection point.

Note: This method will throw an error if this ShapeModel doesn't have an intersection. Use the hasIntersection() method to verify before calling this method.

See also: hasIntersection()

Parameters

normal Three dimensional surface normal vector.

Definition at line 517 of file ShapeModel.cpp.

References Isis::ShapeModel::m_hasIntersection, Isis::ShapeModel::m_hasNormal, Isis::ShapeModel::m_normal, Isis::ShapeModel::normal(), and Isis::IException::Unknown.

Referenced by Isis::DemShape::calculateDefaultNormal(), Isis::BulletShapeModel::calculateSurfaceNormal(), Isis::EllipsoidShape::calculateSurfaceNormal(), calculateSurfaceNormal(), Isis::NaifDskShape::calculateSurfaceNormal(), incidenceAngle(), Isis::PlaneShape::intersectSurface(), and updateIntersection().

◆ setSurfacePoint()

void Isis::ShapeModel::setSurfacePoint ( const SurfacePoint & surfacePoint )

virtualinherited

Set surface intersection point.

Parameters

surfacePoint Position coordinate for the surface point.

Reimplemented in Isis::BulletShapeModel.

Definition at line 643 of file ShapeModel.cpp.

References Isis::ShapeModel::m_hasIntersection, Isis::ShapeModel::m_surfacePoint, Isis::ShapeModel::setHasLocalNormal(), and Isis::ShapeModel::setHasNormal().

Referenced by Isis::ShapeModel::intersectSurface(), Isis::NaifDskShape::intersectSurface(), updateIntersection(), and Isis::BulletShapeModel::updateShapeModel().

◆ setTolerance()

void Isis::EmbreeShapeModel::setTolerance ( const double & tolerance )

Set the tolerance used when checking if the stored surface point is visible.

Parameters

tolerance The new tolerance in kilometers

See also: isVisibleFrom

Definition at line 747 of file EmbreeShapeModel.cpp.

References m_tolerance.

◆ sortHits()

QVector< RayHitInformation > Isis::EmbreeShapeModel::sortHits	(	RTCMultiHitRay &	ray,
		LinearAlgebra::Vector &	observer )

private

Sort all intersections by a ray based on distance to a point.

All intersections are first stored in RayHitInformation objects and then sorted.

Parameters

ray	The ray to sort intersections for. The ray must already be intersected with the target shape by EmbreeTargetShape::intersectRay.
observer	The point to sort the intersections based on.

Returns: QVector<RayHitInformation> Vector containing the sorted intersections. The first intersection is the one closest to the given point.

Definition at line 710 of file EmbreeShapeModel.cpp.

References Isis::EmbreeTargetShape::getHitInformation(), and Isis::LinearAlgebra::magnitude().

Referenced by intersectSurface(), and intersectSurface().

◆ surfaceIntersection()

SurfacePoint * Isis::ShapeModel::surfaceIntersection ( ) const

virtualinherited

Returns the surface intersection for this ShapeModel.

Returns: SurfacePoint Three dimensional position for the surface intersection, in body-fixed coordinate system.

Definition at line 360 of file ShapeModel.cpp.

References Isis::ShapeModel::m_surfacePoint.

Referenced by Isis::DemShape::calculateDefaultNormal(), Isis::ShapeModel::calculateEllipsoidalSurfaceNormal(), Isis::DemShape::calculateLocalNormal(), Isis::EllipsoidShape::calculateLocalNormal(), Isis::Sensor::Coordinate(), Isis::BulletShapeModel::ellipsoidNormal(), ellipsoidNormal(), Isis::NaifDskShape::ellipsoidNormal(), Isis::PlaneShape::emissionAngle(), Isis::ShapeModel::emissionAngle(), Isis::PlaneShape::incidenceAngle(), Isis::ShapeModel::incidenceAngle(), Isis::IsisShape::intersect(), Isis::DemShape::intersectSurface(), Isis::EquatorialCylindricalShape::intersectSurface(), Isis::PlaneShape::intersectSurface(), isVisibleFrom(), Isis::PlaneShape::localRadius(), Isis::ShapeModel::phaseAngle(), and Isis::Sensor::SetGroundLocal().

◆ targetRadii()

std::vector< Distance > Isis::ShapeModel::targetRadii ( ) const

protectedinherited

Returns the radii of the body in km.

