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test_mro_drivers.py
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Jesse Mapel authoredJesse Mapel authored
UsgsAstroLsSensorModel.cpp 112.47 KiB
//----------------------------------------------------------------------------
//
// UNCLASSIFIED
//
// Copyright © 1989-2017 BAE Systems Information and Electronic Systems Integration Inc.
// ALL RIGHTS RESERVED
// Use of this software product is governed by the terms of a license
// agreement. The license agreement is found in the installation directory.
//
// For support, please visit http://www.baesystems.com/gxp
//
// Revision History:
// Date Name Description
// ----------- ------------ -----------------------------------------------
// 13-Nov-2015 BAE Systems Initial Implementation
// 24-Apr-2017 BAE Systems Update for CSM 3.0.2
// 24-OCT-2017 BAE Systems Update for CSM 3.0.3
//-----------------------------------------------------------------------------
#include "UsgsAstroLsSensorModel.h"
#include "Utilities.h"
#include "Distortion.h"
#include <algorithm>
#include <iostream>
#include <sstream>
#include <math.h>
#include <sstream>
#include <Error.h>
#include <json/json.hpp>
#define MESSAGE_LOG(logger, ...) if (logger) { logger->info(__VA_ARGS__); }
using json = nlohmann::json;
using namespace std;
const std::string UsgsAstroLsSensorModel::_SENSOR_MODEL_NAME
= "USGS_ASTRO_LINE_SCANNER_SENSOR_MODEL";
const int UsgsAstroLsSensorModel::NUM_PARAMETERS = 16;
const std::string UsgsAstroLsSensorModel::PARAMETER_NAME[] =
{
"IT Pos. Bias ", // 0
"CT Pos. Bias ", // 1
"Rad Pos. Bias ", // 2
"IT Vel. Bias ", // 3
"CT Vel. Bias ", // 4
"Rad Vel. Bias ", // 5
"Omega Bias ", // 6
"Phi Bias ", // 7
"Kappa Bias ", // 8
"Omega Rate ", // 9
"Phi Rate ", // 10
"Kappa Rate ", // 11
"Omega Accl ", // 12
"Phi Accl ", // 13
"Kappa Accl ", // 14
"Focal Bias " // 15
};
const std::string UsgsAstroLsSensorModel::_STATE_KEYWORD[] =
{
"m_modelName",
"m_imageIdentifier",
"m_sensorName",
"m_nLines",
"m_nSamples",
"m_platformFlag",
"m_intTimeLines",
"m_intTimeStartTimes", "m_intTimes",
"m_startingEphemerisTime",
"m_centerEphemerisTime",
"m_detectorSampleSumming",
"m_startingDetectorSample",
"m_startingDetectorLine",
"m_ikCode",
"m_focalLength",
"m_zDirection",
"m_distortionType",
"m_opticalDistCoeffs",
"m_iTransS",
"m_iTransL",
"m_detectorSampleOrigin",
"m_detectorLineOrigin",
"m_majorAxis",
"m_minorAxis",
"m_platformIdentifier",
"m_sensorIdentifier",
"m_minElevation",
"m_maxElevation",
"m_dtEphem",
"m_t0Ephem",
"m_dtQuat",
"m_t0Quat",
"m_numPositions",
"m_numQuaternions",
"m_positions",
"m_velocities",
"m_quaternions",
"m_currentParameterValue",
"m_parameterType",
"m_referencePointXyz",
"m_gsd",
"m_flyingHeight",
"m_halfSwath",
"m_halfTime",
"m_covariance",
};
const int UsgsAstroLsSensorModel::NUM_PARAM_TYPES = 4;
const std::string UsgsAstroLsSensorModel::PARAM_STRING_ALL[] =
{
"NONE",
"FICTITIOUS",
"REAL",
"FIXED"
};
const csm::param::Type
UsgsAstroLsSensorModel::PARAM_CHAR_ALL[] =
{
csm::param::NONE,
csm::param::FICTITIOUS,
csm::param::REAL,
csm::param::FIXED
};
//***************************************************************************
// UsgsAstroLineScannerSensorModel::replaceModelState
//***************************************************************************
void UsgsAstroLsSensorModel::replaceModelState(const std::string &stateString )
{
MESSAGE_LOG(m_logger, "Replacing model state")
reset();
auto j = json::parse(stateString);
int num_params = NUM_PARAMETERS;
int num_paramsSq = num_params * num_params;
m_imageIdentifier = j["m_imageIdentifier"].get<std::string>(); m_sensorName = j["m_sensorName"];
m_nLines = j["m_nLines"];
m_nSamples = j["m_nSamples"];
m_platformFlag = j["m_platformFlag"];
MESSAGE_LOG(m_logger, "m_imageIdentifier: {} "
"m_sensorName: {} "
"m_nLines: {} "
"m_nSamples: {} "
"m_platformFlag: {} ",
j["m_imageIdentifier"].dump(),
j["m_sensorName"].dump(),
j["m_nLines"].dump(),
j["m_nSamples"].dump(),
j["m_platformFlag"].dump())
m_intTimeLines = j["m_intTimeLines"].get<std::vector<double>>();
m_intTimeStartTimes = j["m_intTimeStartTimes"].get<std::vector<double>>();
m_intTimes = j["m_intTimes"].get<std::vector<double>>();
m_startingEphemerisTime = j["m_startingEphemerisTime"];
m_centerEphemerisTime = j["m_centerEphemerisTime"];
m_detectorSampleSumming = j["m_detectorSampleSumming"];
m_startingSample = j["m_startingDetectorSample"];
m_ikCode = j["m_ikCode"];
MESSAGE_LOG(m_logger, "m_startingEphemerisTime: {} "
"m_centerEphemerisTime: {} "
"m_detectorSampleSumming: {} "
"m_startingSample: {} "
"m_ikCode: {} ",
j["m_startingEphemerisTime"].dump(),
j["m_centerEphemerisTime"].dump(),
j["m_detectorSampleSumming"].dump(),
j["m_startingSample"].dump(), j["m_ikCode"].dump())
m_focalLength = j["m_focalLength"];
m_zDirection = j["m_zDirection"];
m_distortionType = (DistortionType)j["m_distortionType"].get<int>();
m_opticalDistCoeffs = j["m_opticalDistCoeffs"].get<std::vector<double>>();
MESSAGE_LOG(m_logger, "m_focalLength: {} "
"m_zDirection: {} "
"m_distortionType: {} ",
j["m_focalLength"].dump(), j["m_zDirection"].dump(),
j["m_distortionType"].dump())
for (int i = 0; i < 3; i++) {
m_iTransS[i] = j["m_iTransS"][i];
m_iTransL[i] = j["m_iTransL"][i];
}
m_detectorSampleOrigin = j["m_detectorSampleOrigin"];
m_detectorLineOrigin = j["m_detectorLineOrigin"];
m_majorAxis = j["m_majorAxis"];
m_minorAxis = j["m_minorAxis"];
MESSAGE_LOG(m_logger, "m_detectorSampleOrigin: {} "
"m_detectorLineOrigin: {} "
"m_majorAxis: {} "
"m_minorAxis: {} ",
j["m_detectorSampleOrigin"].dump(),
j["m_detectorLineOrigin"].dump(),
j["m_majorAxis"].dump(), j["m_minorAxis"].dump())
m_platformIdentifier = j["m_platformIdentifier"];
m_sensorIdentifier = j["m_sensorIdentifier"];
MESSAGE_LOG(m_logger, "m_platformIdentifier: {} "
"m_sensorIdentifier: {} ",
j["m_platformIdentifier"].dump(),
j["m_sensorIdentifier"].dump())
m_minElevation = j["m_minElevation"];
m_maxElevation = j["m_maxElevation"]; MESSAGE_LOG(m_logger, "m_minElevation: {} "
"m_maxElevation: {} ",
j["m_minElevation"].dump(),
j["m_maxElevation"].dump())
m_dtEphem = j["m_dtEphem"];
m_t0Ephem = j["m_t0Ephem"];
m_dtQuat = j["m_dtQuat"];
m_t0Quat = j["m_t0Quat"];
m_numPositions = j["m_numPositions"];
MESSAGE_LOG(m_logger, "m_dtEphem: {} "
"m_t0Ephem: {} "
"m_dtQuat: {} "
"m_t0Quat: {} ",
j["m_dtEphem"].dump(), j["m_t0Ephem"].dump(),
j["m_dtQuat"].dump(), j["m_t0Quat"].dump())
m_numQuaternions = j["m_numQuaternions"];
m_referencePointXyz.x = j["m_referencePointXyz"][0];
m_referencePointXyz.y = j["m_referencePointXyz"][1];
m_referencePointXyz.z = j["m_referencePointXyz"][2];
MESSAGE_LOG(m_logger, "m_numQuaternions: {} "
"m_referencePointX: {} "
"m_referencePointY: {} "
"m_referencePointZ: {} ",
j["m_numQuaternions"].dump(), j["m_referencePointXyz"][0].dump(),
j["m_referencePointXyz"][1].dump(),
j["m_referencePointXyz"][2].dump())
m_gsd = j["m_gsd"];
m_flyingHeight = j["m_flyingHeight"];
m_halfSwath = j["m_halfSwath"];
m_halfTime = j["m_halfTime"];
MESSAGE_LOG(m_logger, "m_gsd: {} "
"m_flyingHeight: {} "
"m_halfSwath: {} "
"m_halfTime: {} ",
j["m_gsd"].dump(), j["m_flyingHeight"].dump(),
j["m_halfSwath"].dump(), j["m_halfTime"].dump())
// Vector = is overloaded so explicit get with type required.
