Commit e3016f1c authored by Stuart Sides's avatar Stuart Sides Committed by Adam Paquette
Browse files

Hayabusa2 fy19 (#693) 

* Preliminary camera model changes and faked distortion for Hayabusa 2

* Delete trackingAndVirtualLabels.pvl

* Modified model to use alpha cube, new distortion map, and not use a distortion when using L2c or L2d images

* Updated unittest after putting boresight into iak
parent 2c337216

isis/src/hayabusa2/objs/Hyb2OncCamera/Hyb2OncCamera.cpp

+1 −1
Original line number Diff line number Diff line
@@ -103,7 +103,7 @@ namespace Isis { 


    // Setup distortion map (use default for now)

    // Level L2a and L2b images have not been corrected for optical distortion (false)

    // Level L2d and up images have been corrected for optical distortion (true)

    // Level L2c and L2d images have been corrected for optical distortion (true)

    // Create an appropriate DistortionMap based on the processing level IDed in the ingestion app

    if ((!inst.hasKeyword("DistortionCorrection")) ||

        (inst.hasKeyword("DistortionCorrection")  &&  toBool(inst["DistortionCorrection"]) == false)) {

isis/src/hayabusa2/objs/Hyb2OncCamera/Hyb2OncCamera.truth

+45 −45
Original line number Diff line number Diff line
@@ -2,7 +2,7 @@ Unit Test for Hyb2OncCamera... 


----------------------------------------------

Test for Telecopic Camera...

FileName:  "hyb2_onc_20151204_041012_tbf_l2a.fit.cub"

FileName:  "hyb2_onc_20151204_041012_tbf_l2a.cub"

CK Frame:  -37100



Kernel IDs:
@@ -19,32 +19,32 @@ Instrument Name Short: "ONC-T" 
Shutter open  =  "502474280.7291458"

Shutter close =  "502474280.7291541"



For upper left corner ...

DeltaSample =  -522.936

DeltaLine   =  -489.534

For upper left of target ...

Delta Sample less than 0.001

Delta Line less than 0.001



For upper right corner ...

DeltaSample =  500.132

DeltaLine   =  -489.531

For upper right of target ...

Delta Sample less than 0.001

Delta Line less than 0.001



For lower left corner ...

DeltaSample =  -522.943

DeltaLine   =  533.544

For lower left of target ...

Delta Sample less than 0.001

Delta Line less than 0.001



For lower right corner ...

DeltaSample =  500.138

DeltaLine   =  533.54

For lower right of target ...

Delta Sample less than 0.001

Delta Line less than 0.001



For center pixel position ...

Latitude OK

Longitude OK

DeltaSample =  -11.9

DeltaLine   =  21.5

Delta Sample less than 0.001

Delta Line less than 0.001





----------------------------------------------

Test for W1 Camera...

FileName:  "hyb2_onc_20151204_045429_w1f_l2a.fit_crop.cub"

FileName:  "hyb2_onc_20151204_045429_w1f_l2a_crop.cub"

CK Frame:  -37110



Kernel IDs:
@@ -61,32 +61,32 @@ Instrument Name Short: "ONC-W1" 
Shutter open  =  "502476937.6921466"

Shutter close =  "502476937.6921548"



For upper left corner ...

DeltaSample = No Intersection

DeltaLine   = No Intersection

For upper left of target ...

Delta Sample less than 0.001

Delta Line less than 0.001



For upper right corner ...

DeltaSample = No Intersection

DeltaLine   = No Intersection

For upper right of target ...

Delta Sample less than 0.001

Delta Line less than 0.001



For lower left corner ...

DeltaSample = No Intersection

DeltaLine   = No Intersection

For lower left of target ...

Delta Sample less than 0.001

Delta Line less than 0.001



For lower right corner ...

DeltaSample = No Intersection

DeltaLine   = No Intersection

For lower right of target ...

Delta Sample less than 0.001

Delta Line less than 0.001



For center pixel position ...

Latitude OK

Longitude OK

DeltaSample =  0.804601

DeltaLine   =  0.683101

Delta Sample less than 0.001

Delta Line less than 0.001





----------------------------------------------

Test for W2 Camera...

FileName:  "hyb2_onc_20151203_072958_w2f_l2a.fit_crop.cub"

FileName:  "hyb2_onc_20151203_072958_w2f_l2a_crop.cub"

CK Frame:  -37120



Kernel IDs:
@@ -103,25 +103,25 @@ Instrument Name Short: "ONC-W2" 
Shutter open  =  "502399866.4151246"

Shutter close =  "502399866.4151273"



For upper left corner ...

DeltaSample = No Intersection

DeltaLine   = No Intersection

For upper left of target ...

Delta Sample less than 0.001

Delta Line less than 0.001



For upper right corner ...

DeltaSample = No Intersection

DeltaLine   = No Intersection

For upper right of target ...

Delta Sample less than 0.001

Delta Line less than 0.001



For lower left corner ...

DeltaSample = No Intersection

DeltaLine   = No Intersection

For lower left of target ...

Delta Sample less than 0.001

Delta Line less than 0.001



For lower right corner ...

DeltaSample = No Intersection

DeltaLine   = No Intersection

For lower right of target ...

Delta Sample less than 0.001

Delta Line less than 0.001



For center pixel position ...

