Unverified Commit 56bbb366 authored by Oleg Alexandrov's avatar Oleg Alexandrov Committed by GitHub
Browse files

Add fix for ground to image calculation for LRO NAC cameras (#341) 



* Add fix for ground to image calculation for LRO NAC cameras

* Make the choice of the sign of m_iTransL only once at model loading

* Reword a comment

* Robustness fix, must always ensure fractional part is 0.5

* Remove the abs, cannot assume those values are positive

* Added opposite flight and detector test

Co-authored-by: default avatarJesse Mapel <jmapel@usgs.gov>
parent 9414c80a

src/UsgsAstroLsSensorModel.cpp

+31 −1
Original line number Diff line number Diff line
@@ -648,6 +648,36 @@ void UsgsAstroLsSensorModel::updateState() { 


  // Set focal length variance

  m_covariance[15 * num_params + 15] = positionVariance;



  // Test if a pixel projected to the ground and projected back

  // returns to the original location. If not, flip the sign of

  // m_iTransL. It is very important here to pick a pixel which is not

  // an integer, as this test may succeed for integer pixels and fail

  // for non-integer ones. Also, need to pick the answer with the

  // smallest achieved precision, even when neither of them is smaller

  // than the desired precision.



  lineCtr = round(m_nLines / 2.0) + 0.5;

  sampCtr = round(m_nSamples / 2.0) + 0.5;



  double desiredPrecision = 0.001;

  ip = csm::ImageCoord(lineCtr, sampCtr);

  csm::EcefCoord xyz = imageToGround(ip, refHeight);



  double achievedPrecision1 = 1.0;

  // Will use m_iTransL on the next line

  ip = groundToImage(xyz, desiredPrecision, &achievedPrecision1);



  double achievedPrecision2 = 1.0;

  for (int it = 0; it < sizeof(m_iTransL)/sizeof(double); it++)

    m_iTransL[it] = -m_iTransL[it]; // use a flipped m_iTransL

  ip = groundToImage(xyz, desiredPrecision, &achievedPrecision2);



  if (std::abs(achievedPrecision1) <= std::abs(achievedPrecision2)) {

    // Flip back m_iTransL as the original was better

    for (int it = 0; it < sizeof(m_iTransL)/sizeof(double); it++)

      m_iTransL[it] = -m_iTransL[it];

  }

}



//---------------------------------------------------------------------------
@@ -2045,7 +2075,7 @@ std::vector<double> UsgsAstroLsSensorModel::computeDetectorView( 
                       bodyToCamera[5] * bodyLookY +

                       bodyToCamera[8] * bodyLookZ;

  MESSAGE_LOG(

      "computeDetectorView: look vector (camrea ref frame)"

      "computeDetectorView: look vector (camera ref frame)"

      "{} {} {}",

      cameraLookX, cameraLookY, cameraLookZ)

tests/Fixtures.h

+26 −0
Original line number Diff line number Diff line
@@ -261,6 +261,32 @@ class OrbitalLineScanSensorModel : public ::testing::Test { 
  }

};



class FlippedOrbitalLineScanSensorModel : public ::testing::Test {

 protected:

  csm::Isd isd;

  UsgsAstroLsSensorModel *sensorModel;



  void SetUp() override {

    sensorModel = NULL;



    isd.setFilename("data/flippedOrbitalLineScan.img");

    UsgsAstroPlugin cameraPlugin;



    csm::Model *model = cameraPlugin.constructModelFromISD(

        isd, "USGS_ASTRO_LINE_SCANNER_SENSOR_MODEL");

    sensorModel = dynamic_cast<UsgsAstroLsSensorModel *>(model);



    ASSERT_NE(sensorModel, nullptr);

  }



  void TearDown() override {

    if (sensorModel) {

      delete sensorModel;

      sensorModel = NULL;

    }

  }

};



class TwoLineScanSensorModels : public ::testing::Test {

 protected:

  csm::Isd isd;

tests/LineScanCameraTests.cpp

+8 −0
Original line number Diff line number Diff line
@@ -276,6 +276,14 @@ TEST_F(OrbitalLineScanSensorModel, ReferenceDateTime) { 
  EXPECT_EQ(date, "2000-01-01T00:16:39Z");

}



TEST_F(FlippedOrbitalLineScanSensorModel, OppositeFlightDetector) {

  csm::ImageCoord imagePt(8.7, 8.0);

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

  csm::ImageCoord backProjImagePt = sensorModel->groundToImage(groundPt);