m_positions = j["m_positions"].get<std::vector<double>>();
m_velocities = j["m_velocities"].get<std::vector<double>>();
m_quaternions = j["m_quaternions"].get<std::vector<double>>();
m_currentParameterValue = j["m_currentParameterValue"].get<std::vector<double>>();
m_covariance = j["m_covariance"].get<std::vector<double>>();
m_logFile = j["m_logFile"].get<std::string>();
if (m_logFile.empty()) {
m_logger.reset();
}
else {
m_logger = spdlog::get(m_logFile);
if (!m_logger) {
m_logger = spdlog::basic_logger_mt(m_logFile, m_logFile);
}
}
for (int i = 0; i < num_params; i++) {
for (int k = 0; k < NUM_PARAM_TYPES; k++) {
if (j["m_parameterType"][i] == PARAM_STRING_ALL[k]) {
m_parameterType[i] = PARAM_CHAR_ALL[k];
break;
}
}
}
// If computed state values are still default, then compute them
if (m_gsd == 1.0 && m_flyingHeight == 1000.0)
{ updateState();
}
try
{
setLinearApproximation();
}
catch (...)
{
_linear = false;
}
}
//***************************************************************************
// UsgsAstroLineScannerSensorModel::getModelNameFromModelState
//***************************************************************************
std::string UsgsAstroLsSensorModel::getModelNameFromModelState(
const std::string& model_state)
{
// Parse the string to JSON
auto j = json::parse(model_state);
// If model name cannot be determined, return a blank string
std::string model_name;
if (j.find("m_modelName") != j.end()) {
model_name = j["m_modelName"];
} else {
csm::Error::ErrorType aErrorType = csm::Error::INVALID_SENSOR_MODEL_STATE;
std::string aMessage = "No 'm_modelName' key in the model state object.";
std::string aFunction = "UsgsAstroLsPlugin::getModelNameFromModelState";
csm::Error csmErr(aErrorType, aMessage, aFunction);
throw(csmErr);
}
if (model_name != _SENSOR_MODEL_NAME){
csm::Error::ErrorType aErrorType = csm::Error::SENSOR_MODEL_NOT_SUPPORTED;
std::string aMessage = "Sensor model not supported.";
std::string aFunction = "UsgsAstroLsPlugin::getModelNameFromModelState()";
csm::Error csmErr(aErrorType, aMessage, aFunction);
throw(csmErr);
}
return model_name;
}
//***************************************************************************
// UsgsAstroLineScannerSensorModel::getModelState
//***************************************************************************
std::string UsgsAstroLsSensorModel::getModelState() const {
MESSAGE_LOG(m_logger, "Running getModelState")
json state;
state["m_modelName"] = _SENSOR_MODEL_NAME;
state["m_startingDetectorSample"] = m_startingSample;
state["m_imageIdentifier"] = m_imageIdentifier;
state["m_sensorName"] = m_sensorName;
state["m_nLines"] = m_nLines;
state["m_nSamples"] = m_nSamples;
state["m_platformFlag"] = m_platformFlag;
MESSAGE_LOG(m_logger, "m_imageIdentifier: {} "
"m_sensorName: {} "
"m_nLines: {} "
"m_nSamples: {} "
"m_platformFlag: {} ",
m_imageIdentifier, m_sensorName,
m_nLines, m_nSamples, m_platformFlag)
state["m_intTimeLines"] = m_intTimeLines;
state["m_intTimeStartTimes"] = m_intTimeStartTimes;
state["m_intTimes"] = m_intTimes;
state["m_startingEphemerisTime"] = m_startingEphemerisTime;
state["m_centerEphemerisTime"] = m_centerEphemerisTime; MESSAGE_LOG(m_logger, "m_startingEphemerisTime: {} "
"m_centerEphemerisTime: {} ",
m_startingEphemerisTime,
m_centerEphemerisTime)
state["m_detectorSampleSumming"] = m_detectorSampleSumming;
state["m_startingSample"] = m_startingSample;
state["m_ikCode"] = m_ikCode;
MESSAGE_LOG(m_logger, "m_detectorSampleSumming: {} "
"m_startingSample: {} "
"m_ikCode: {} ",
m_detectorSampleSumming, m_startingSample,
m_ikCode)
state["m_focalLength"] = m_focalLength;
state["m_zDirection"] = m_zDirection;
state["m_distortionType"] = m_distortionType;
state["m_opticalDistCoeffs"] = m_opticalDistCoeffs;
MESSAGE_LOG(m_logger, "m_focalLength: {} "
"m_zDirection: {} "
"m_distortionType (0-Radial, 1-Transverse): {} ",
m_focalLength, m_zDirection,
m_distortionType)
state["m_iTransS"] = std::vector<double>(m_iTransS, m_iTransS+3);
state["m_iTransL"] = std::vector<double>(m_iTransL, m_iTransL+3);
state["m_detectorSampleOrigin"] = m_detectorSampleOrigin;
state["m_detectorLineOrigin"] = m_detectorLineOrigin;
state["m_majorAxis"] = m_majorAxis;
state["m_minorAxis"] = m_minorAxis;
MESSAGE_LOG(m_logger, "m_detectorSampleOrigin: {} "
"m_detectorLineOrigin: {} "
"m_majorAxis: {} "
"m_minorAxis: {} ",
m_detectorSampleOrigin, m_detectorLineOrigin,
m_majorAxis, m_minorAxis)
state["m_platformIdentifier"] = m_platformIdentifier;
state["m_sensorIdentifier"] = m_sensorIdentifier;
state["m_minElevation"] = m_minElevation;
state["m_maxElevation"] = m_maxElevation;
MESSAGE_LOG(m_logger, "m_platformIdentifier: {} "
"m_sensorIdentifier: {} "
"m_minElevation: {} "
"m_maxElevation: {} ",
m_platformIdentifier, m_sensorIdentifier,
m_minElevation, m_maxElevation)
state["m_dtEphem"] = m_dtEphem;
state["m_t0Ephem"] = m_t0Ephem;
state["m_dtQuat"] = m_dtQuat;
state["m_t0Quat"] = m_t0Quat;
MESSAGE_LOG(m_logger, "m_dtEphem: {} "
"m_t0Ephem: {} "
"m_dtQuat: {} "
"m_t0Quat: {} ",
m_dtEphem, m_t0Ephem,
m_dtQuat, m_t0Quat)
state["m_numPositions"] = m_numPositions;
state["m_numQuaternions"] = m_numQuaternions;
state["m_positions"] = m_positions;
state["m_velocities"] = m_velocities;
state["m_quaternions"] = m_quaternions;
MESSAGE_LOG(m_logger, "m_numPositions: {} "
"m_numQuaternions: {} ",
m_numPositions, m_numQuaternions)
state["m_currentParameterValue"] = m_currentParameterValue; state["m_parameterType"] = m_parameterType;
state["m_gsd"] = m_gsd;
state["m_flyingHeight"] = m_flyingHeight;
state["m_halfSwath"] = m_halfSwath;
state["m_halfTime"] = m_halfTime;
state["m_covariance"] = m_covariance;
MESSAGE_LOG(m_logger, "m_gsd: {} "
"m_flyingHeight: {} "
"m_halfSwath: {} "
"m_halfTime: {} ",
m_gsd, m_flyingHeight,
m_halfSwath, m_halfTime)
state["m_referencePointXyz"] = json();
state["m_referencePointXyz"][0] = m_referencePointXyz.x;
state["m_referencePointXyz"][1] = m_referencePointXyz.y;
state["m_referencePointXyz"][2] = m_referencePointXyz.z;
MESSAGE_LOG(m_logger, "m_referencePointXyz: {} "
"m_referencePointXyz: {} "
"m_referencePointXyz: {} ",
m_referencePointXyz.x, m_referencePointXyz.y,
m_referencePointXyz.z)
state["m_logFile"] = m_logFile;
return state.dump();
}
//***************************************************************************
// UsgsAstroLineScannerSensorModel::reset
//***************************************************************************
void UsgsAstroLsSensorModel::reset()
{
MESSAGE_LOG(m_logger, "Running reset()")
_linear = false; // default until a linear model is made
_u0 = 0.0;
_du_dx = 0.0;
_du_dy = 0.0;
_du_dz = 0.0;
_v0 = 0.0;
_dv_dx = 0.0;
_dv_dy = 0.0;
_dv_dz = 0.0;
_no_adjustment.assign(UsgsAstroLsSensorModel::NUM_PARAMETERS, 0.0);
m_imageIdentifier = ""; // 1
m_sensorName = "USGSAstroLineScanner"; // 2
m_nLines = 0; // 3
m_nSamples = 0; // 4
m_platformFlag = 1; // 9
m_intTimeLines.clear();
m_intTimeStartTimes.clear();
m_intTimes.clear();
m_startingEphemerisTime = 0.0; // 13
m_centerEphemerisTime = 0.0; // 14
m_detectorSampleSumming = 1.0; // 15
m_startingSample = 1.0; // 16
m_ikCode = -85600; // 17
m_focalLength = 350.0; // 18
m_zDirection = 1.0; // 19
m_distortionType = DistortionType::RADIAL;
m_opticalDistCoeffs = std::vector<double>(3, 0.0);
m_iTransS[0] = 0.0; // 21
