Commit 64481685 authored by acpaquette's avatar acpaquette Committed by Jesse Mapel
Browse files

Dawn Distortion (#231) 

* Added more logging to various functions

* Updated distortion and warning parseing

* Removed duplicate distortion models for kaguya

* Adds the dawn radial distortion model

* Updated comments in distortion and the line scanner

* Updated dawn distortion logic

* Removed duplicate logging statement in the frame sensor

* Updated dawn distortion model and added tests
parent 6d331383

include/usgscsm/Distortion.h

+2 −1
Original line number Diff line number Diff line
@@ -9,7 +9,8 @@ 
enum DistortionType {

  RADIAL,

  TRANSVERSE,

  KAGUYATC

  KAGUYATC,

  DAWNFC

};



// Transverse Distortion

src/Distortion.cpp

+64 −0
Original line number Diff line number Diff line
@@ -200,6 +200,58 @@ void removeDistortion(double dx, double dy, double &ux, double &uy, 
      ux = dx + dr_x;

      uy = dy + dr_y;

    }

    break;

    // The dawn distortion model is "reversed" from other distortion models so

    // the remove function iteratively computes undistorted coordinates based on

    // the distorted coordinates, rather than iteratively computing distorted coordinates

    // to undistorted coordinates.

    case DAWNFC: {

      double r2;

      int    numAttempts = 1;

      bool    done;



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

      * Pre-loop intializations

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



      r2 = dy * dy + dx * dx;

      double guess_dx, guess_dy;

      double guess_ux, guess_uy;



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

      * Loop ...

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

      do {

        guess_ux = dx / (1.0 + opticalDistCoeffs[0] * r2);

        guess_uy = dy / (1.0 + opticalDistCoeffs[0] * r2);



        r2 = guess_uy * guess_uy + guess_ux * guess_ux;



        guess_dx = guess_ux * (1.0 + opticalDistCoeffs[0] * r2);

        guess_dy = guess_uy * (1.0 + opticalDistCoeffs[0] * r2);



        done = false;



        if (abs(guess_dx - dx) < tolerance && abs(guess_dy - dy) < tolerance) {

          done = true;

        }



        /* Not converging so bomb */

        numAttempts++;

        if(numAttempts > 20) {

          std::cout << "Didn't converge" << std::endl;

          return;

        }

      }

      while(!done);



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

      * Sucess ...

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



      ux = guess_ux;

      uy = guess_uy;

    }

  }

}
@@ -324,5 +376,17 @@ void applyDistortion(double ux, double uy, double &dx, double &dy, 
        dy = ydistorted;

      }

    }

    break;

    // The dawn distortion model is "reversed" from other distortion models so

    // the apply function computes distorted coordinates as a

    // fn(undistorted coordinates)

    case DAWNFC: {

      double r2;



      r2 = ux * ux + uy * uy;



      dx = ux * (1.0 + opticalDistCoeffs[0] * r2);

      dy = uy * (1.0 + opticalDistCoeffs[0] * r2);

    }

  }

}

src/UsgsAstroFrameSensorModel.cpp

+2 −2
Original line number Diff line number Diff line
@@ -941,8 +941,8 @@ std::string UsgsAstroFrameSensorModel::constructStateFromIsd(const std::string& 
    }



    // get optical_distortion

    state["m_distortionType"] = getDistortionModel(isd);

    state["m_opticalDistCoeffs"] = getDistortionCoeffs(isd);

    state["m_distortionType"] = getDistortionModel(isd, warnings);

    state["m_opticalDistCoeffs"] = getDistortionCoeffs(isd, warnings);



    // get detector_center

    state["m_ccdCenter"][0] = getDetectorCenterLine(isd, parsingWarnings);

src/UsgsAstroLsSensorModel.cpp

+18 −4
Original line number Diff line number Diff line
@@ -2865,7 +2865,21 @@ std::string UsgsAstroLsSensorModel::constructStateFromIsd(const std::string imag 
  }



  // Get the optional logging file

  state["m_logFile"] = getLogFile(isd);

  state["m_logFile"] = getLogFile(isd, warnings);



  if (!parsingWarnings->empty()) {

    if (warnings) {

      warnings->insert(warnings->end(), parsingWarnings->begin(), parsingWarnings->end());

    }

    delete parsingWarnings;

    parsingWarnings = nullptr;

    throw csm::Error(csm::Error::SENSOR_MODEL_NOT_CONSTRUCTIBLE,

                     "ISD is invalid for creating the sensor model.",

                     "UsgsAstroFrameSensorModel::constructStateFromIsd");

  }



  delete parsingWarnings;

  parsingWarnings = nullptr;



  // The state data will still be updated when a sensor model is created since

  // some state data is not in the ISD and requires a SM to compute them.

src/Utilities.cpp

+21 −0
Original line number Diff line number Diff line
@@ -766,6 +766,9 @@ DistortionType getDistortionModel(json isd, csm::WarningList *list) { 
    else if (distortion.compare("kaguyatc") == 0) {

      return DistortionType::KAGUYATC;

    }

    else if (distortion.compare("dawnfc") == 0) {

      return DistortionType::DAWNFC;

    }

  }

  catch (...) {

    if (list) {
@@ -855,7 +858,25 @@ std::vector<double> getDistortionCoeffs(json isd, csm::WarningList *list) { 
        coefficients = std::vector<double>(8, 0.0);

      }

    }

    break;

    case DistortionType::DAWNFC: {

      try {

        coefficients = isd.at("optical_distortion").at("dawnfc").at("coefficients").get<std::vector<double>>();



        return coefficients;

      }

      catch (...) {

        if (list) {

          list->push_back(

            csm::Warning(

              csm::Warning::DATA_NOT_AVAILABLE,

              "Could not parse the dawn radial distortion model coefficients.",

              "Utilities::getDistortion()"));

        }

        coefficients = std::vector<double>(1, 0.0);

      }

    }

    break;

  }

  if (list) {

    list->push_back(