Unverified Commit 1b88ea05 authored by Jesse Mapel's avatar Jesse Mapel Committed by GitHub
Browse files

Fixed optical distortion and pixel to focal transforms. (#115)

parent 2ed4436f

src/UsgsAstroFramePlugin.cpp

+29 −23
Original line number Diff line number Diff line
@@ -400,27 +400,18 @@ csm::Model *UsgsAstroFramePlugin::constructModelFromISD(const csm::Isd &imageSup 
    missingKeywords.push_back("sensor_orientation");

  }



  sensorModel->m_odtX[0] = atof(imageSupportData.param("optical_distortion_x", 0).c_str());

  sensorModel->m_odtX[1] = atof(imageSupportData.param("optical_distortion_x", 1).c_str());

  sensorModel->m_odtX[2] = atof(imageSupportData.param("optical_distortion_x", 2).c_str());

  sensorModel->m_odtX[3] = atof(imageSupportData.param("optical_distortion_x", 3).c_str());

  sensorModel->m_odtX[4] = atof(imageSupportData.param("optical_distortion_x", 4).c_str());

  sensorModel->m_odtX[5] = atof(imageSupportData.param("optical_distortion_x", 5).c_str());

  sensorModel->m_odtX[6] = atof(imageSupportData.param("optical_distortion_x", 6).c_str());

  sensorModel->m_odtX[7] = atof(imageSupportData.param("optical_distortion_x", 7).c_str());

  sensorModel->m_odtX[8] = atof(imageSupportData.param("optical_distortion_x", 8).c_str());

  sensorModel->m_odtX[9] = atof(imageSupportData.param("optical_distortion_x", 9).c_str());



  sensorModel->m_odtY[0] = atof(imageSupportData.param("optical_distortion_y", 0).c_str());

  sensorModel->m_odtY[1] = atof(imageSupportData.param("optical_distortion_y", 1).c_str());

  sensorModel->m_odtY[2] = atof(imageSupportData.param("optical_distortion_y", 2).c_str());

  sensorModel->m_odtY[3] = atof(imageSupportData.param("optical_distortion_y", 3).c_str());

  sensorModel->m_odtY[4] = atof(imageSupportData.param("optical_distortion_y", 4).c_str());

  sensorModel->m_odtY[5] = atof(imageSupportData.param("optical_distortion_y", 5).c_str());

  sensorModel->m_odtY[6] = atof(imageSupportData.param("optical_distortion_y", 6).c_str());

  sensorModel->m_odtY[7] = atof(imageSupportData.param("optical_distortion_y", 7).c_str());

  sensorModel->m_odtY[8] = atof(imageSupportData.param("optical_distortion_y", 8).c_str());

  sensorModel->m_odtY[9] = atof(imageSupportData.param("optical_distortion_y", 9).c_str());

  if (imageSupportData.param("optical_distortion") == "") {

    missingKeywords.push_back("optical_distortion");

  }

  else {

    json jayson = json::parse(imageSupportData.param("optical_distortion"));

    std::vector<double> xDistortion = jayson["x"];

    std::vector<double> yDistortion = jayson["y"];

    xDistortion.resize(10, 0.0);

    yDistortion.resize(10, 0.0);

    sensorModel->m_odtX = xDistortion;

    sensorModel->m_odtY = yDistortion;

  }



  sensorModel->m_ephemerisTime = atof(imageSupportData.param("center_ephemeris_time").c_str());

  if (imageSupportData.param("center_ephemeris_time") == "") {
@@ -444,8 +435,8 @@ csm::Model *UsgsAstroFramePlugin::constructModelFromISD(const csm::Isd &imageSup 
    json sample = jayson.value("sample", json(""));

    json line = jayson.value("line", json(""));



    sensorModel->m_ccdCenter[0] = atof(sample.dump().c_str());

    sensorModel->m_ccdCenter[1] = atof(line.dump().c_str());

    sensorModel->m_ccdCenter[0] = atof(line.dump().c_str());

    sensorModel->m_ccdCenter[1] = atof(sample.dump().c_str());



    if (sample == json("")) {

      missingKeywords.push_back("detector_center x");
@@ -483,6 +474,21 @@ csm::Model *UsgsAstroFramePlugin::constructModelFromISD(const csm::Isd &imageSup 
    missingKeywords.push_back("focal2pixel_samples 2");