m_iTransS[1] = 0.0; // 21
m_iTransS[2] = 150.0; // 21
m_iTransL[0] = 0.0; // 22
m_iTransL[1] = 150.0; // 22
m_iTransL[2] = 0.0; // 22 m_detectorSampleOrigin = 2500.0; // 23
m_detectorLineOrigin = 0.0; // 24
m_majorAxis = 3400000.0; // 27
m_minorAxis = 3350000.0; // 28
m_platformIdentifier = ""; // 31
m_sensorIdentifier = ""; // 32
m_minElevation = -8000.0; // 34
m_maxElevation = 8000.0; // 35
m_dtEphem = 2.0; // 36
m_t0Ephem = -70.0; // 37
m_dtQuat = 0.1; // 38
m_t0Quat = -40.0; // 39
m_numPositions = 0; // 40
m_numQuaternions = 0; // 41
m_positions.clear(); // 42
m_velocities.clear(); // 43
m_quaternions.clear(); // 44
m_currentParameterValue.assign(NUM_PARAMETERS,0.0);
m_parameterType.assign(NUM_PARAMETERS,csm::param::REAL);
m_referencePointXyz.x = 0.0;
m_referencePointXyz.y = 0.0;
m_referencePointXyz.z = 0.0;
m_gsd = 1.0;
m_flyingHeight = 1000.0;
m_halfSwath = 1000.0;
m_halfTime = 10.0;
m_covariance = std::vector<double>(NUM_PARAMETERS * NUM_PARAMETERS,0.0); // 52
m_logFile = "";
m_logger.reset();
}
//*****************************************************************************
// UsgsAstroLsSensorModel Constructor
//*****************************************************************************
UsgsAstroLsSensorModel::UsgsAstroLsSensorModel()
{
_no_adjustment.assign(UsgsAstroLsSensorModel::NUM_PARAMETERS, 0.0);
}
//*****************************************************************************
// UsgsAstroLsSensorModel Destructor
//*****************************************************************************
UsgsAstroLsSensorModel::~UsgsAstroLsSensorModel()
{
}
//*****************************************************************************
// UsgsAstroLsSensorModel updateState
//*****************************************************************************
void UsgsAstroLsSensorModel::updateState()
{
// If sensor model is being created for the first time
// This routine will set some parameters not found in the ISD.
MESSAGE_LOG(m_logger, "Updating State")
// Reference point (image center)
double lineCtr = m_nLines / 2.0;
double sampCtr = m_nSamples / 2.0;
csm::ImageCoord ip(lineCtr, sampCtr);
MESSAGE_LOG(m_logger, "updateState: center image coordinate set to {} {}",
lineCtr, sampCtr)
double refHeight = 0;
m_referencePointXyz = imageToGround(ip, refHeight);
MESSAGE_LOG(m_logger, "updateState: reference point (x, y, z) {} {} {}",
m_referencePointXyz.x, m_referencePointXyz.y, m_referencePointXyz.z)
// Compute ground sample distance
ip.line += 1;
ip.samp += 1;
csm::EcefCoord delta = imageToGround(ip, refHeight);
double dx = delta.x - m_referencePointXyz.x;
double dy = delta.y - m_referencePointXyz.y;
double dz = delta.z - m_referencePointXyz.z;
m_gsd = sqrt((dx*dx + dy*dy + dz*dz) / 2.0);
MESSAGE_LOG(m_logger, "updateState: ground sample distance set to {} "
"based on dx {} dy {} dz {}",
m_gsd, dx, dy, dz)
// Compute flying height
csm::EcefCoord sensorPos = getSensorPosition(0.0);
dx = sensorPos.x - m_referencePointXyz.x;
dy = sensorPos.y - m_referencePointXyz.y;
dz = sensorPos.z - m_referencePointXyz.z;
m_flyingHeight = sqrt(dx*dx + dy*dy + dz*dz);
MESSAGE_LOG(m_logger, "updateState: flight height set to {}"
"based on dx {} dy {} dz {}",
m_flyingHeight, dx, dy, dz)
// Compute half swath
m_halfSwath = m_gsd * m_nSamples / 2.0;
MESSAGE_LOG(m_logger, "updateState: half swath set to {}",
m_halfSwath)
// Compute half time duration
double fullImageTime = m_intTimeStartTimes.back() - m_intTimeStartTimes.front()
+ m_intTimes.back() * (m_nLines - m_intTimeLines.back());
m_halfTime = fullImageTime / 2.0;
MESSAGE_LOG(m_logger, "updateState: half time duration set to {}",
m_halfTime)
// Parameter covariance, hardcoded accuracy values
int num_params = NUM_PARAMETERS;
int num_paramsSquare = num_params * num_params;
double variance = m_gsd * m_gsd;
for (int i = 0; i < num_paramsSquare; i++)
{
m_covariance[i] = 0.0;
}
for (int i = 0; i < num_params; i++)
{
m_covariance[i * num_params + i] = variance;
}
}
//---------------------------------------------------------------------------
// Core Photogrammetry
//---------------------------------------------------------------------------
//***************************************************************************
// UsgsAstroLsSensorModel::groundToImage
//***************************************************************************
csm::ImageCoord UsgsAstroLsSensorModel::groundToImage(
const csm::EcefCoord& ground_pt,
double desired_precision,
double* achieved_precision,
csm::WarningList* warnings) const
{
MESSAGE_LOG(m_logger, "Computing groundToImage(No adjustments) for {}, {}, {}, with desired precision {}",
ground_pt.x, ground_pt.y, ground_pt.z, desired_precision);
// The public interface invokes the private interface with no adjustments.
return groundToImage( ground_pt, _no_adjustment,
desired_precision, achieved_precision, warnings);
}
//***************************************************************************
// UsgsAstroLsSensorModel::groundToImage (internal version)
//***************************************************************************
csm::ImageCoord UsgsAstroLsSensorModel::groundToImage(
const csm::EcefCoord& ground_pt,
const std::vector<double>& adj,
double desired_precision,
double* achieved_precision,
csm::WarningList* warnings) const
{
MESSAGE_LOG(m_logger, "Computing groundToImage (with adjustments) for {}, {}, {}, with desired precision {}",
ground_pt.x, ground_pt.y, ground_pt.z, desired_precision);
// Search for the line, sample coordinate that viewed a given ground point.
// This method uses an iterative secant method to search for the image
// line.
// Convert the ground precision to pixel precision so we can
// check for convergence without re-intersecting
csm::ImageCoord approxPoint;
computeLinearApproximation(ground_pt, approxPoint);
csm::ImageCoord approxNextPoint = approxPoint;
if (approxNextPoint.line + 1 < m_nLines) {
++approxNextPoint.line;
}
else {
--approxNextPoint.line;
}
double height, aPrec;
computeElevation(ground_pt.x, ground_pt.y, ground_pt.z, height, aPrec, desired_precision);
csm::EcefCoord approxIntersect = imageToGround(approxPoint, height);
csm::EcefCoord approxNextIntersect = imageToGround(approxNextPoint, height);
double lineDX = approxNextIntersect.x - approxIntersect.x;
double lineDY = approxNextIntersect.y - approxIntersect.y;
double lineDZ = approxNextIntersect.z - approxIntersect.z;
double approxLineRes = sqrt(lineDX * lineDX + lineDY * lineDY + lineDZ * lineDZ);
// Increase the precision by a small amount to ensure the desired precision is met
double pixelPrec = desired_precision / approxLineRes * 0.9;
// Start secant method search on the image lines
double sampCtr = m_nSamples / 2.0;
double firstTime = getImageTime(csm::ImageCoord(0.0, sampCtr));
double lastTime = getImageTime(csm::ImageCoord(m_nLines, sampCtr));
double firstOffset = computeViewingPixel(firstTime, ground_pt, adj, pixelPrec/2).line - 0.5;
double lastOffset = computeViewingPixel(lastTime, ground_pt, adj, pixelPrec/2).line - 0.5;
// Start secant method search
for (int it = 0; it < 30; it++) {
double nextTime = ((firstTime * lastOffset) - (lastTime * firstOffset))
/ (lastOffset - firstOffset);
// Because time across the image is not continuous, find the exposure closest
// to the computed nextTime and use that.
