Unverified Commit 1bb01ae6 authored by acpaquette's avatar acpaquette Committed by GitHub
Browse files

ImageToGround and groundToImage changes (#273) 



* Updates imageToGround to use values read from the isd and converts the detector line to image line

* In progress fix without tests

* Finished test updates

Co-authored-by: default avatarJesse Mapel <jam826@nau.edu>
parent 42171738

include/usgscsm/UsgsAstroLsSensorModel.h

+3 −1
Original line number Diff line number Diff line
@@ -78,7 +78,9 @@ public: 
   double       m_startingEphemerisTime;

   double       m_centerEphemerisTime;

   double       m_detectorSampleSumming;

   double       m_startingSample;

   double       m_detectorLineSumming;

   double       m_startingDetectorSample;

   double       m_startingDetectorLine;

   int          m_ikCode;

   double       m_focalLength;

   double       m_zDirection;

src/UsgsAstroLsSensorModel.cpp

+41 −25
Original line number Diff line number Diff line
@@ -73,6 +73,7 @@ const std::string UsgsAstroLsSensorModel::_STATE_KEYWORD[] = 
   "m_startingEphemerisTime",

   "m_centerEphemerisTime",

   "m_detectorSampleSumming",

   "m_detectorSampleSumming",

   "m_startingDetectorSample",

   "m_startingDetectorLine",

   "m_ikCode",
@@ -163,17 +164,21 @@ void UsgsAstroLsSensorModel::replaceModelState(const std::string &stateString ) 
   m_startingEphemerisTime = j["m_startingEphemerisTime"];

   m_centerEphemerisTime = j["m_centerEphemerisTime"];

   m_detectorSampleSumming = j["m_detectorSampleSumming"];

   m_startingSample = j["m_startingDetectorSample"];

   m_detectorLineSumming = j["m_detectorLineSumming"];

   m_startingDetectorSample = j["m_startingDetectorSample"];

   m_startingDetectorLine = j["m_startingDetectorLine"];

   m_ikCode = j["m_ikCode"];

   MESSAGE_LOG(m_logger, "m_startingEphemerisTime: {} "

                         "m_centerEphemerisTime: {} "

                         "m_detectorSampleSumming: {} "

                         "m_startingSample: {} "

                         "m_detectorLineSumming: {} "

                         "m_startingDetectorSample: {} "

                         "m_ikCode: {} ",

                         j["m_startingEphemerisTime"].dump(),

                         j["m_centerEphemerisTime"].dump(),

                         j["m_detectorSampleSumming"].dump(),

                         j["m_startingSample"].dump(), j["m_ikCode"].dump())

                         j["m_detectorLineSumming"].dump(),

                         j["m_startingDetectorSample"].dump(), j["m_ikCode"].dump())



   m_focalLength = j["m_focalLength"];

   m_zDirection = j["m_zDirection"];
@@ -334,7 +339,8 @@ std::string UsgsAstroLsSensorModel::getModelState() const { 


      json state;

      state["m_modelName"] = _SENSOR_MODEL_NAME;

      state["m_startingDetectorSample"] = m_startingSample;

      state["m_startingDetectorSample"] = m_startingDetectorSample;

      state["m_startingDetectorLine"] = m_startingDetectorLine;

      state["m_imageIdentifier"] = m_imageIdentifier;

      state["m_sensorName"] = m_sensorName;

      state["m_nLines"] = m_nLines;
@@ -359,12 +365,15 @@ std::string UsgsAstroLsSensorModel::getModelState() const { 
                                  m_centerEphemerisTime)



      state["m_detectorSampleSumming"] = m_detectorSampleSumming;

      state["m_startingSample"] = m_startingSample;

      state["m_detectorLineSumming"] = m_detectorLineSumming;

      state["m_startingDetectorSample"] = m_startingDetectorSample;

      state["m_ikCode"] = m_ikCode;

      MESSAGE_LOG(m_logger, "m_detectorSampleSumming: {} "

                                  "m_startingSample: {} "

                            "m_detectorLineSumming: {} "

                            "m_startingDetectorSample: {} "

                            "m_ikCode: {} ",

                                  m_detectorSampleSumming, m_startingSample,

                            m_detectorSampleSumming, m_detectorLineSumming,

                            m_startingDetectorSample,

                            m_ikCode)



      state["m_focalLength"] = m_focalLength;
@@ -487,7 +496,8 @@ void UsgsAstroLsSensorModel::reset() 
  m_startingEphemerisTime = 0.0;             // 13

  m_centerEphemerisTime = 0.0;               // 14

  m_detectorSampleSumming = 1.0;             // 15

  m_startingSample = 1.0;                    // 16

  m_detectorLineSumming = 1.0;

  m_startingDetectorSample = 1.0;                    // 16

  m_ikCode = -85600;                         // 17

  m_focalLength = 350.0;                           // 18

  m_zDirection = 1.0;                        // 19
@@ -667,6 +677,7 @@ csm::ImageCoord UsgsAstroLsSensorModel::groundToImage( 


   std::vector<double> detectorView;

   double detectorLine = m_nLines;

   double detectorSample = 0;

   double count = 0;

   double timei;
@@ -677,7 +688,9 @@ csm::ImageCoord UsgsAstroLsSensorModel::groundToImage( 
     // Convert to detector line

     detectorLine = m_iTransL[0]

