Unverified Commit a51d9a51 authored by Jesse Mapel's avatar Jesse Mapel Committed by GitHub
Browse files

Added check for downtrack line direction (#268) 

* Added check for downtrack

* Added test for flipped downtrack

* Moved downtrack check down the image

* Added groundtoimage logging

* Fixed typo

* Added more logging

* Added line direction to sensor state

* Missed a state thing

* Test updates

* Removed extra test

* Added a litte more docs
parent 0bddf1da

include/usgscsm/UsgsAstroLsSensorModel.h

+1 −0
Original line number Diff line number Diff line
@@ -111,6 +111,7 @@ public: 
   std::vector<double> m_currentParameterValue;

   std::vector<csm::param::Type> m_parameterType;

   csm::EcefCoord m_referencePointXyz;

   int          m_downtrackLines;

   double       m_gsd;

   double       m_flyingHeight;

   double       m_halfSwath;

src/UsgsAstroLsSensorModel.cpp

+38 −2
Original line number Diff line number Diff line
@@ -240,6 +240,8 @@ void UsgsAstroLsSensorModel::replaceModelState(const std::string &stateString ) 
                         j["m_referencePointXyz"][1].dump(),

                         j["m_referencePointXyz"][2].dump())



   m_downtrackLines = j["m_downtrackLines"];



   m_gsd = j["m_gsd"];

   m_flyingHeight = j["m_flyingHeight"];

   m_halfSwath = j["m_halfSwath"];
@@ -425,6 +427,8 @@ std::string UsgsAstroLsSensorModel::getModelState() const { 
      state["m_currentParameterValue"] = m_currentParameterValue;

      state["m_parameterType"] = m_parameterType;



      state["m_downtrackLines"] = m_downtrackLines;



      state["m_gsd"] = m_gsd;

      state["m_flyingHeight"] = m_flyingHeight;

      state["m_halfSwath"] = m_halfSwath;
@@ -527,6 +531,8 @@ void UsgsAstroLsSensorModel::reset() 
  m_sunPosition = std::vector<double>(3, 0.0);

  m_sunVelocity = std::vector<double>(3, 0.0);



  m_downtrackLines = 1;



  m_gsd = 1.0;

  m_flyingHeight = 1000.0;

  m_halfSwath = 1000.0;
@@ -609,6 +615,23 @@ void UsgsAstroLsSensorModel::updateState() 
   MESSAGE_LOG(m_logger, "updateState: half time duration set to {}",

                               m_halfTime)



   // Compute if downtrack is increasing or decreasing lines

   // so that we know which direction to iterate during groundToImage

   // This requires that all of the other parameters be set first!

   csm::ImageCoord nextLinePoint((lineCtr+m_nLines)/2, sampCtr);

   double nextLineTime = getImageTime(nextLinePoint);

   std::vector<double> refView = computeDetectorView(nextLineTime,

                                                     m_referencePointXyz,

                                                     _no_adjustment);

   double refDetectorLine = m_iTransL[0]

                          + m_iTransL[1] * refView[0]

                          + m_iTransL[2] * refView[1];

   if (refDetectorLine > 0.0) {

     m_downtrackLines = -1;

   }

   MESSAGE_LOG(m_logger, "updateState: down track line direction set to {}",

                               m_downtrackLines)



   // Parameter covariance, hardcoded accuracy values

   int num_params = NUM_PARAMETERS;

   int num_paramsSquare = num_params * num_params;
@@ -661,9 +684,13 @@ csm::ImageCoord UsgsAstroLsSensorModel::groundToImage( 
   // This method first uses a linear approximation to get an initial point.

   // Then the detector offset for the line is continuously computed and

   // applied to the line until we achieve the desired precision.

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

               groundPt.x, groundPt.y, groundPt.z, desiredPrecision);



   csm::ImageCoord approxPt;

   computeLinearApproximation(groundPt, approxPt);

   MESSAGE_LOG(m_logger, "Approximate image point {}, {}",

               approxPt.line, approxPt.samp);



   std::vector<double> detectorView;

   double detectorLine = m_nLines;
@@ -673,6 +700,8 @@ csm::ImageCoord UsgsAstroLsSensorModel::groundToImage( 
   while(abs(detectorLine) > desiredPrecision && ++count < 15) {

     timei = getImageTime(approxPt);

     detectorView = computeDetectorView(timei, groundPt, adj);

     MESSAGE_LOG(m_logger, "Computed detector view {}, {}",

                 detectorView[0], detectorView[1]);



     // Convert to detector line

     detectorLine = m_iTransL[0]
@@ -680,16 +709,22 @@ csm::ImageCoord UsgsAstroLsSensorModel::groundToImage( 
                  + m_iTransL[2] * detectorView[1];



     // Convert to image line

     approxPt.line += detectorLine;

     approxPt.line += m_downtrackLines * detectorLine;

     MESSAGE_LOG(m_logger, "Updated image point {}, {}",

                 approxPt.line, approxPt.samp);

   }



   timei = getImageTime(approxPt);

   detectorView = computeDetectorView(timei, groundPt, adj);

   MESSAGE_LOG(m_logger, "Computed detector view {}, {}",

               detectorView[0], detectorView[1]);



   // Invert distortion

   double distortedFocalX, distortedFocalY;

   applyDistortion(detectorView[0], detectorView[1], distortedFocalX, distortedFocalY,

                   m_opticalDistCoeffs, m_distortionType, desiredPrecision);

   MESSAGE_LOG(m_logger, "Distorted detector view {}, {}",

               distortedFocalX, distortedFocalY);



   // Convert to detector line and sample

   detectorLine = m_iTransL[0]
@@ -700,7 +735,7 @@ csm::ImageCoord UsgsAstroLsSensorModel::groundToImage( 
                         + m_iTransS[2] * distortedFocalY;



   // Convert to image sample line

   approxPt.line += detectorLine;

   approxPt.line += m_downtrackLines * detectorLine;

   approxPt.samp = (detectorSample + m_detectorSampleOrigin - m_startingSample)

                 / m_detectorSampleSumming;
@@ -2676,6 +2711,7 @@ std::string UsgsAstroLsSensorModel::constructStateFromIsd(const std::string imag 
  state["m_sunVelocity"]= getSunVelocities(isd, parsingWarnings);



  // leave these be for now.

  state["m_downtrackLines"] = 1.0;

  state["m_gsd"] = 1.0;

  state["m_flyingHeight"] = 1000.0;

  state["m_halfSwath"] = 1000.0;

tests/Fixtures.h

+0 −1
Original line number Diff line number Diff line
@@ -268,5 +268,4 @@ class OrbitalLineScanSensorModel : public ::testing::Test { 
};







#endif

tests/data/orbitalLineScan.json

+1 −1
Original line number Diff line number Diff line
@@ -13,7 +13,7 @@ 
  "dt_ephemeris": 0.1,

  "t0_quaternion": -0.8,

  "dt_quaternion": 0.1,

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

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

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

  "focal_length_model": {

    "focal_length": 50