// I.E. if the computed nextTime is 0.3, and the middle exposure times for
// lines are 0.07, 0.17, 0.27, 0.37, and 0.47; then use 0.27 because it is
// the closest middle exposure time.
auto referenceTimeIt = std::upper_bound(m_intTimeStartTimes.begin(),
m_intTimeStartTimes.end(),
nextTime);
if (referenceTimeIt != m_intTimeStartTimes.begin()) {
--referenceTimeIt;
}
size_t referenceIndex = std::distance(m_intTimeStartTimes.begin(), referenceTimeIt);
double computedLine = (nextTime - m_intTimeStartTimes[referenceIndex]) / m_intTimes[referenceIndex]
+ m_intTimeLines[referenceIndex] - 0.5; // subtract 0.5 for ISIS -> CSM pixel conversion
double closestLine = floor(computedLine + 0.5);
nextTime = getImageTime(csm::ImageCoord(closestLine, sampCtr));
double nextOffset = computeViewingPixel(nextTime, ground_pt, adj, pixelPrec/2).line - 0.5;
// remove the farthest away node
if (fabs(firstTime - nextTime) > fabs(lastTime - nextTime)) {
firstTime = nextTime;
firstOffset = nextOffset;
}
else {
lastTime = nextTime;
lastOffset = nextOffset;
}
if (fabs(lastOffset - firstOffset) < pixelPrec) {
break;
}
}
// Avoid division by 0 if the first and last nodes are the same
double computedTime = firstTime;
if (fabs(lastOffset - firstOffset) > 10e-15) {
computedTime = ((firstTime * lastOffset) - (lastTime * firstOffset))
/ (lastOffset - firstOffset);
}
auto referenceTimeIt = std::upper_bound(m_intTimeStartTimes.begin(),
m_intTimeStartTimes.end(),
computedTime);
if (referenceTimeIt != m_intTimeStartTimes.begin()) {
--referenceTimeIt;
}
size_t referenceIndex = std::distance(m_intTimeStartTimes.begin(), referenceTimeIt);
double computedLine = (computedTime - m_intTimeStartTimes[referenceIndex]) / m_intTimes[referenceIndex]
+ m_intTimeLines[referenceIndex] - 0.5; // subtract 0.5 for ISIS -> CSM pixel conversion
double closestLine = floor(computedLine + 0.5); // This assumes pixels are the interval [n, n+1)
computedTime = getImageTime(csm::ImageCoord(closestLine, sampCtr));
csm::ImageCoord calculatedPixel = computeViewingPixel(computedTime, ground_pt, adj, pixelPrec/2);
// The computed pioxel is the detector pixel, so we need to convert that to image lines
calculatedPixel.line += closestLine;
// Reintersect to ensure the image point actually views the ground point.
csm::EcefCoord calculatedPoint = imageToGround(calculatedPixel, height);
double dx = ground_pt.x - calculatedPoint.x;
double dy = ground_pt.y - calculatedPoint.y;
double dz = ground_pt.z - calculatedPoint.z;
double len = dx * dx + dy * dy + dz * dz;
if (achieved_precision) {
*achieved_precision = sqrt(len);
}
double preSquare = desired_precision * desired_precision;
if (warnings && (desired_precision > 0.0) && (preSquare < len)) {
std::stringstream msg;
msg << "Desired precision not achieved. ";
msg << len << " " << preSquare << "\n";
warnings->push_back(
csm::Warning(csm::Warning::PRECISION_NOT_MET,
msg.str().c_str(),
"UsgsAstroLsSensorModel::groundToImage()"));
}
return calculatedPixel;
}
//***************************************************************************
// UsgsAstroLsSensorModel::groundToImage
//***************************************************************************
csm::ImageCoordCovar UsgsAstroLsSensorModel::groundToImage(
const csm::EcefCoordCovar& groundPt,
double desired_precision, double* achieved_precision,
csm::WarningList* warnings) const
{
MESSAGE_LOG(m_logger, "Computing groundToImage(Covar) for {}, {}, {}, with desired precision {}",
groundPt.x, groundPt.y, groundPt.z, desired_precision);
// Ground to image with error propagation
// Compute corresponding image point
csm::EcefCoord gp;
gp.x = groundPt.x;
gp.y = groundPt.y;
gp.z = groundPt.z;
csm::ImageCoord ip = groundToImage(
gp, desired_precision, achieved_precision, warnings);
csm::ImageCoordCovar result(ip.line, ip.samp);
// Compute partials ls wrt XYZ
std::vector<double> prt(6, 0.0);
prt = computeGroundPartials(groundPt);
// Error propagation
double ltx, lty, ltz;
double stx, sty, stz;
ltx =
prt[0] * groundPt.covariance[0] +
prt[1] * groundPt.covariance[3] +
prt[2] * groundPt.covariance[6];
lty =
prt[0] * groundPt.covariance[1] +
prt[1] * groundPt.covariance[4] +
prt[2] * groundPt.covariance[7];
ltz =
prt[0] * groundPt.covariance[2] +
prt[1] * groundPt.covariance[5] +
prt[2] * groundPt.covariance[8];
stx =
prt[3] * groundPt.covariance[0] +
prt[4] * groundPt.covariance[3] +
prt[5] * groundPt.covariance[6];
sty =
prt[3] * groundPt.covariance[1] +
prt[4] * groundPt.covariance[4] +
prt[5] * groundPt.covariance[7];
stz =
prt[3] * groundPt.covariance[2] +
prt[4] * groundPt.covariance[5] +
prt[5] * groundPt.covariance[8];
double gp_cov[4]; // Input gp cov in image space
gp_cov[0] = ltx * prt[0] + lty * prt[1] + ltz * prt[2];
gp_cov[1] = ltx * prt[3] + lty * prt[4] + ltz * prt[5];
gp_cov[2] = stx * prt[0] + sty * prt[1] + stz * prt[2];
gp_cov[3] = stx * prt[3] + sty * prt[4] + stz * prt[5];
std::vector<double> unmodeled_cov = getUnmodeledError(ip);
double sensor_cov[4]; // sensor cov in image space
determineSensorCovarianceInImageSpace(gp, sensor_cov);
result.covariance[0] = gp_cov[0] + unmodeled_cov[0] + sensor_cov[0];
result.covariance[1] = gp_cov[1] + unmodeled_cov[1] + sensor_cov[1];
result.covariance[2] = gp_cov[2] + unmodeled_cov[2] + sensor_cov[2];
result.covariance[3] = gp_cov[3] + unmodeled_cov[3] + sensor_cov[3];
return result;
}
//***************************************************************************
// UsgsAstroLsSensorModel::imageToGround
//***************************************************************************
csm::EcefCoord UsgsAstroLsSensorModel::imageToGround( const csm::ImageCoord& image_pt,
double height,
double desired_precision,
double* achieved_precision,
csm::WarningList* warnings) const
{
MESSAGE_LOG(m_logger, "Computing imageToGround for {}, {}, {}, with desired precision {}",
image_pt.line, image_pt.samp, height, desired_precision);
double xc, yc, zc;
double vx, vy, vz;
double xl, yl, zl;
double dxl, dyl, dzl;
losToEcf(
image_pt.line, image_pt.samp, _no_adjustment,
xc, yc, zc, vx, vy, vz, xl, yl, zl);
double aPrec;
double x, y, z;
losEllipsoidIntersect(
height, xc, yc, zc, xl, yl, zl, x, y, z, aPrec, desired_precision);
if (achieved_precision)
*achieved_precision = aPrec;
if (warnings && (desired_precision > 0.0) && (aPrec > desired_precision))
{
warnings->push_back(
csm::Warning(
csm::Warning::PRECISION_NOT_MET,
"Desired precision not achieved.",
"UsgsAstroLsSensorModel::imageToGround()"));
}
/*
MESSAGE_LOG(m_logger, "imageToGround for {} {} {} achieved precision {}",
image_pt.line, image_pt.samp, height, achieved_precision)
*/
return csm::EcefCoord(x, y, z);
}
//***************************************************************************
// UsgsAstroLineScannerSensorModel::determineSensorCovarianceInImageSpace
//***************************************************************************
void UsgsAstroLsSensorModel::determineSensorCovarianceInImageSpace(
csm::EcefCoord &gp,
double sensor_cov[4] ) const
{
MESSAGE_LOG(m_logger, "Calculating determineSensorCovarianceInImageSpace for {} {} {}",
gp.x, gp.y, gp.z)
int i, j, totalAdjParams;
totalAdjParams = getNumParameters();
std::vector<csm::RasterGM::SensorPartials> sensor_partials = computeAllSensorPartials(gp);
sensor_cov[0] = 0.0;
sensor_cov[1] = 0.0;
sensor_cov[2] = 0.0;
sensor_cov[3] = 0.0;
for (i = 0; i < totalAdjParams; i++)
{
for (j = 0; j < totalAdjParams; j++)
{
sensor_cov[0] += sensor_partials[i].first * getParameterCovariance(i, j) * sensor_partials[j].first;
sensor_cov[1] += sensor_partials[i].second * getParameterCovariance(i, j) * sensor_partials[j].first;
sensor_cov[2] += sensor_partials[i].first * getParameterCovariance(i, j) * sensor_partials[j].second; sensor_cov[3] += sensor_partials[i].second * getParameterCovariance(i, j) * sensor_partials[j].second;
}
}
}
//***************************************************************************
// UsgsAstroLsSensorModel::imageToGround
//***************************************************************************
