Commit 51bc20aa authored by Jesse Mapel's avatar Jesse Mapel Committed by Jesse Mapel
Browse files

Added precision setting in locus methods

parent b8e7a387

src/UsgsAstroFrameSensorModel.cpp

+26 −2
Original line number Diff line number Diff line
@@ -276,12 +276,32 @@ csm::EcefLocus UsgsAstroFrameSensorModel::imageToProximateImagingLocus( 
    const csm::ImageCoord &imagePt, const csm::EcefCoord &groundPt,

    double desiredPrecision, double *achievedPrecision,

    csm::WarningList *warnings) const {

  // Ignore the ground point?

  MESSAGE_LOG(

      "Computing imageToProximateImagingLocus(No ground) for point {}, {}, {}, "

      "with desired precision {}",

      imagePt.line, imagePt.samp, desiredPrecision);

  return imageToRemoteImagingLocus(imagePt);



  // The locus is a straight line so we can just use the remote locus to

  // get the direction

  csm::EcefLocus remoteLocus = imageToRemoteImagingLocus(

      imagePt, desiredPrecision, achievedPrecision, warnings);



  // Find the point on the locus closest to the input ground point

  // The direction vector is already normalized so we can skip a division

  csm::EcefVector positionToGround(

      groundPt.x - remoteLocus.point.x,

      groundPt.y - remoteLocus.point.y,

      groundPt.z - remoteLocus.point.z);

  csm::EcefVector positionToClosest =

      dot(remoteLocus.direction, positionToGround) * remoteLocus.direction;



  return csm::EcefLocus(

      remoteLocus.point.x + positionToClosest.x,

      remoteLocus.point.y + positionToClosest.y,

      remoteLocus.point.z + positionToClosest.z,

      remoteLocus.direction.x,

      remoteLocus.direction.y,

      remoteLocus.direction.z);

}



csm::EcefLocus UsgsAstroFrameSensorModel::imageToRemoteImagingLocus(
@@ -320,6 +340,10 @@ csm::EcefLocus UsgsAstroFrameSensorModel::imageToRemoteImagingLocus( 
      sqrt(lookB[0] * lookB[0] + lookB[1] * lookB[1] + lookB[2] * lookB[2]);

  std::vector<double> lookBUnit{lookB[0] / mag, lookB[1] / mag, lookB[2] / mag};



  if (achievedPrecision) {

    *achievedPrecision = 0.0;

  }



  return csm::EcefLocus(m_currentParameterValue[0], m_currentParameterValue[1],

                        m_currentParameterValue[2], lookBUnit[0], lookBUnit[1],

                        lookBUnit[2]);

src/UsgsAstroLsSensorModel.cpp

+4 −0
Original line number Diff line number Diff line
@@ -1010,6 +1010,10 @@ csm::EcefLocus UsgsAstroLsSensorModel::imageToRemoteImagingLocus( 
  locus.direction.x = -locus.direction.x;

  locus.direction.y = -locus.direction.y;

  locus.direction.z = -locus.direction.z;



  if (achieved_precision) {

    *achieved_precision = 0.0;

  }

  return locus;

}

src/UsgsAstroSarSensorModel.cpp

+8 −0
Original line number Diff line number Diff line
@@ -658,6 +658,10 @@ csm::EcefLocus UsgsAstroSarSensorModel::imageToProximateImagingLocus( 
  }

  tangent = normalized(tangent);



  if (achievedPrecision) {

    *achievedPrecision = 0.0;

  }



  return csm::EcefLocus(closestVec.x, closestVec.y, closestVec.z, tangent.x,

                        tangent.y, tangent.z);

}
@@ -689,6 +693,10 @@ csm::EcefLocus UsgsAstroSarSensorModel::imageToRemoteImagingLocus( 
  }

  tangent = normalized(tangent);



  if (achievedPrecision) {

    *achievedPrecision = 0.0;

  }



  return csm::EcefLocus(closestVec.x, closestVec.y, closestVec.z, tangent.x,

                        tangent.y, tangent.z);

