From 0521e1cc06e564c21df7c957b61c51c92c2ba114 Mon Sep 17 00:00:00 2001
From: Jesse Mapel <jmapel@usgs.gov>
Date: Thu, 24 Jun 2021 11:19:16 -0700
Subject: [PATCH] Changed csm camera to save look on non-intersection

---
 isis/src/base/objs/CSMCamera/CSMCamera.cpp | 18 +++++++++++-------
 isis/tests/CSMCameraTests.cpp              | 12 ++++++++++++
 2 files changed, 23 insertions(+), 7 deletions(-)

diff --git a/isis/src/base/objs/CSMCamera/CSMCamera.cpp b/isis/src/base/objs/CSMCamera/CSMCamera.cpp
index 5c0d3e6a60..dbe20dce35 100644
--- a/isis/src/base/objs/CSMCamera/CSMCamera.cpp
+++ b/isis/src/base/objs/CSMCamera/CSMCamera.cpp
@@ -121,11 +121,14 @@ namespace Isis {
    * @returns @b bool If the image coordinate was set successfully
    */
   bool CSMCamera::SetImage(const double sample, const double line) {
+    // Save off the line & sample
+    p_childSample = sample;
+    p_childLine = line;
+
     csm::ImageCoord imagePt;
     isisToCsmPixel(p_alphaCube->AlphaLine(line), p_alphaCube->AlphaSample(sample), imagePt);
     double achievedPrecision = 0;
     csm::WarningList warnings;
-
     csm::EcefLocus imageLocus;
     try {
       imageLocus = m_model->imageToRemoteImagingLocus(imagePt,
@@ -156,18 +159,19 @@ namespace Isis {
     std::vector<double> locusVec = {imageLocus.direction.x,
                                     imageLocus.direction.y,
                                     imageLocus.direction.z};
-    if(!target()->shape()->intersectSurface(obsPosition, locusVec)) {
-      return false;
-    }
 
-    // If we are here then everything went well so save the pixel and return true
+    // Save off the look vector
     m_lookB[0] = locusVec[0];
     m_lookB[1] = locusVec[1];
     m_lookB[2] = locusVec[2];
     m_newLookB = true;
+
+    // Check for a ground intersection
+    if(!target()->shape()->intersectSurface(obsPosition, locusVec)) {
+      return false;
+    }
+
     p_pointComputed = true;
-    p_childSample = sample;
-    p_childLine = line;
     if (!m_et) {
       m_et = new iTime();
     }
diff --git a/isis/tests/CSMCameraTests.cpp b/isis/tests/CSMCameraTests.cpp
index 4948b43f78..1d57ef6025 100644
--- a/isis/tests/CSMCameraTests.cpp
+++ b/isis/tests/CSMCameraTests.cpp
@@ -44,6 +44,18 @@ TEST_F(CSMCameraFixture, SetImage) {
 }
 
 
+TEST_F(CSMCameraFixture, SetImageNoIntersect) {
+  csm::Ellipsoid wgs84;
+  EXPECT_CALL(mockModel, imageToRemoteImagingLocus(MatchImageCoord(csm::ImageCoord(4.5, 4.5)), ::testing::_, ::testing::_, ::testing::_))
+      .Times(1)
+      // looking straight down X-Axis
+      .WillOnce(::testing::Return(csm::EcefLocus(wgs84.getSemiMajorRadius() + 50000, 0, 0, 0, 1, 0)));
+
+  EXPECT_FALSE(testCam->SetImage(5, 5));
+  EXPECT_THAT(testCam->lookDirectionBodyFixed(), ::testing::ElementsAre(0.0, 1.0, 0.0));
+}
+
+
 TEST_F(CSMCameraDemFixture, SetImage) {
   EXPECT_CALL(mockModel, imageToRemoteImagingLocus(MatchImageCoord(csm::ImageCoord(4.5, 4.5)), ::testing::_, ::testing::_, ::testing::_))
       .Times(1)