Latitude OK

Longitude OK

DeltaSample =  1.87917

DeltaLine   =  -3.92022

Delta Sample less than 0.001

Delta Line less than 0.001

isis/src/hayabusa2/objs/Hyb2OncCamera/Hyb2OncDistortionMap.cpp

+6 −6
Original line number Diff line number Diff line
@@ -118,11 +118,11 @@ namespace Isis { 
    p_undistortedFocalPlaneY = uy;



// TEMP GET IT COMPILING REMOVE BEFORE REAL WORK

    if (1 == 1) {

      p_focalPlaneX = ux;

      p_focalPlaneY = uy;

      return true;

    }

//    if (1 == 1) {

//      p_focalPlaneX = ux;

//      p_focalPlaneY = uy;

//      return true;

//    }



    double xt = ux;

    double yt = uy;
@@ -150,7 +150,7 @@ namespace Isis { 


      // Radial distortion

      // dr is the radial distortion contribution

      dr = p_odk[0] + p_odk[1] * rr + p_odk[2] * rrrr;

      dr = (p_odk[0]-1.0) + p_odk[1] * rr + p_odk[2] * rrrr;



      // Distortion at the current point location

      xdistortion = xt * dr;

isis/src/hayabusa2/objs/Hyb2OncCamera/Hyb2OncDistortionMap.h

+1 −0
Original line number Diff line number Diff line
@@ -29,6 +29,7 @@ namespace Isis { 
   *   @history 2018-12-11 Stuart Sides - Loop in

   *            SetUndistortedFocalPlane was not being exicuted.

   *            Modified to use both itteration and convergence.

   *            NOTE: A new iak was installed at the same time.

   *

   */

  class Hyb2OncDistortionMap : public CameraDistortionMap {

isis/src/hayabusa2/objs/Hyb2OncCamera/unitTest.cpp

+18 −24
Original line number Diff line number Diff line
@@ -61,33 +61,26 @@ int main(void) { 
    qDebug() << "";

    qDebug() << "----------------------------------------------";

    qDebug() << "Test for Telecopic Camera...";

    double knownLat = -47.23506367622795;

    double knownLon = 45.06713880290044;

    Cube c("$hayabusa2/testData/hyb2_onc_20151204_041012_tbf_l2a.fit.cub", "r");

    testCamera(c, knownLat, knownLon, 

               512.5, 512.5, 602.0, 334.0, 378.0, 557.0, 594.0, 580.0);

//    362.0, 352.0, 602.0, 334.0, 378.0, 557.0, 594.0, 580.0);

    double knownLat = -39.18374913423203;

    double knownLon = 48.06875707620756;

    Cube c("$hayabusa2/testData/hyb2_onc_20151204_041012_tbf_l2a.cub", "r");

    testCamera(c, knownLat, knownLon, 357.0, 359.0, 602.0, 334.0, 378.0, 557.0, 594.0, 580.0);



    qDebug() << "";

    qDebug() << "----------------------------------------------";

    qDebug() << "Test for W1 Camera...";

    knownLat = -50.66777190122887;

    knownLon = 97.68522302461859;

    Cube w1("$hayabusa2/testData/hyb2_onc_20151204_045429_w1f_l2a.fit_crop.cub", "r");

    testCamera(w1, knownLat, knownLon,

               21.0, 20.0, 31.0, 11.0, 16.0, 29.0, 32.0, 28.0);

//    16.0, 14.0, 31.0, 11.0, 16.0, 29.0, 32.0, 28.0);

    knownLat = -54.25951996619505;

    knownLon = 67.72017401996563;

    Cube w1("$hayabusa2/testData/hyb2_onc_20151204_045429_w1f_l2a_crop.cub", "r");

    testCamera(w1, knownLat, knownLon, 21.0, 20.0, 31.0, 11.0, 16.0, 29.0, 32.0, 28.0);



    qDebug() << "";

    qDebug() << "----------------------------------------------";

    qDebug() << "Test for W2 Camera...";

//    knownLat = 4.676892803564044;

//    knownLon = -12.46121470106279;

    knownLat = 30.06610722049293;

    knownLon = 78.40416492096558;

    Cube w2("$hayabusa2/testData/hyb2_onc_20151203_072958_w2f_l2a.fit_crop.cub", "r");

    testCamera(w2, knownLat, knownLon,

               51.0, 42.0, 173.0, 21.0, 54.0, 149.0, 174.0, 155.0);

    knownLat = 29.68691258558313;

    knownLon = 78.57599766268363;

    Cube w2("$hayabusa2/testData/hyb2_onc_20151203_072958_w2f_l2a_crop.cub", "r");

    testCamera(w2, knownLat, knownLon, 51.0, 42.0, 173.0, 21.0, 54.0, 149.0, 174.0, 155.0);



  }

  catch (IException &e) {
@@ -97,7 +90,8 @@ int main(void) { 
}





void testCamera(Cube &c, double knownLat, double knownLon,

void testCamera(Cube &c,

                double knownLat, double knownLon,

                double s1, double l1, 

                double s2, double l2, 

                double s3, double l3,
@@ -134,16 +128,16 @@ void testCamera(Cube &c, double knownLat, double knownLon, 
  qDebug() << "";



  // Test all four corners to make sure the conversions are right

  qDebug() << "For upper left corner ...";

  qDebug() << "For upper left of target ...";

  testLineSamp(cam, s1, l1);



  qDebug() << "For upper right corner ...";

  qDebug() << "For upper right of target ...";

  testLineSamp(cam, s2, l2);



  qDebug() << "For lower left corner ...";

  qDebug() << "For lower left of target ...";

  testLineSamp(cam, s3, l3);



  qDebug() << "For lower right corner ...";

  qDebug() << "For lower right of target ...";

  testLineSamp(cam, s4, l4);



  qDebug() << "For center pixel position ...";