csm::EcefCoordCovar UsgsAstroLsSensorModel::imageToGround(
const csm::ImageCoordCovar& image_pt,
double height,
double heightVariance,
double desired_precision,
double* achieved_precision,
csm::WarningList* warnings) const
{
MESSAGE_LOG(m_logger, "Calculating imageToGround (with error propagation) for {}, {}, {} with height varinace {} and desired precision {}",
image_pt.line, image_pt.samp, height, heightVariance, desired_precision)
// Image to ground with error propagation
// Use numerical partials
const double DELTA_IMAGE = 1.0;
const double DELTA_GROUND = m_gsd;
csm::ImageCoord ip(image_pt.line, image_pt.samp);
csm::EcefCoord gp = imageToGround(
ip, height, desired_precision, achieved_precision, warnings);
// Compute numerical partials xyz wrt to lsh
ip.line = image_pt.line + DELTA_IMAGE;
ip.samp = image_pt.samp;
csm::EcefCoord gpl = imageToGround(ip, height, desired_precision);
double xpl = (gpl.x - gp.x) / DELTA_IMAGE;
double ypl = (gpl.y - gp.y) / DELTA_IMAGE;
double zpl = (gpl.z - gp.z) / DELTA_IMAGE;
ip.line = image_pt.line;
ip.samp = image_pt.samp + DELTA_IMAGE;
csm::EcefCoord gps = imageToGround(ip, height, desired_precision);
double xps = (gps.x - gp.x) / DELTA_IMAGE;
double yps = (gps.y - gp.y) / DELTA_IMAGE;
double zps = (gps.z - gp.z) / DELTA_IMAGE;
ip.line = image_pt.line;
ip.samp = image_pt.samp; // +DELTA_IMAGE;
csm::EcefCoord gph = imageToGround(ip, height + DELTA_GROUND, desired_precision);
double xph = (gph.x - gp.x) / DELTA_GROUND;
double yph = (gph.y - gp.y) / DELTA_GROUND;
double zph = (gph.z - gp.z) / DELTA_GROUND;
// Convert sensor covariance to image space
double sCov[4];
determineSensorCovarianceInImageSpace(gp, sCov);
std::vector<double> unmod = getUnmodeledError(image_pt);
double iCov[4];
iCov[0] = image_pt.covariance[0] + sCov[0] + unmod[0];
iCov[1] = image_pt.covariance[1] + sCov[1] + unmod[1];
iCov[2] = image_pt.covariance[2] + sCov[2] + unmod[2];
iCov[3] = image_pt.covariance[3] + sCov[3] + unmod[3];
// Temporary matrix product
double t00, t01, t02, t10, t11, t12, t20, t21, t22;
t00 = xpl * iCov[0] + xps * iCov[2];
t01 = xpl * iCov[1] + xps * iCov[3];
t02 = xph * heightVariance;
t10 = ypl * iCov[0] + yps * iCov[2];
t11 = ypl * iCov[1] + yps * iCov[3]; t12 = yph * heightVariance;
t20 = zpl * iCov[0] + zps * iCov[2];
t21 = zpl * iCov[1] + zps * iCov[3];
t22 = zph * heightVariance;
// Ground covariance
csm::EcefCoordCovar result;
result.x = gp.x;
result.y = gp.y;
result.z = gp.z;
result.covariance[0] = t00 * xpl + t01 * xps + t02 * xph;
result.covariance[1] = t00 * ypl + t01 * yps + t02 * yph;
result.covariance[2] = t00 * zpl + t01 * zps + t02 * zph;
result.covariance[3] = t10 * xpl + t11 * xps + t12 * xph;
result.covariance[4] = t10 * ypl + t11 * yps + t12 * yph;
result.covariance[5] = t10 * zpl + t11 * zps + t12 * zph;
result.covariance[6] = t20 * xpl + t21 * xps + t22 * xph;
result.covariance[7] = t20 * ypl + t21 * yps + t22 * yph;
result.covariance[8] = t20 * zpl + t21 * zps + t22 * zph;
return result;
}
//***************************************************************************
// UsgsAstroLsSensorModel::imageToProximateImagingLocus
//***************************************************************************
csm::EcefLocus UsgsAstroLsSensorModel::imageToProximateImagingLocus(
const csm::ImageCoord& image_pt,
const csm::EcefCoord& ground_pt,
double desired_precision,
double* achieved_precision,
csm::WarningList* warnings) const
{
MESSAGE_LOG(m_logger, "Computing imageToProximateImagingLocus (ground {}, {}, {}) for image point {}, {} with desired precision {}",
ground_pt.x, ground_pt.y, ground_pt.z, image_pt.line, image_pt.samp, desired_precision);
// Object ray unit direction near given ground location
const double DELTA_GROUND = m_gsd;
double x = ground_pt.x;
double y = ground_pt.y;
double z = ground_pt.z;
// Elevation at input ground point
double height, aPrec;
computeElevation(x, y, z, height, aPrec, desired_precision);
// Ground point on object ray with the same elevation
csm::EcefCoord gp1 = imageToGround(
image_pt, height, desired_precision, achieved_precision);
// Vector between 2 ground points above
double dx1 = x - gp1.x;
double dy1 = y - gp1.y;
double dz1 = z - gp1.z;
// Unit vector along object ray
csm::EcefCoord gp2 = imageToGround(
image_pt, height - DELTA_GROUND, desired_precision, achieved_precision);
double dx2 = gp2.x - gp1.x;
double dy2 = gp2.y - gp1.y;
double dz2 = gp2.z - gp1.z;
double mag2 = sqrt(dx2 * dx2 + dy2 * dy2 + dz2 * dz2);
dx2 /= mag2;
dy2 /= mag2;
dz2 /= mag2;
// Point on object ray perpendicular to input point
// Locus
csm::EcefLocus locus;
double scale = dx1 * dx2 + dy1 * dy2 + dz1 * dz2;
gp2.x = gp1.x + scale * dx2;
gp2.y = gp1.y + scale * dy2;
gp2.z = gp1.z + scale * dz2;
double hLocus;
computeElevation(gp2.x, gp2.y, gp2.z, hLocus, aPrec, desired_precision);
locus.point = imageToGround(
image_pt, hLocus, desired_precision, achieved_precision, warnings);
locus.direction.x = dx2;
locus.direction.y = dy2;
locus.direction.z = dz2;
return locus;
}
//***************************************************************************
// UsgsAstroLsSensorModel::imageToRemoteImagingLocus
//***************************************************************************
csm::EcefLocus UsgsAstroLsSensorModel::imageToRemoteImagingLocus(
const csm::ImageCoord& image_pt,
double desired_precision,
double* achieved_precision,
csm::WarningList* warnings) const
{
MESSAGE_LOG(m_logger, "Calculating imageToRemoteImagingLocus for point {}, {} with desired precision {}",
image_pt.line, image_pt.samp, desired_precision)
double vx, vy, vz;
csm::EcefLocus locus;
losToEcf(
image_pt.line, image_pt.samp, _no_adjustment,
locus.point.x, locus.point.y, locus.point.z,
vx, vy, vz,
locus.direction.x, locus.direction.y, locus.direction.z);
// losToEcf computes the negative look vector, so negate it
locus.direction.x = -locus.direction.x;
locus.direction.y = -locus.direction.y;
locus.direction.z = -locus.direction.z;
return locus;
}
//---------------------------------------------------------------------------
// Uncertainty Propagation
//---------------------------------------------------------------------------
//***************************************************************************
// UsgsAstroLsSensorModel::computeGroundPartials
//***************************************************************************
std::vector<double> UsgsAstroLsSensorModel::computeGroundPartials(
const csm::EcefCoord& ground_pt) const
{
MESSAGE_LOG(m_logger, "Computing computeGroundPartials for point {}, {}, {}",
ground_pt.x, ground_pt.y, ground_pt.z)
double GND_DELTA = m_gsd;
// Partial of line, sample wrt X, Y, Z
double x = ground_pt.x;
double y = ground_pt.y;
double z = ground_pt.z;
csm::ImageCoord ipB = groundToImage(ground_pt);
csm::ImageCoord ipX = groundToImage(csm::EcefCoord(x + GND_DELTA, y, z));
csm::ImageCoord ipY = groundToImage(csm::EcefCoord(x, y + GND_DELTA, z)); csm::ImageCoord ipZ = groundToImage(csm::EcefCoord(x, y, z + GND_DELTA));
std::vector<double> partials(6, 0.0);
partials[0] = (ipX.line - ipB.line) / GND_DELTA;
partials[3] = (ipX.samp - ipB.samp) / GND_DELTA;
partials[1] = (ipY.line - ipB.line) / GND_DELTA;
partials[4] = (ipY.samp - ipB.samp) / GND_DELTA;
partials[2] = (ipZ.line - ipB.line) / GND_DELTA;
partials[5] = (ipZ.samp - ipB.samp) / GND_DELTA;
return partials;
}
//***************************************************************************
// UsgsAstroLsSensorModel::computeSensorPartials
//***************************************************************************
csm::RasterGM::SensorPartials UsgsAstroLsSensorModel::computeSensorPartials(
int index,
const csm::EcefCoord& ground_pt,
double desired_precision,
double* achieved_precision,
csm::WarningList* warnings) const
{
MESSAGE_LOG(m_logger, "Calculating computeSensorPartials for ground point {}, {}, {} with desired precision {}",
ground_pt.x, ground_pt.y, ground_pt.z, desired_precision)
// Compute image coordinate first
csm::ImageCoord img_pt = groundToImage(
