Commit 073c65b6 authored by jay's avatar jay
Browse files

Updates for parametercov and ref point

parent 87cacc1c

include/usgscsm/UsgsAstroFrameSensorModel.h

+2 −0
Original line number Diff line number Diff line
@@ -370,6 +370,8 @@ protected: 
    int m_nSamples;

    int m_nParameters;



    csm::EcefCoord m_referencePointXyz; 



    json _state;

    static const int         _NUM_STATE_KEYWORDS;

    static const int         NUM_PARAMETERS;

src/UsgsAstroFrameSensorModel.cpp

+15 −13
Original line number Diff line number Diff line
@@ -66,6 +66,9 @@ void UsgsAstroFrameSensorModel::reset() { 
    m_iTransL = std::vector<double>(3, 0.0);

    m_boresight = std::vector<double>(3, 0.0);

    m_parameterType = std::vector<csm::param::Type>(NUM_PARAMETERS, csm::param::REAL);

    m_referencePointXyz.x = 0;

    m_referencePointXyz.y = 0;

    m_referencePointXyz.z = 0;

}
@@ -655,7 +658,10 @@ std::string UsgsAstroFrameSensorModel::getModelState() const { 
      {"m_currentParameterCovariance", m_currentParameterCovariance},

      {"m_imageIdentifier", m_imageIdentifier}

    };



    state["m_referencePointXyz"] = json();

    state["m_referencePointXyz"]["x"] = m_referencePointXyz.x;

    state["m_referencePointXyz"]["y"] = m_referencePointXyz.y;

    state["m_referencePointXyz"]["z"] = m_referencePointXyz.z;

    return state.dump();

}
@@ -950,6 +956,8 @@ std::string UsgsAstroFrameSensorModel::constructStateFromIsd(const std::string& 


      std::cerr << "Focal To Pixel Transformation Parsed!" << std::endl;



      state["m_referencePointXyz"] = std::vector<double>(3, 0.0);



    }

    catch(std::out_of_range& e) {

      throw csm::Error(csm::Error::SENSOR_MODEL_NOT_CONSTRUCTIBLE,
@@ -968,16 +976,12 @@ std::string UsgsAstroFrameSensorModel::constructStateFromIsd(const std::string& 




csm::EcefCoord UsgsAstroFrameSensorModel::getReferencePoint() const {

  throw csm::Error(csm::Error::UNSUPPORTED_FUNCTION,

                   "Unsupported function",

                   "UsgsAstroFrameSensorModel::getReferencePoint");

  return m_referencePointXyz;

}





void UsgsAstroFrameSensorModel::setReferencePoint(const csm::EcefCoord &groundPt) {

  throw csm::Error(csm::Error::UNSUPPORTED_FUNCTION,

                   "Unsupported function",

                   "UsgsAstroFrameSensorModel::setReferencePoint");

  m_referencePointXyz = groundPt;

}
@@ -1046,16 +1050,14 @@ void UsgsAstroFrameSensorModel::setParameterType(int index, csm::param::Type pTy 




double UsgsAstroFrameSensorModel::getParameterCovariance(int index1, int index2) const {

  throw csm::Error(csm::Error::UNSUPPORTED_FUNCTION,

                   "Unsupported function",

                   "UsgsAstroFrameSensorModel::getParameterCovariance");

   int index = UsgsAstroFrameSensorModel::NUM_PARAMETERS * index1 + index2;

   return m_currentParameterCovariance[index];

}





void UsgsAstroFrameSensorModel::setParameterCovariance(int index1, int index2, double covariance) {

  throw csm::Error(csm::Error::UNSUPPORTED_FUNCTION,

                   "Unsupported function",

                   "UsgsAstroFrameSensorModel::setParameterCovariance");

   int index = UsgsAstroFrameSensorModel::NUM_PARAMETERS * index1 + index2;

   m_currentParameterCovariance[index] = covariance;

}

src/UsgsAstroPlugin.cpp

+1 −1
Original line number Diff line number Diff line
@@ -154,7 +154,7 @@ std::string UsgsAstroPlugin::loadImageSupportData(const csm::Isd &imageSupportDa 
  std::string imageFilename = imageSupportDataOriginal.filename();

  size_t lastIndex = imageFilename.find_last_of(".");

  std::string baseName = imageFilename.substr(0, lastIndex);

  lastIndex = baseName.find_last_of("/");

  lastIndex = baseName.find_last_of(DIR_DELIMITER_STR);

  std::string filename = baseName.substr(lastIndex + 1);

  std::string isdFilename = baseName.append(".json");

tests/FrameCameraTests.cpp

+7 −0
Original line number Diff line number Diff line
@@ -78,6 +78,13 @@ TEST_F(FrameSensorModel, OffBody3) { 
   EXPECT_NEAR(groundPt.z, 14.99325304, 1e-8);

}



TEST_F(FrameSensorModel, getReferencePoint) {

  csm::EcefCoord groundPt = sensorModel->getReferencePoint();

  EXPECT_EQ(groundPt.x, 0.0);

  EXPECT_EQ(groundPt.y, 0.0);   

  EXPECT_EQ(groundPt.z, 0.0);

}



TEST_F(FrameSensorModel, OffBody4) {

   csm::ImageCoord imagePt(15.0, 15.0);

   csm::EcefCoord groundPt = sensorModel->imageToGround(imagePt, 0.0);