  }



  // We don't pass the pixel to focal plane transformation so invert the

  // focal plane to pixel transformation

  double determinant = sensorModel->m_iTransL[1] * sensorModel->m_iTransS[2] -

                       sensorModel->m_iTransL[2] * sensorModel->m_iTransS[1];



  sensorModel->m_transX[1] = sensorModel->m_iTransL[1] / determinant;

  sensorModel->m_transX[2] = - sensorModel->m_iTransS[1] / determinant;

  sensorModel->m_transX[0] = - (sensorModel->m_transX[1] * sensorModel->m_iTransL[0] +

                             sensorModel->m_transX[2] * sensorModel->m_iTransS[0]);



  sensorModel->m_transY[1] = - sensorModel->m_iTransL[2] / determinant;

  sensorModel->m_transY[2] = sensorModel->m_iTransS[2] / determinant;

  sensorModel->m_transY[0] = - (sensorModel->m_transY[1] * sensorModel->m_iTransL[0] +

                             sensorModel->m_transY[2] * sensorModel->m_iTransS[0]);



  if (imageSupportData.param("radii") == "") {

    missingKeywords.push_back("radii");

  }

src/UsgsAstroFrameSensorModel.cpp

+11 −11
Original line number Diff line number Diff line
@@ -198,8 +198,8 @@ csm::ImageCoord UsgsAstroFrameSensorModel::groundToImage( 


  //Convert distorted mm into line/sample

  double sample, line;

  sample = m_iTransS[0] + m_iTransS[1] * distortedx + m_iTransS[2] * distortedx + m_ccdCenter[0] - 0.5;

  line =   m_iTransL[0] + m_iTransL[1] * distortedy + m_iTransL[2] * distortedy + m_ccdCenter[0] - 0.5;

  sample = m_iTransS[0] + m_iTransS[1] * distortedx + m_iTransS[2] * distortedy + m_ccdCenter[1];

  line =   m_iTransL[0] + m_iTransL[1] * distortedx + m_iTransL[2] * distortedy + m_ccdCenter[0];



  return csm::ImageCoord(line, sample);

}
@@ -235,11 +235,11 @@ csm::EcefCoord UsgsAstroFrameSensorModel::imageToGround(const csm::ImageCoord &i 
  so = sample - m_sample_pp;



  //Convert from the pixel space into the metric space

  double optical_center_x, optical_center_y, x_camera, y_camera;

  optical_center_x = m_ccdCenter[0] - 0.5;

  optical_center_y = m_ccdCenter[1] - 0.5;

  y_camera = m_transY[0] + m_transY[1] * (lo - optical_center_y) + m_transY[2] * (lo - optical_center_y);

  x_camera = m_transX[0] + m_transX[1] * (so - optical_center_x) + m_transX[2] * (so - optical_center_x);

  double line_center, sample_center, x_camera, y_camera;

  line_center = m_ccdCenter[0];

  sample_center = m_ccdCenter[1];

  y_camera = m_transY[0] + m_transY[1] * (lo - line_center) + m_transY[2] * (so - sample_center);

  x_camera = m_transX[0] + m_transX[1] * (lo - line_center) + m_transX[2] * (so - sample_center);



  // Apply the distortion model (remove distortion)

  double undistorted_cameraX, undistorted_cameraY = 0.0;
@@ -293,10 +293,10 @@ csm::EcefLocus UsgsAstroFrameSensorModel::imageToRemoteImagingLocus(const csm::I 
                                                             csm::WarningList *warnings) const {

  // Find the line,sample on the focal plane (mm)