                  + m_iTransL[1] * detectorView[0]

                  + m_iTransL[2] * detectorView[1];

                  + m_iTransL[2] * detectorView[1]

                  + m_detectorLineOrigin - m_startingDetectorLine;

     detectorLine /= m_detectorLineSumming;



     // Convert to image line

     approxPt.line += detectorLine;
@@ -695,23 +708,25 @@ csm::ImageCoord UsgsAstroLsSensorModel::groundToImage( 
   detectorLine = m_iTransL[0]

                + m_iTransL[1] * distortedFocalX

                + m_iTransL[2] * distortedFocalY;

   double detectorSample = m_iTransS[0]

   detectorSample = m_iTransS[0]

                + m_iTransS[1] * distortedFocalX

                + m_iTransS[2] * distortedFocalY;



   // Convert to image sample line

   approxPt.line += detectorLine;

   approxPt.samp = (detectorSample + m_detectorSampleOrigin - m_startingSample)

   double finalUpdate = (detectorLine + m_detectorLineOrigin - m_startingDetectorLine)

                      / m_detectorLineSumming;

   approxPt.line += finalUpdate;

   approxPt.samp = (detectorSample + m_detectorSampleOrigin - m_startingDetectorSample)

                 / m_detectorSampleSumming;



   double precision = detectorLine + m_detectorLineOrigin - m_startingDetectorLine;

   if (achievedPrecision) {

     *achievedPrecision = detectorLine;

     *achievedPrecision = finalUpdate;

   }



   MESSAGE_LOG(m_logger, "groundToImage: image line sample {} {}",

                                approxPt.line, approxPt.samp)



   if (warnings && (desiredPrecision > 0.0) && (abs(detectorLine) > desiredPrecision))

   if (warnings && (desiredPrecision > 0.0) && (abs(finalUpdate) > desiredPrecision))

   {

      warnings->push_back(

         csm::Warning(
@@ -807,7 +822,6 @@ csm::EcefCoord UsgsAstroLsSensorModel::imageToGround( 
{

   MESSAGE_LOG(m_logger, "Computing imageToGround for {}, {}, {}, with desired precision {}",

               image_pt.line, image_pt.samp, height, desired_precision);



   double xc, yc, zc;

   double vx, vy, vz;

   double xl, yl, zl;
@@ -1266,7 +1280,6 @@ std::string UsgsAstroLsSensorModel::getReferenceDateAndTime() const 
double UsgsAstroLsSensorModel::getImageTime(

   const csm::ImageCoord& image_pt) const

{

   // Remove 0.5 after ISIS dependency in the linescanrate is gone

   double lineFull = image_pt.line;



   auto referenceLineIt = std::upper_bound(m_intTimeLines.begin(),
@@ -1513,7 +1526,7 @@ csm::ImageVector UsgsAstroLsSensorModel::getImageSize() const 
//   m_startingEphemerisTime = j["m_startingEphemerisTime"];

//   m_centerEphemerisTime = j["m_centerEphemerisTime"];

//   m_detectorSampleSumming = j["m_detectorSampleSumming"];

//   m_startingSample = j["m_startingSample"];

//   m_startingDetectorSample = j["m_startingDetectorSample"];

//   m_ikCode = j["m_ikCode"];

//   m_focalLength = j["m_focalLength"];

//   m_isisZDirection = j["m_isisZDirection"];
@@ -1884,10 +1897,10 @@ void UsgsAstroLsSensorModel::losToEcf( 
   // Compute distorted image coordinates in mm (sample, line on image (pixels) -> focal plane

   double distortedFocalPlaneX, distortedFocalPlaneY;

   computeDistortedFocalPlaneCoordinates(

         m_detectorLineOrigin, sampleUSGSFull,

         0.0, sampleUSGSFull,

         m_detectorSampleOrigin, m_detectorLineOrigin,

         m_detectorSampleSumming, 1.0,

         m_startingSample, 0.0,

         m_detectorSampleSumming, m_detectorLineSumming,

         m_startingDetectorSample, m_startingDetectorLine,

         m_iTransS, m_iTransL,

         distortedFocalPlaneX, distortedFocalPlaneY);