}

tests/FrameCameraTests.cpp

+46 −0
Original line number Diff line number Diff line
@@ -130,6 +130,52 @@ TEST_F(OrbitalFrameSensorModel, GroundPartials) { 
  EXPECT_DOUBLE_EQ(partials[5], 0.0);

}



TEST_F(OrbitalFrameSensorModel, ImageToRemoteImagingLocus) {

  csm::ImageCoord imagePt(8.0, 8.0);

  double precision;

  csm::WarningList warnings;

  csm::EcefLocus locus = sensorModel->imageToRemoteImagingLocus(

      imagePt, 0.001, &precision, &warnings);

  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-10);

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

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

  EXPECT_NEAR(locus.point.x, 1050000.0, 1e-10);

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

  EXPECT_NEAR(locus.point.z, 0.0, 1e-10);

  EXPECT_LT(precision, 0.001);

  EXPECT_TRUE(warnings.empty());

}



TEST_F(OrbitalFrameSensorModel, ImageToProximateImagingLocus) {

  csm::ImageCoord imagePt(8.0, 8.0);

  csm::EcefCoord groundPt(1005000.0, 1000.0, 2000.0);

  double precision;

  csm::WarningList warnings;

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

  csm::EcefLocus locus = sensorModel->imageToProximateImagingLocus(

      imagePt, groundPt, 0.001, &precision, &warnings);

  // The locus is a straight line so the proximate and remote should have the

  // same direction

  EXPECT_DOUBLE_EQ(locus.direction.x, remoteLocus.direction.x);

  EXPECT_DOUBLE_EQ(locus.direction.y, remoteLocus.direction.y);

  EXPECT_DOUBLE_EQ(locus.direction.z, remoteLocus.direction.z);

  // The locus is the X-axis so the closest point is just the X component of

  // the ground point.

  EXPECT_NEAR(locus.point.x, 1005000.0, 1e-10);

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

  EXPECT_NEAR(locus.point.z, 0.0, 1e-10);

  EXPECT_LT(precision, 0.001);

  EXPECT_TRUE(warnings.empty());

}



// ****************************************************************************

//   Modified sensor model tests

// ****************************************************************************

tests/LineScanCameraTests.cpp

+12 −3
Original line number Diff line number Diff line
@@ -55,9 +55,11 @@ TEST_F(ConstVelocityLineScanSensorModel, OffBody) { 
TEST_F(ConstVelocityLineScanSensorModel, ProximateImageLocus) {

  csm::ImageCoord imagePt(8.0, 8.0);

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

  double precision;

  csm::WarningList warnings;

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

  csm::EcefLocus locus =

      sensorModel->imageToProximateImagingLocus(imagePt, groundPt);

  csm::EcefLocus locus = sensorModel->imageToProximateImagingLocus(

      imagePt, groundPt, 0.001, &precision, &warnings);

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

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

  double locusToGroundZ = locus.point.z - groundPt.z;
@@ -68,11 +70,16 @@ TEST_F(ConstVelocityLineScanSensorModel, ProximateImageLocus) { 
                  locusToGroundY * locus.direction.y +

                  locusToGroundZ * locus.direction.z,

              0.0, 1e-10);

  EXPECT_LT(precision, 0.001);

  EXPECT_TRUE(warnings.empty());

}



TEST_F(ConstVelocityLineScanSensorModel, RemoteImageLocus) {

  csm::ImageCoord imagePt(8.5, 8.0);

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

  double precision;

  csm::WarningList warnings;

  csm::EcefLocus locus = sensorModel->imageToRemoteImagingLocus(

      imagePt, 0.001, &precision, &warnings);

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

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

  double lookY = groundPt.y - locus.point.y;
@@ -87,6 +94,8 @@ TEST_F(ConstVelocityLineScanSensorModel, RemoteImageLocus) { 
  EXPECT_NEAR(locus.point.x, 1000.0, 1e-10);

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

  EXPECT_NEAR(locus.point.z, 0.0, 1e-10);

  EXPECT_LT(precision, 0.001);

  EXPECT_TRUE(warnings.empty());

}



TEST_F(ConstVelocityLineScanSensorModel, calculateAttitudeCorrection) {