ground_pt, desired_precision, achieved_precision);
// Call overloaded function
return computeSensorPartials(
index, img_pt, ground_pt, desired_precision, achieved_precision, warnings);
}
//***************************************************************************
// UsgsAstroLsSensorModel::computeSensorPartials
//***************************************************************************
csm::RasterGM::SensorPartials UsgsAstroLsSensorModel::computeSensorPartials(
int index,
const csm::ImageCoord& image_pt,
const csm::EcefCoord& ground_pt,
double desired_precision,
double* achieved_precision,
csm::WarningList* warnings) const
{
MESSAGE_LOG(m_logger, "Calculating computeSensorPartials (with image points {}, {}) for ground point {}, {}, {} with desired precision {}",
image_pt.line, image_pt.samp, ground_pt.x, ground_pt.y, ground_pt.z, desired_precision)
// Compute numerical partials ls wrt specific parameter
const double DELTA = m_gsd;
std::vector<double> adj(UsgsAstroLsSensorModel::NUM_PARAMETERS, 0.0);
adj[index] = DELTA;
csm::ImageCoord img1 = groundToImage(
ground_pt, adj, desired_precision, achieved_precision, warnings);
double line_partial = (img1.line - image_pt.line) / DELTA;
double sample_partial = (img1.samp - image_pt.samp) / DELTA;
return csm::RasterGM::SensorPartials(line_partial, sample_partial);
}
//***************************************************************************
// UsgsAstroLsSensorModel::computeAllSensorPartials
//***************************************************************************std::vector<csm::RasterGM::SensorPartials>
UsgsAstroLsSensorModel::computeAllSensorPartials(
const csm::EcefCoord& ground_pt,
csm::param::Set pSet,
double desired_precision,
double* achieved_precision,
csm::WarningList* warnings) const
{
MESSAGE_LOG(m_logger, "Computing computeAllSensorPartials for ground point {}, {}, {} with desired precision {}",
ground_pt.x, ground_pt.y, ground_pt.z, desired_precision)
csm::ImageCoord image_pt = groundToImage(
ground_pt, desired_precision, achieved_precision, warnings);
return computeAllSensorPartials(
image_pt, ground_pt, pSet, desired_precision, achieved_precision, warnings);
}
//***************************************************************************
// UsgsAstroLsSensorModel::computeAllSensorPartials
//***************************************************************************
std::vector<csm::RasterGM::SensorPartials>
UsgsAstroLsSensorModel::computeAllSensorPartials(
const csm::ImageCoord& image_pt,
const csm::EcefCoord& ground_pt,
csm::param::Set pSet,
double desired_precision,
double* achieved_precision,
csm::WarningList* warnings) const
{
MESSAGE_LOG(m_logger, "Computing computeAllSensorPartials for image {} {} and ground {}, {}, {} with desired precision {}",
image_pt.line, image_pt.samp, ground_pt.x, ground_pt.y, ground_pt.z, desired_precision)
std::vector<int> indices = getParameterSetIndices(pSet);
size_t num = indices.size();
std::vector<csm::RasterGM::SensorPartials> partials;
for (int index = 0; index < num; index++)
{
partials.push_back(
computeSensorPartials(
indices[index], image_pt, ground_pt,
desired_precision, achieved_precision, warnings));
}
return partials;
}
//***************************************************************************
// UsgsAstroLsSensorModel::getParameterCovariance
//***************************************************************************
double UsgsAstroLsSensorModel::getParameterCovariance(
int index1,
int index2) const
{
int index = UsgsAstroLsSensorModel::NUM_PARAMETERS * index1 + index2;
MESSAGE_LOG(m_logger, "getParameterCovariance for {} {} is {}",
index1, index2, m_covariance[index])
return m_covariance[index];
}
//***************************************************************************
// UsgsAstroLsSensorModel::setParameterCovariance
//***************************************************************************
void UsgsAstroLsSensorModel::setParameterCovariance(
int index1,
int index2,
double covariance)
{ int index = UsgsAstroLsSensorModel::NUM_PARAMETERS * index1 + index2;
MESSAGE_LOG(m_logger, "setParameterCovariance for {} {} is {}",
index1, index2, m_covariance[index])
m_covariance[index] = covariance;
}
//---------------------------------------------------------------------------
// Time and Trajectory
//---------------------------------------------------------------------------
//***************************************************************************
// UsgsAstroLsSensorModel::getTrajectoryIdentifier
//***************************************************************************
std::string UsgsAstroLsSensorModel::getTrajectoryIdentifier() const
{
return "UNKNOWN";
}
//***************************************************************************
// UsgsAstroLsSensorModel::getReferenceDateAndTime
//***************************************************************************
std::string UsgsAstroLsSensorModel::getReferenceDateAndTime() const
{
throw csm::Error(
csm::Error::UNSUPPORTED_FUNCTION,
"Unsupported function",
"UsgsAstroLsSensorModel::getReferenceDateAndTime");
}
//***************************************************************************
// UsgsAstroLsSensorModel::getImageTime
//***************************************************************************
double UsgsAstroLsSensorModel::getImageTime(
const csm::ImageCoord& image_pt) const
{
// Flip image taken backwards
double line1 = image_pt.line;
// CSM image convention: UL pixel center == (0.5, 0.5)
// USGS image convention: UL pixel center == (1.0, 1.0)
double lineCSMFull = line1;
double lineUSGSFull = floor(lineCSMFull) + 0.5;
// These calculation assumes that the values in the integration time
// vectors are in terms of ISIS' pixels
auto referenceLineIt = std::upper_bound(m_intTimeLines.begin(),
m_intTimeLines.end(),
lineUSGSFull);
if (referenceLineIt != m_intTimeLines.begin()) {
--referenceLineIt;
}
size_t referenceIndex = std::distance(m_intTimeLines.begin(), referenceLineIt);
double time = m_intTimeStartTimes[referenceIndex]
+ m_intTimes[referenceIndex] * (lineUSGSFull - m_intTimeLines[referenceIndex]);
MESSAGE_LOG(m_logger, "getImageTime for image line {} is {}",
image_pt.line, time)
return time;
}
//***************************************************************************
// UsgsAstroLsSensorModel::getSensorPosition
//***************************************************************************csm::EcefCoord UsgsAstroLsSensorModel::getSensorPosition(
const csm::ImageCoord& imagePt) const
{
MESSAGE_LOG(m_logger, "getSensorPosition at line {}",
imagePt.line)
return getSensorPosition(getImageTime(imagePt));
}
//***************************************************************************
// UsgsAstroLsSensorModel::getSensorPosition
//***************************************************************************
csm::EcefCoord UsgsAstroLsSensorModel::getSensorPosition(double time) const
{
double x, y, z, vx, vy, vz;
getAdjSensorPosVel(time, _no_adjustment, x, y, z, vx, vy, vz);
MESSAGE_LOG(m_logger, "getSensorPosition at {}",
time)
return csm::EcefCoord(x, y, z);
}
//***************************************************************************
// UsgsAstroLsSensorModel::getSensorVelocity
//***************************************************************************
csm::EcefVector UsgsAstroLsSensorModel::getSensorVelocity(
const csm::ImageCoord& imagePt) const
{
MESSAGE_LOG(m_logger, "getSensorVelocity at {}",
imagePt.line)
return getSensorVelocity(getImageTime(imagePt));
}
//***************************************************************************
// UsgsAstroLsSensorModel::getSensorVelocity
//***************************************************************************
csm::EcefVector UsgsAstroLsSensorModel::getSensorVelocity(double time) const
{
double x, y, z, vx, vy, vz;
getAdjSensorPosVel(time, _no_adjustment, x, y, z, vx, vy, vz);
MESSAGE_LOG(m_logger, "getSensorVelocity at {}",
time)
return csm::EcefVector(vx, vy, vz);
}