   MESSAGE_LOG(m_logger, "losToEcf: distorted focal plane coordinate {} {}",
@@ -2705,16 +2718,19 @@ std::string UsgsAstroLsSensorModel::constructStateFromIsd(const std::string imag 
                        state["m_intTimes"].dump())



  state["m_detectorSampleSumming"] = getSampleSumming(isd, parsingWarnings);

  state["m_detectorLineSumming"] = getLineSumming(isd, parsingWarnings);

  state["m_startingDetectorSample"] = getDetectorStartingSample(isd, parsingWarnings);

  state["m_startingDetectorLine"] = getDetectorStartingLine(isd, parsingWarnings);

  state["m_detectorSampleOrigin"] = getDetectorCenterSample(isd, parsingWarnings);

  state["m_detectorLineOrigin"] = getDetectorCenterLine(isd, parsingWarnings);

  MESSAGE_LOG(m_logger, "m_detectorSampleSumming: {} "

                        "m_detectorLineSumming: {}"

                        "m_startingDetectorSample: {} "

                        "m_startingDetectorLine: {} "

                        "m_detectorSampleOrigin: {} "

                        "m_detectorLineOrigin: {} ",

                        state["m_detectorSampleSumming"].dump(),

                        state["m_detectorLineSumming"].dump(),

                        state["m_startingDetectorSample"].dump(),

                        state["m_startingDetectorLine"].dump(),

                        state["m_detectorSampleOrigin"].dump(),

tests/LineScanCameraTests.cpp

+40 −28
Original line number Diff line number Diff line
@@ -26,11 +26,11 @@ TEST_F(ConstVelocityLineScanSensorModel, State) { 
// Fly by tests



TEST_F(ConstVelocityLineScanSensorModel, Center) {

   csm::ImageCoord imagePt(8.5, 8.0);

   csm::ImageCoord imagePt(8.0, 8.0);

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

   EXPECT_NEAR(groundPt.x, 10.0, 1e-12);

   EXPECT_NEAR(groundPt.y, 0.0, 1e-12);

   EXPECT_NEAR(groundPt.z, 0.0, 1e-12);

   EXPECT_NEAR(groundPt.x, 9.99999500000, 1e-10);

   EXPECT_NEAR(groundPt.y, 0.0, 1e-10);

   EXPECT_NEAR(groundPt.z, 0.00999999500, 1e-10);

}



TEST_F(ConstVelocityLineScanSensorModel, Inversion) {
@@ -45,31 +45,43 @@ TEST_F(ConstVelocityLineScanSensorModel, Inversion) { 
}



TEST_F(ConstVelocityLineScanSensorModel, OffBody) {

   csm::ImageCoord imagePt(4.5, 4.0);

   csm::ImageCoord imagePt(0.0, 4.0);

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

   EXPECT_NEAR(groundPt.x, 0.063995905, 1e-8);

   EXPECT_NEAR(groundPt.y, -7.999488033, 1e-8);

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

   EXPECT_NEAR(groundPt.x, 0.04799688020, 1e-10);

   EXPECT_NEAR(groundPt.y, -7.99961602495, 1e-10);

   EXPECT_NEAR(groundPt.z, 16.00004799688, 1e-10);

}



TEST_F(ConstVelocityLineScanSensorModel, ProximateImageLocus) {

   csm::ImageCoord imagePt(8.5, 8.0);

   csm::EcefCoord groundPt(5, 5, 5);

   csm::ImageCoord imagePt(8.0, 8.0);

   csm::EcefCoord groundPt(10, 2, 1);

   csm::EcefLocus remoteLocus = sensorModel->imageToRemoteImagingLocus(imagePt);

   csm::EcefLocus locus = sensorModel->imageToProximateImagingLocus(imagePt, groundPt);

   EXPECT_NEAR(locus.direction.x, -1.0, 1e-12);

   EXPECT_NEAR(locus.direction.y,  0.0, 1e-12);

   EXPECT_NEAR(locus.direction.z,  0.0, 1e-12);

   EXPECT_NEAR(locus.point.x,      5.0, 1e-12);

   EXPECT_NEAR(locus.point.y,      0.0, 1e-12);

   EXPECT_NEAR(locus.point.z,      0.0, 1e-12);

   double locusToGroundX = locus.point.x - groundPt.x;

   double locusToGroundY = locus.point.y - groundPt.y;

   double locusToGroundZ = locus.point.z - groundPt.z;

   EXPECT_NEAR(locus.direction.x, remoteLocus.direction.x, 1e-10);

   EXPECT_NEAR(locus.direction.y, remoteLocus.direction.y, 1e-10);

