Commit 2b67411d authored by Jesse Mapel's avatar Jesse Mapel
Browse files

Recompute pixel size each time partials are computed

parent d55406c4

include/usgscsm/UsgsAstroFrameSensorModel.h

+0 −1
Original line number Diff line number Diff line
@@ -363,7 +363,6 @@ class UsgsAstroFrameSensorModel : public csm::RasterGM { 
    int m_nParameters;



    csm::EcefCoord m_referencePointXyz;

    double m_pixelGroundSize;



    std::string m_logFile;

    std::shared_ptr<spdlog::logger> m_logger;

src/UsgsAstroFrameSensorModel.cpp

+15 −17
Original line number Diff line number Diff line
@@ -77,7 +77,6 @@ void UsgsAstroFrameSensorModel::reset() { 
    m_referencePointXyz.x = 0;

    m_referencePointXyz.y = 0;

    m_referencePointXyz.z = 0;

    m_pixelGroundSize = 1.0;

    m_logFile = "";

    m_logger.reset();

}
@@ -563,17 +562,23 @@ std::vector<double> UsgsAstroFrameSensorModel::computeGroundPartials(const csm:: 
  double z = groundPt.z;



  csm::ImageCoord ipB = groundToImage(groundPt);

  csm::ImageCoord ipX = groundToImage(csm::EcefCoord(x + m_pixelGroundSize, y, z));

  csm::ImageCoord ipY = groundToImage(csm::EcefCoord(x, y + m_pixelGroundSize, z));

  csm::ImageCoord ipZ = groundToImage(csm::EcefCoord(x, y, z + m_pixelGroundSize));

  csm::EcefCoord nextPoint = imageToGround(csm::ImageCoord(ipB.line + 1, ipB.samp + 1));

  double dx = nextPoint.x - x;

  double dy = nextPoint.y - y;

  double dz = nextPoint.z - z;

  double pixelGroundSize = sqrt((dx*dx + dy*dy + dz*dz) / 2.0);



  csm::ImageCoord ipX = groundToImage(csm::EcefCoord(x + pixelGroundSize, y, z));

  csm::ImageCoord ipY = groundToImage(csm::EcefCoord(x, y + pixelGroundSize, z));

  csm::ImageCoord ipZ = groundToImage(csm::EcefCoord(x, y, z + pixelGroundSize));



  std::vector<double> partials(6, 0.0);

  partials[0] = (ipX.line - ipB.line) / m_pixelGroundSize;

  partials[3] = (ipX.samp - ipB.samp) / m_pixelGroundSize;

  partials[1] = (ipY.line - ipB.line) / m_pixelGroundSize;

  partials[4] = (ipY.samp - ipB.samp) / m_pixelGroundSize;

  partials[2] = (ipZ.line - ipB.line) / m_pixelGroundSize;

  partials[5] = (ipZ.samp - ipB.samp) / m_pixelGroundSize;

  partials[0] = (ipX.line - ipB.line) / pixelGroundSize;

  partials[3] = (ipX.samp - ipB.samp) / pixelGroundSize;

  partials[1] = (ipY.line - ipB.line) / pixelGroundSize;

  partials[4] = (ipY.samp - ipB.samp) / pixelGroundSize;

  partials[2] = (ipZ.line - ipB.line) / pixelGroundSize;

  partials[5] = (ipZ.samp - ipB.samp) / pixelGroundSize;



  MESSAGE_LOG(this->m_logger, "Computing ground partials results:\nLine: {}, {}, {}\nSample: {}, {}, {}",

                               partials[0], partials[1], partials[2], partials[3], partials[4], partials[5]);
@@ -716,7 +721,6 @@ std::string UsgsAstroFrameSensorModel::getModelState() const { 
      {"m_referencePointXyz", {m_referencePointXyz.x,

                               m_referencePointXyz.y,

                               m_referencePointXyz.z}},

      {"m_pixelGroundSize", m_pixelGroundSize},

      {"m_currentParameterCovariance", m_currentParameterCovariance},

      {"m_logFile", m_logFile}

    };
@@ -831,12 +835,6 @@ void UsgsAstroFrameSensorModel::replaceModelState(const std::string& stringState 
        m_collectionIdentifier = state.at("m_collectionIdentifier").get<std::string>();

        // Set reference point to the center of the image

        m_referencePointXyz = imageToGround(csm::ImageCoord(m_nLines/2.0, m_nSamples/2.0));

        // Compute the pixel ground size at the reference point

        csm::EcefCoord nextRefPoint = imageToGround(csm::ImageCoord(m_nLines/2.0 + 1, m_nSamples/2.0 + 1));

        double dx = nextRefPoint.x - m_referencePointXyz.x;

        double dy = nextRefPoint.y - m_referencePointXyz.y;

        double dz = nextRefPoint.z - m_referencePointXyz.z;

        m_pixelGroundSize = sqrt((dx*dx + dy*dy + dz*dz) / 2.0);

        m_currentParameterCovariance = state.at("m_currentParameterCovariance").get<std::vector<double>>();

        m_logFile = state.at("m_logFile").get<std::string>();

        if (m_logFile.empty()) {