The radii are obtained from the target. Note: This method will throw an error if the ShapeModel does not have a valid target. Use the hasValidTarget() method to verify before calling this method.

See also: hasValidTarget()

Returns: Three dimensional vector containing the ellipsoid radii values.

Definition at line 495 of file ShapeModel.cpp.

References Isis::ShapeModel::hasValidTarget(), Isis::IException::Programmer, and Isis::Target::radii().

Referenced by Isis::DemShape::calculateDefaultNormal(), Isis::EllipsoidShape::calculateLocalNormal(), Isis::BulletShapeModel::ellipsoidNormal(), ellipsoidNormal(), Isis::NaifDskShape::ellipsoidNormal(), Isis::ShapeModel::intersectEllipsoid(), Isis::EquatorialCylindricalShape::intersectSurface(), and Isis::EllipsoidShape::localRadius().

◆ updateIntersection()

void Isis::EmbreeShapeModel::updateIntersection ( const RayHitInformation hitInfo )

private

Update the ShapeModel given an intersection and normal.

Parameters

hitinfo The intersection and normal to internalize

Definition at line 359 of file EmbreeShapeModel.cpp.

References Isis::ShapeModel::setHasIntersection(), Isis::ShapeModel::setNormal(), and Isis::ShapeModel::setSurfacePoint().

Referenced by intersectSurface(), intersectSurface(), and intersectSurface().

Member Data Documentation

◆ m_hasEllipsoidIntersection

bool Isis::ShapeModel::m_hasEllipsoidIntersection

privateinherited

Indicates the ellipsoid was successfully intersected.

Definition at line 184 of file ShapeModel.h.

Referenced by Isis::ShapeModel::clearSurfacePoint(), Isis::ShapeModel::hasEllipsoidIntersection(), Isis::ShapeModel::Initialize(), and Isis::ShapeModel::intersectEllipsoid().

◆ m_hasIntersection

bool Isis::ShapeModel::m_hasIntersection

privateinherited

indicates good intersection exists

Definition at line 185 of file ShapeModel.h.

Referenced by Isis::ShapeModel::calculateEllipsoidalSurfaceNormal(), Isis::ShapeModel::hasIntersection(), Isis::ShapeModel::Initialize(), Isis::ShapeModel::intersectEllipsoid(), Isis::ShapeModel::resolution(), Isis::ShapeModel::setHasIntersection(), Isis::ShapeModel::setLocalNormal(), Isis::ShapeModel::setLocalNormal(), Isis::ShapeModel::setNormal(), Isis::ShapeModel::setNormal(), and Isis::ShapeModel::setSurfacePoint().

◆ m_hasLocalNormal

bool Isis::ShapeModel::m_hasLocalNormal

privateinherited

indicates local normal has been computed

Definition at line 187 of file ShapeModel.h.

Referenced by Isis::ShapeModel::hasLocalNormal(), Isis::ShapeModel::Initialize(), Isis::ShapeModel::localNormal(), Isis::ShapeModel::setHasLocalNormal(), Isis::ShapeModel::setLocalNormal(), and Isis::ShapeModel::setLocalNormal().

◆ m_hasNormal

bool Isis::ShapeModel::m_hasNormal

privateinherited

indicates normal has been computed

Definition at line 186 of file ShapeModel.h.

Referenced by Isis::ShapeModel::calculateEllipsoidalSurfaceNormal(), Isis::ShapeModel::hasNormal(), Isis::ShapeModel::Initialize(), Isis::ShapeModel::normal(), Isis::ShapeModel::setHasNormal(), Isis::ShapeModel::setNormal(), and Isis::ShapeModel::setNormal().

◆ m_localNormal

std::vector<double> Isis::ShapeModel::m_localNormal

privateinherited

Local normal of current intersection point.

Definition at line 189 of file ShapeModel.h.

Referenced by Isis::ShapeModel::Initialize(), Isis::ShapeModel::localNormal(), Isis::ShapeModel::setLocalNormal(), and Isis::ShapeModel::setLocalNormal().

◆ m_name

QString* Isis::ShapeModel::m_name

privateinherited

Definition at line 190 of file ShapeModel.h.

◆ m_normal

std::vector<double> Isis::ShapeModel::m_normal

privateinherited

Surface normal of current intersection point.