//---------------------------------------------------------------------------
// Sensor Model Parameters
//---------------------------------------------------------------------------
//***************************************************************************
// UsgsAstroLsSensorModel::setParameterValue
//***************************************************************************
void UsgsAstroLsSensorModel::setParameterValue(int index, double value)
{
m_currentParameterValue[index] = value;
}
//***************************************************************************
// UsgsAstroLsSensorModel::getParameterValue
//***************************************************************************
double UsgsAstroLsSensorModel::getParameterValue(int index) const
{
return m_currentParameterValue[index];
}
//***************************************************************************// UsgsAstroLsSensorModel::getParameterName
//***************************************************************************
std::string UsgsAstroLsSensorModel::getParameterName(int index) const
{
return PARAMETER_NAME[index];
}
std::string UsgsAstroLsSensorModel::getParameterUnits(int index) const
{
// All parameters are meters or scaled to meters
return "m";
}
//***************************************************************************
// UsgsAstroLsSensorModel::getNumParameters
//***************************************************************************
int UsgsAstroLsSensorModel::getNumParameters() const
{
return UsgsAstroLsSensorModel::NUM_PARAMETERS;
}
//***************************************************************************
// UsgsAstroLsSensorModel::getParameterType
//***************************************************************************
csm::param::Type UsgsAstroLsSensorModel::getParameterType(int index) const
{
return m_parameterType[index];
}
//***************************************************************************
// UsgsAstroLsSensorModel::setParameterType
//***************************************************************************
void UsgsAstroLsSensorModel::setParameterType(
int index, csm::param::Type pType)
{
m_parameterType[index] = pType;
}
//---------------------------------------------------------------------------
// Sensor Model Information
//---------------------------------------------------------------------------
//***************************************************************************
// UsgsAstroLsSensorModel::getPedigree
//***************************************************************************
std::string UsgsAstroLsSensorModel::getPedigree() const
{
return "USGS_LINE_SCANNER";
}
//***************************************************************************
// UsgsAstroLsSensorModel::getImageIdentifier
//***************************************************************************
std::string UsgsAstroLsSensorModel::getImageIdentifier() const
{
return m_imageIdentifier;
}
//***************************************************************************
// UsgsAstroLsSensorModel::setImageIdentifier
//***************************************************************************
void UsgsAstroLsSensorModel::setImageIdentifier(
const std::string& imageId,
csm::WarningList* warnings)
{
// Image id should include the suffix without the path name
m_imageIdentifier = imageId;}
//***************************************************************************
// UsgsAstroLsSensorModel::getSensorIdentifier
//***************************************************************************
std::string UsgsAstroLsSensorModel::getSensorIdentifier() const
{
return m_sensorIdentifier;
}
//***************************************************************************
// UsgsAstroLsSensorModel::getPlatformIdentifier
//***************************************************************************
std::string UsgsAstroLsSensorModel::getPlatformIdentifier() const
{
return m_platformIdentifier;
}
//***************************************************************************
// UsgsAstroLsSensorModel::setReferencePoint
//***************************************************************************
void UsgsAstroLsSensorModel::setReferencePoint(const csm::EcefCoord& ground_pt)
{
m_referencePointXyz = ground_pt;
}
//***************************************************************************
// UsgsAstroLsSensorModel::getReferencePoint
//***************************************************************************
csm::EcefCoord UsgsAstroLsSensorModel::getReferencePoint() const
{
// Return ground point at image center
return m_referencePointXyz;
}
//***************************************************************************
// UsgsAstroLsSensorModel::getSensorModelName
//***************************************************************************
std::string UsgsAstroLsSensorModel::getModelName() const
{
return UsgsAstroLsSensorModel::_SENSOR_MODEL_NAME;
}
//***************************************************************************
// UsgsAstroLsSensorModel::getImageStart
//***************************************************************************
csm::ImageCoord UsgsAstroLsSensorModel::getImageStart() const
{
return csm::ImageCoord(0.0, 0.0);
}
//***************************************************************************
// UsgsAstroLsSensorModel::getImageSize
//***************************************************************************
csm::ImageVector UsgsAstroLsSensorModel::getImageSize() const
{
return csm::ImageVector(m_nLines, m_nSamples);
}
//---------------------------------------------------------------------------
// Sensor Model State
//---------------------------------------------------------------------------
//
// //***************************************************************************
// // UsgsAstroLsSensorModel::getSensorModelState
// //***************************************************************************
// std::string UsgsAstroLsSensorModel::setModelState(std::string stateString) const
// {
// auto j = json::parse(stateString);
// int num_params = NUM_PARAMETERS;// int num_paramsSq = num_params * num_params;
//
// m_imageIdentifier = j["m_imageIdentifier"];
// m_sensorName = j["m_sensorName"];
// m_nLines = j["m_nLines"];
// m_nSamples = j["m_nSamples"];
// m_platformFlag = j["m_platformFlag"];
// m_intTimeLines = j["m_intTimeLines"].get<std::vector<double>>();
// m_intTimeStartTimes = j["m_intTimeStartTimes"].get<std::vector<double>>();
// m_intTimes = j["m_intTimes"].get<std::vector<double>>();
// m_startingEphemerisTime = j["m_startingEphemerisTime"];
// m_centerEphemerisTime = j["m_centerEphemerisTime"];
// m_detectorSampleSumming = j["m_detectorSampleSumming"];
// m_startingSample = j["m_startingSample"];
// m_ikCode = j["m_ikCode"];
// m_focalLength = j["m_focalLength"];
// m_isisZDirection = j["m_isisZDirection"];
// for (int i = 0; i < 3; i++) {
// m_opticalDistCoef[i] = j["m_opticalDistCoef"][i];
// m_iTransS[i] = j["m_iTransS"][i];
// m_iTransL[i] = j["m_iTransL"][i];
// }
// m_detectorSampleOrigin = j["m_detectorSampleOrigin"];
// m_detectorLineOrigin = j["m_detectorLineOrigin"];
// for (int i = 0; i < 9; i++) {
// m_mountingMatrix[i] = j["m_mountingMatrix"][i];
// }
// m_majorAxis = j["m_majorAxis"];
// m_minorAxis = j["m_minorAxis"];
// m_platformIdentifier = j["m_platformIdentifier"];
// m_sensorIdentifier = j["m_sensorIdentifier"];
// m_minElevation = j["m_minElevation"];
// m_maxElevation = j["m_maxElevation"];
// m_dtEphem = j["m_dtEphem"];
// m_t0Ephem = j["m_t0Ephem"];
// m_dtQuat = j["m_dtQuat"];
// m_t0Quat = j["m_t0Quat"];
// m_numPositions = j["m_numPositions"];
// m_numQuaternions = j["m_numQuaternions"];
// m_referencePointXyz.x = j["m_referencePointXyz"][0];
// m_referencePointXyz.y = j["m_referencePointXyz"][1];
// m_referencePointXyz.z = j["m_referencePointXyz"][2];
// m_gsd = j["m_gsd"];
// m_flyingHeight = j["m_flyingHeight"];
// m_halfSwath = j["m_halfSwath"];
// m_halfTime = j["m_halfTime"];
// // Vector = is overloaded so explicit get with type required.