  EXPECT_NEAR(imagePt.line, backProjImagePt.line, 0.001);

  EXPECT_NEAR(imagePt.samp, backProjImagePt.samp, 0.001);

}



TEST_F(TwoLineScanSensorModels, CrossCovariance) {

  std::vector<double> crossCovars =

      sensorModel1->getCrossCovarianceMatrix(*sensorModel2);

tests/data/flippedOrbitalLineScan.json

0 → 100644
+241 −0
Original line number Diff line number Diff line 
{

  "name_model" : "USGS_ASTRO_LINE_SCANNER_SENSOR_MODEL",

  "name_platform" : "TEST_PLATFORM",

  "name_sensor" : "TEST_SENSOR",

  "center_ephemeris_time": 1000.0,

  "starting_ephemeris_time": 999.2,

  "line_scan_rate": [

    [0.5, -0.85, 0.1]

  ],

  "detector_sample_summing": 1,

  "detector_line_summing": 1,

  "t0_ephemeris": -0.8,

  "dt_ephemeris": 0.1,

  "t0_quaternion": -0.8,

  "dt_quaternion": 0.1,

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

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

  "focal_length_model": {

    "focal_length": 50

  },

  "image_lines": 16,

  "image_samples": 16,

  "detector_center" : {

    "line" : 0.5,

    "sample" : 8.0

  },

  "interpolation_method": "lagrange",

  "optical_distortion": {

    "radial": {

      "coefficients": [0.0, 0.0, 0.0]

    }

  },

  "radii": {

    "semimajor": 1000,

    "semiminor": 1000,

    "unit":"km"

  },

  "reference_height": {

    "maxheight": 1000,

    "minheight": -1000,

    "unit": "m"

  },

  "instrument_position": {

    "unit": "km",

    "positions": [

      [1050.0, 0.0, -0.0],

      [1049.99999524, 0.0, -0.1],

      [1049.99998095, 0.0, -0.2],

      [1049.99995714, 0.0, -0.3],

      [1049.99992381, 0.0, -0.39999999],

      [1049.99988095, 0.0, -0.49999998],

      [1049.99982857, 0.0, -0.59999997],

      [1049.99976667, 0.0, -0.69999995],

      [1049.99969524, 0.0, -0.79999992],

      [1049.99961429, 0.0, -0.89999989],

      [1049.99952381, 0.0, -0.99999985],

      [1049.99942381, 0.0, -1.0999998],

      [1049.99931429, 0.0, -1.19999974],

      [1049.99919524, 0.0, -1.29999967],

      [1049.99906667, 0.0, -1.39999959],

      [1049.99892857, 0.0, -1.49999949]

    ],

    "velocities": [

      [-0.0, 0.0, -1.0500],

      [-0.1, 0.0, -1.04999999524],

      [-0.2, 0.0, -1.04999998095],

      [-0.3, 0.0, -1.04999995714],

      [-0.39999999, 0.0 ,-1.04999992381],

      [-0.49999998, 0.0 ,-1.04999988095],

      [-0.59999997, 0.0 ,-1.04999982857],

      [-0.69999995, 0.0 ,-1.04999976667],

      [-0.79999992, 0.0 ,-1.04999969524],

      [-0.89999989, 0.0 ,-1.04999961429],

      [-0.99999985, 0.0 ,-1.04999952381],

      [-1.0999998, 0.0 ,-1.04999942381],

      [-1.19999974, 0.0 ,-1.04999931429],

      [-1.29999967, 0.0 ,-1.04999919524],

      [-1.39999959, 0.0 ,-1.04999906667],

      [-1.49999949, 0.0, -1.04999892857]

    ],

    "ephemeris_times": [

      999.2,

      999.3,

      999.4,

      999.5,

      999.6,

      999.7,

      999.8,

      999.9,

      1000.0,

      1000.1,

      1000.2,

      1000.3,

      1000.4,

      1000.5,

      1000.6,

      1000.7

    ],

    "reference_frame": 1

  },

  "instrument_pointing": {

    "quaternions": [

      [0.70710678, 0.0, -0.70710678, 0.0],

      [0.70707311, 0.0, -0.70714045, 0.0],

      [0.70703943, 0.0, -0.70717412, 0.0],

      [0.70700576, 0.0, -0.70720779, 0.0],

      [0.70697208, 0.0, -0.70724146, 0.0],

      [0.7069384,  0.0, -0.70727512, 0.0],

      [0.70690472, 0.0, -0.70730878, 0.0],

      [0.70687104, 0.0, -0.70734244, 0.0],

      [0.70683736, 0.0, -0.7073761 , 0.0],

      [0.70680367, 0.0, -0.70740976, 0.0],

      [0.70676998, 0.0, -0.70744342, 0.0],

      [0.70673629, 0.0, -0.70747707, 0.0],

      [0.7067026,  0.0, -0.70751073, 0.0],

      [0.70666891, 0.0, -0.70754438, 0.0],

      [0.70663522, 0.0, -0.70757803, 0.0],

      [0.70660152, 0.0, -0.70761168, 0.0]