   EXPECT_NEAR(locus.direction.z, remoteLocus.direction.z, 1e-10);

   EXPECT_NEAR(locusToGroundX * locus.direction.x +

               locusToGroundY * locus.direction.y +

               locusToGroundZ * locus.direction.z, 0.0, 1e-10);

}



TEST_F(ConstVelocityLineScanSensorModel, RemoteImageLocus) {

   csm::ImageCoord imagePt(8.5, 8.0);

   csm::EcefLocus locus = sensorModel->imageToRemoteImagingLocus(imagePt);

   EXPECT_NEAR(locus.direction.x, -1.0, 1e-12);

   EXPECT_NEAR(locus.direction.y,  0.0, 1e-12);

   EXPECT_NEAR(locus.direction.z,  0.0, 1e-12);

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

   double lookX = groundPt.x - locus.point.x;

   double lookY = groundPt.y - locus.point.y;

   double lookZ = groundPt.z - locus.point.z;

   double lookMag = sqrt(lookX * lookX + lookY * lookY + lookZ * lookZ);

   lookX /= lookMag;

   lookY /= lookMag;

   lookZ /= lookMag;

   EXPECT_NEAR(locus.direction.x, lookX, 1e-12);

   EXPECT_NEAR(locus.direction.y, lookY, 1e-12);

   EXPECT_NEAR(locus.direction.z, lookZ, 1e-12);

   EXPECT_NEAR(locus.point.x,     1000.0, 1e-12);

   EXPECT_NEAR(locus.point.y,     0.0, 1e-12);

   EXPECT_NEAR(locus.point.z,     0.0, 1e-12);
@@ -129,7 +141,6 @@ TEST_F(OrbitalLineScanSensorModel, getIlluminationDirectionStationary) { 
}



TEST_F(OrbitalLineScanSensorModel, getSunPositionLagrange){

  std::cout<<sensorModel->m_t0Ephem<<std::endl;

  csm::EcefVector sunPosition = sensorModel->getSunPosition(-.6);

  EXPECT_DOUBLE_EQ(sunPosition.x, 125);

  EXPECT_DOUBLE_EQ(sunPosition.y, 125);
@@ -169,9 +180,9 @@ TEST_F(OrbitalLineScanSensorModel, getSunPositionStationary){ 
TEST_F(OrbitalLineScanSensorModel, Center) {

  csm::ImageCoord imagePt(8.5, 8.0);

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

  EXPECT_DOUBLE_EQ(groundPt.x, 999999.70975015126);

  EXPECT_DOUBLE_EQ(groundPt.x, 999999.67040488799);

  EXPECT_DOUBLE_EQ(groundPt.y, 0.0);

  EXPECT_DOUBLE_EQ(groundPt.z, -761.90525203960692);

  EXPECT_DOUBLE_EQ(groundPt.z, -811.90523782723039);

}



TEST_F(OrbitalLineScanSensorModel, Inversion) {
@@ -234,7 +245,8 @@ TEST_F(ConstVelocityLineScanSensorModel, FocalLengthAdjustment) { 
  csm::ImageCoord imagePt(8.5, 4.0);

  sensorModel->setParameterValue(15, -45);

  csm::EcefLocus locus = sensorModel->imageToRemoteImagingLocus(imagePt);

  EXPECT_DOUBLE_EQ(locus.direction.x, -5.0 / sqrt(5 * 5 + 0.4 * 0.4));

  EXPECT_DOUBLE_EQ(locus.direction.y, -0.4 / sqrt(5 * 5 + 0.4 * 0.4));

  EXPECT_DOUBLE_EQ(locus.direction.z, 0.0);

  double scale = sqrt(5 * 5 + 0.4 * 0.4 + 0.05 * 0.05);

  EXPECT_DOUBLE_EQ(locus.direction.x, -5.0 / scale);

  EXPECT_DOUBLE_EQ(locus.direction.y, -0.4 / scale);

  EXPECT_DOUBLE_EQ(locus.direction.z, -0.05 / scale);

}

tests/data/constVelocityLineScan.json

+1 −1
Original line number Diff line number Diff line
@@ -78,7 +78,7 @@ 
      [0.0, -0.707106781186547, 0.0, 0.707106781186547]

    ]

  },

  "starting_detector_line": 0,

  "starting_detector_line": 1,

  "starting_detector_sample": 0,

  "sun_position": {

    "positions": [

tests/data/orbitalLineScan.json

+1 −1
Original line number Diff line number Diff line
@@ -99,7 +99,7 @@ 
      [0.0, -0.70660152, 0.0, 0.70761168]

    ]

  },

  "starting_detector_line": 0,

  "starting_detector_line": 1,

  "starting_detector_sample": 0,

  "sun_position": {

    "positions": [