  // CSM center = 0.5, MDIS IK center = 1.0

  double col = imagePt.samp - (m_ccdCenter[0] - 0.5);

  double row = imagePt.line - (m_ccdCenter[1] - 0.5);

  double focalPlaneX = m_transX[0] + m_transX[1] * col + m_transX[2] * col;

  double focalPlaneY = m_transY[0] + m_transY[1] * row + m_transY[2] * row;

  double row = imagePt.line - m_ccdCenter[0];

  double col = imagePt.samp - m_ccdCenter[1];

  double focalPlaneX = m_transX[0] + m_transX[1] * row + m_transX[2] * col;

  double focalPlaneY = m_transY[0] + m_transY[1] * row + m_transY[2] * col;



  // Distort

  double undistortedFocalPlaneX = focalPlaneX;

tests/FrameCameraTests.cpp

+6 −6
Original line number Diff line number Diff line
@@ -13,7 +13,7 @@ 


//centered and slightly off-center:

TEST_F(FrameSensorModel, Center) {

   csm::ImageCoord imagePt(7.0, 7.0);

   csm::ImageCoord imagePt(7.5, 7.5);

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

   EXPECT_NEAR(groundPt.x, 10.0, 1e-8);

   EXPECT_NEAR(groundPt.y, 0, 1e-8);
@@ -21,7 +21,7 @@ TEST_F(FrameSensorModel, Center) { 
}



TEST_F(FrameSensorModel, SlightlyOffCenter) {

   csm::ImageCoord imagePt(7.0, 6.0);

   csm::ImageCoord imagePt(7.5, 6.5);

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

   EXPECT_NEAR(groundPt.x, 9.80194018, 1e-8);

   EXPECT_NEAR(groundPt.y, 0, 1e-8);
@@ -30,28 +30,28 @@ TEST_F(FrameSensorModel, SlightlyOffCenter) { 


//Test all four corners:

TEST_F(FrameSensorModel, OffBody1) {

   csm::ImageCoord imagePt(14.5, -0.5);

   csm::ImageCoord imagePt(15.0, 0.0);

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

   EXPECT_NEAR(groundPt.x, 0.44979759, 1e-8);

   EXPECT_NEAR(groundPt.y, -14.99325304, 1e-8);

   EXPECT_NEAR(groundPt.z, 14.99325304, 1e-8);

}

TEST_F(FrameSensorModel, OffBody2) {

   csm::ImageCoord imagePt(-0.5, 14.5);

   csm::ImageCoord imagePt(0.0, 15.0);

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

   EXPECT_NEAR(groundPt.x, 0.44979759, 1e-8);

   EXPECT_NEAR(groundPt.y, 14.99325304, 1e-8);

   EXPECT_NEAR(groundPt.z, -14.99325304, 1e-8);

}

TEST_F(FrameSensorModel, OffBody3) {

   csm::ImageCoord imagePt(-0.5, -0.5);

   csm::ImageCoord imagePt(0.0, 0.0);

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

   EXPECT_NEAR(groundPt.x, 0.44979759, 1e-8);

   EXPECT_NEAR(groundPt.y, 14.99325304, 1e-8);

   EXPECT_NEAR(groundPt.z, 14.99325304, 1e-8);

}

TEST_F(FrameSensorModel, OffBody4) {

   csm::ImageCoord imagePt(14.5, 14.5);

   csm::ImageCoord imagePt(15.0, 15.0);

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

   EXPECT_NEAR(groundPt.x, 0.44979759, 1e-8);

   EXPECT_NEAR(groundPt.y, -14.99325304, 1e-8);

tests/data/simpleFramerISD.json

+4 −4
Original line number Diff line number Diff line 
{

	"center_ephemeris_time": 50,

	"dt_ephemeris": 100,

  "focal2pixel_lines": [-7.5, 0.0, 0.1],

  "focal2pixel_samples": [-7.5, 0.1, 0.0],

  "focal2pixel_lines": [0.0, 0.0, 10.0],

  "focal2pixel_samples": [0.0, 10.0, 0.0],

	"focal_length_model": {

		"focal_length": 50,

		"epsilon": 1.0
@@ -16,8 +16,8 @@ 
	"interpolation_method": "lagrange",

	"number_of_ephemerides": 1,

	"optical_distortion": {

		"x": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],

		"y": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

		"x": [0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],

		"y": [0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

	},

	"radii": {

		"semimajor": 0.01,