    ],

    "ephemeris_times": [

      999.2,

      999.3,

      999.4,

      999.5,

      999.6,

      999.7,

      999.8,

      999.9,

      1000.0,

      1000.1,

      1000.2,

      1000.3,

      1000.4,

      1000.5,

      1000.6,

      1000.7

    ],

    "angular_velocities": [

      [0.0, 0.0, 0.0],

      [0.0, 0.0, 0.0],

      [0.0, 0.0, 0.0],

      [0.0, 0.0, 0.0],

      [0.0, 0.0, 0.0],

      [0.0, 0.0, 0.0],

      [0.0, 0.0, 0.0],

      [0.0, 0.0, 0.0],

      [0.0, 0.0, 0.0],

      [0.0, 0.0, 0.0],

      [0.0, 0.0, 0.0],

      [0.0, 0.0, 0.0],

      [0.0, 0.0, 0.0],

      [0.0, 0.0, 0.0],

      [0.0, 0.0, 0.0],

      [0.0, 0.0, 0.0]

    ],

    "reference_frame": 1

  },

  "body_rotation": {

    "quaternions": [

      [1.0, 0.0, 0.0, 0.0],

      [1.0, 0.0, 0.0, 0.0],

      [1.0, 0.0, 0.0, 0.0],

      [1.0, 0.0, 0.0, 0.0],

      [1.0, 0.0, 0.0, 0.0],

      [1.0, 0.0, 0.0, 0.0],

      [1.0, 0.0, 0.0, 0.0],

      [1.0, 0.0, 0.0, 0.0],

      [1.0, 0.0, 0.0, 0.0],

      [1.0, 0.0, 0.0, 0.0],

      [1.0, 0.0, 0.0, 0.0],

      [1.0, 0.0, 0.0, 0.0],

      [1.0, 0.0, 0.0, 0.0],

      [1.0, 0.0, 0.0, 0.0],

      [1.0, 0.0, 0.0, 0.0],

      [1.0, 0.0, 0.0, 0.0]

    ],

    "ephemeris_times": [

      999.2,

      999.3,

      999.4,

      999.5,

      999.6,

      999.7,

      999.8,

      999.9,

      1000.0,

      1000.1,

      1000.2,

      1000.3,

      1000.4,

      1000.5,

      1000.6,

      1000.7

    ],

    "angular_velocities": [

      [0.0, 0.0, 0.0],

      [0.0, 0.0, 0.0],

      [0.0, 0.0, 0.0],

      [0.0, 0.0, 0.0],

      [0.0, 0.0, 0.0],

      [0.0, 0.0, 0.0],

      [0.0, 0.0, 0.0],

      [0.0, 0.0, 0.0],

      [0.0, 0.0, 0.0],

      [0.0, 0.0, 0.0],

      [0.0, 0.0, 0.0],

      [0.0, 0.0, 0.0],

      [0.0, 0.0, 0.0],

      [0.0, 0.0, 0.0],

      [0.0, 0.0, 0.0],

      [0.0, 0.0, 0.0]

    ],

    "reference_frame": 1,

    "constant_frames": [1, 2, 3],

    "time_dependent_frames": [4, 5, 6]

  },

  "starting_detector_line": 1,

  "starting_detector_sample": 0,

  "sun_position": {

    "positions": [

      [0.100, 0.100, 0.100],

      [0.150, 0.150, 0.150],

      [0.200, 0.200, 0.200],

      [0.250, 0.250, 0.250]

    ],

    "velocities": [

      [0.125, 0.125, 0.125],

      [0.125, 0.125, 0.125],

      [0.125, 0.125, 0.125],

      [0.125, 0.125, 0.125]

    ],

    "ephemeris_times": [

      999.2,

      999.6,

      1000.0,

      1000.4

    ],

    "reference_frame": 1,

    "unit": "km"

  }

}