Definition at line 188 of file ShapeModel.h.

Referenced by Isis::ShapeModel::calculateEllipsoidalSurfaceNormal(), Isis::ShapeModel::emissionAngle(), Isis::ShapeModel::incidenceAngle(), Isis::ShapeModel::Initialize(), Isis::ShapeModel::normal(), Isis::ShapeModel::setNormal(), and Isis::ShapeModel::setNormal().

◆ m_shapeFile

QString Isis::EmbreeShapeModel::m_shapeFile

private

!< Tolerance for checking visibility.

Definition at line 100 of file EmbreeShapeModel.h.

Referenced by EmbreeShapeModel(), EmbreeShapeModel(), and ~EmbreeShapeModel().

◆ m_surfacePoint

SurfacePoint* Isis::ShapeModel::m_surfacePoint

privateinherited

< Name of the shape

Current intersection point

Definition at line 191 of file ShapeModel.h.

Referenced by Isis::ShapeModel::Initialize(), Isis::ShapeModel::intersectEllipsoid(), Isis::ShapeModel::setSurfacePoint(), Isis::ShapeModel::surfaceIntersection(), and Isis::ShapeModel::~ShapeModel().

◆ m_target

Target* Isis::ShapeModel::m_target

privateinherited

Definition at line 193 of file ShapeModel.h.

◆ m_targetManager

EmbreeTargetManager* Isis::EmbreeShapeModel::m_targetManager

private

!< The target body and Embree objects for intersection.

This is owned and managed by the target manager and will be deleted by that.

Definition at line 95 of file EmbreeShapeModel.h.

Referenced by EmbreeShapeModel(), EmbreeShapeModel(), and ~EmbreeShapeModel().

◆ m_targetShape

EmbreeTargetShape* Isis::EmbreeShapeModel::m_targetShape

private

Definition at line 91 of file EmbreeShapeModel.h.

◆ m_tolerance

double Isis::EmbreeShapeModel::m_tolerance

private

!< This manages EmbreeTargetShapes to allow for sharing of them between EmbreeShapeModels and deletes them when no longer needed.

Definition at line 99 of file EmbreeShapeModel.h.

Referenced by getTolerance(), and setTolerance().

The documentation for this class was generated from the following files:

src/base/objs/EmbreeShapeModel/EmbreeShapeModel.h
src/base/objs/EmbreeShapeModel/EmbreeShapeModel.cpp

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ EmbreeShapeModel() [1/3]

◆ EmbreeShapeModel() [2/3]

◆ EmbreeShapeModel() [3/3]

◆ ~EmbreeShapeModel()

Member Function Documentation

◆ calculateDefaultNormal()

◆ calculateEllipsoidalSurfaceNormal()

◆ calculateLocalNormal()

◆ calculateSurfaceNormal()

◆ clearSurfacePoint()

◆ ellipsoidNormal()

◆ emissionAngle()

◆ getTolerance()

◆ hasEllipsoidIntersection()

◆ hasIntersection()

◆ hasLocalNormal()

◆ hasNormal()

◆ hasValidTarget()

◆ incidenceAngle()

◆ Initialize()

◆ intersectEllipsoid()

◆ intersectSurface() [1/3]

◆ intersectSurface() [2/3]

◆ intersectSurface() [3/3]

◆ isDEM()

◆ isVisibleFrom()

◆ latlonToRay()

◆ localNormal()

◆ localRadius()

◆ name()

◆ normal()

◆ phaseAngle()

◆ pointToRay()

◆ resolution()

◆ setHasIntersection()

◆ setHasLocalNormal()

◆ setHasNormal()

◆ setLocalNormal() [1/2]

◆ setLocalNormal() [2/2]

◆ setName()

◆ setNormal() [1/2]

◆ setNormal() [2/2]

◆ setSurfacePoint()

◆ setTolerance()

◆ sortHits()

◆ surfaceIntersection()

◆ targetRadii()

◆ updateIntersection()

Member Data Documentation

◆ m_hasEllipsoidIntersection

◆ m_hasIntersection

◆ m_hasLocalNormal

◆ m_hasNormal

◆ m_localNormal

◆ m_name

◆ m_normal

◆ m_shapeFile

◆ m_surfacePoint

◆ m_target

◆ m_targetManager

◆ m_targetShape

◆ m_tolerance