// m_positions = j["m_positions"].get<std::vector<double>>();
// m_velocities = j["m_velocities"].get<std::vector<double>>();
// m_quaternions = j["m_quaternions"].get<std::vector<double>>();
// m_currentParameterValue = j["m_currentParameterValue"].get<std::vector<double>>();
// m_covariance = j["m_covariance"].get<std::vector<double>>();
//
// for (int i = 0; i < num_params; i++) {
// for (int k = 0; k < NUM_PARAM_TYPES; k++) {
// if (j["m_parameterType"][i] == PARAM_STRING_ALL[k]) {
// m_parameterType[i] = PARAM_CHAR_ALL[k];
// break;
// }
// }
// }
//
// }
//---------------------------------------------------------------------------
// Monoscopic Mensuration
//---------------------------------------------------------------------------
//***************************************************************************
// UsgsAstroLsSensorModel::getValidHeightRange//***************************************************************************
std::pair<double, double> UsgsAstroLsSensorModel::getValidHeightRange() const
{
return std::pair<double, double>(m_minElevation, m_maxElevation);
}
//***************************************************************************
// UsgsAstroLsSensorModel::getValidImageRange
//***************************************************************************
std::pair<csm::ImageCoord, csm::ImageCoord>
UsgsAstroLsSensorModel::getValidImageRange() const
{
return std::pair<csm::ImageCoord, csm::ImageCoord>(
csm::ImageCoord(0.0, 0.0),
csm::ImageCoord(m_nLines, m_nSamples));
}
//***************************************************************************
// UsgsAstroLsSensorModel::getIlluminationDirection
//***************************************************************************
csm::EcefVector UsgsAstroLsSensorModel::getIlluminationDirection(
const csm::EcefCoord& groundPt) const
{
MESSAGE_LOG(m_logger, "Accessing illimination direction of ground point"
"{} {} {}."
"Illimination direction is not supported, throwing exception",
groundPt.x, groundPt.y, groundPt.z);
throw csm::Error(
csm::Error::UNSUPPORTED_FUNCTION,
"Unsupported function",
"UsgsAstroLsSensorModel::getIlluminationDirection");
}
//---------------------------------------------------------------------------
// Error Correction
//---------------------------------------------------------------------------
//***************************************************************************
// UsgsAstroLsSensorModel::getNumGeometricCorrectionSwitches
//***************************************************************************
int UsgsAstroLsSensorModel::getNumGeometricCorrectionSwitches() const
{
return 0;
}
//***************************************************************************
// UsgsAstroLsSensorModel::getGeometricCorrectionName
//***************************************************************************
std::string UsgsAstroLsSensorModel::getGeometricCorrectionName(int index) const
{
MESSAGE_LOG(m_logger, "Accessing name of geometric correction switch {}. "
"Geometric correction switches are not supported, throwing exception",
index);
// Since there are no geometric corrections, all indices are out of range
throw csm::Error(
csm::Error::INDEX_OUT_OF_RANGE,
"Index is out of range.",
"UsgsAstroLsSensorModel::getGeometricCorrectionName");
}
//***************************************************************************
// UsgsAstroLsSensorModel::setGeometricCorrectionSwitch
//***************************************************************************
void UsgsAstroLsSensorModel::setGeometricCorrectionSwitch(
int index,
bool value,
csm::param::Type pType)
{
MESSAGE_LOG(m_logger, "Setting geometric correction switch {} to {} " "with parameter type {}. "
"Geometric correction switches are not supported, throwing exception",
index, value, pType);
// Since there are no geometric corrections, all indices are out of range
throw csm::Error(
csm::Error::INDEX_OUT_OF_RANGE,
"Index is out of range.",
"UsgsAstroLsSensorModel::setGeometricCorrectionSwitch");
}
//***************************************************************************
// UsgsAstroLsSensorModel::getGeometricCorrectionSwitch
//***************************************************************************
bool UsgsAstroLsSensorModel::getGeometricCorrectionSwitch(int index) const
{
MESSAGE_LOG(m_logger, "Accessing value of geometric correction switch {}. "
"Geometric correction switches are not supported, throwing exception",
index);
// Since there are no geometric corrections, all indices are out of range
throw csm::Error(
csm::Error::INDEX_OUT_OF_RANGE,
"Index is out of range.",
"UsgsAstroLsSensorModel::getGeometricCorrectionSwitch");
}
//***************************************************************************
// UsgsAstroLsSensorModel::getCrossCovarianceMatrix
//***************************************************************************
std::vector<double> UsgsAstroLsSensorModel::getCrossCovarianceMatrix(
const csm::GeometricModel& comparisonModel,
csm::param::Set pSet,
const csm::GeometricModel::GeometricModelList& otherModels) const
{
// No correlation between models.
const std::vector<int>& indices = getParameterSetIndices(pSet);
size_t num_rows = indices.size();
const std::vector<int>& indices2 = comparisonModel.getParameterSetIndices(pSet);
size_t num_cols = indices.size();
return std::vector<double>(num_rows * num_cols, 0.0);
}
//***************************************************************************
// UsgsAstroLineScannerSensorModel::getCorrelationModel
//***************************************************************************
const csm::CorrelationModel&
UsgsAstroLsSensorModel::getCorrelationModel() const
{
// All Line Scanner images are assumed uncorrelated
return _no_corr_model;
}
//***************************************************************************
// UsgsAstroLsSensorModel::getUnmodeledCrossCovariance
//***************************************************************************
std::vector<double> UsgsAstroLsSensorModel::getUnmodeledCrossCovariance(
const csm::ImageCoord& pt1,
const csm::ImageCoord& pt2) const
{
// No unmodeled error
return std::vector<double>(4, 0.0);
}
//***************************************************************************
// UsgsAstroLsSensorModel::getCollectionIdentifier
//***************************************************************************
std::string UsgsAstroLsSensorModel::getCollectionIdentifier() const
{
return "UNKNOWN";}
//***************************************************************************
// UsgsAstroLsSensorModel::hasShareableParameters
//***************************************************************************
bool UsgsAstroLsSensorModel::hasShareableParameters() const
{
// Parameter sharing is not supported for this sensor
return false;
}
//***************************************************************************
// UsgsAstroLsSensorModel::isParameterShareable
//***************************************************************************
bool UsgsAstroLsSensorModel::isParameterShareable(int index) const
{
// Parameter sharing is not supported for this sensor
return false;
}
//***************************************************************************
// UsgsAstroLsSensorModel::getParameterSharingCriteria
//***************************************************************************
csm::SharingCriteria UsgsAstroLsSensorModel::getParameterSharingCriteria(
int index) const
{
MESSAGE_LOG(m_logger, "Checking sharing criteria for parameter {}. "
"Sharing is not supported, throwing exception", index);
// Parameter sharing is not supported for this sensor,
// all indices are out of range
throw csm::Error(
csm::Error::INDEX_OUT_OF_RANGE,
"Index out of range.",
"UsgsAstroLsSensorModel::getParameterSharingCriteria");
}
//***************************************************************************
// UsgsAstroLsSensorModel::getSensorType
//***************************************************************************
std::string UsgsAstroLsSensorModel::getSensorType() const
{
return CSM_SENSOR_TYPE_EO;
}
//***************************************************************************
// UsgsAstroLsSensorModel::getSensorMode
//***************************************************************************
std::string UsgsAstroLsSensorModel::getSensorMode() const
{
return CSM_SENSOR_MODE_PB;
}
//***************************************************************************
// UsgsAstroLsSensorModel::getVersion
//***************************************************************************
csm::Version UsgsAstroLsSensorModel::getVersion() const
{
return csm::Version(1, 0, 0);
}
//***************************************************************************
// UsgsAstroLineScannerSensorModel::getEllipsoid
//***************************************************************************
csm::Ellipsoid UsgsAstroLsSensorModel::getEllipsoid() const
{
return csm::Ellipsoid(m_majorAxis, m_minorAxis);
}
void UsgsAstroLsSensorModel::setEllipsoid(
const csm::Ellipsoid &ellipsoid){
m_majorAxis = ellipsoid.getSemiMajorRadius();
m_minorAxis = ellipsoid.getSemiMinorRadius();
}
//***************************************************************************
// UsgsAstroLineScannerSensorModel::getValue
//***************************************************************************
double UsgsAstroLsSensorModel::getValue(
int index,
const std::vector<double> &adjustments) const
{
return m_currentParameterValue[index] + adjustments[index];
}
//***************************************************************************
// Functions pulled out of losToEcf and computeViewingPixel
// **************************************************************************
void UsgsAstroLsSensorModel::getQuaternions(const double& time, double q[4]) const{
int nOrder = 8;
if (m_platformFlag == 0)
nOrder = 4;
int nOrderQuat = nOrder;
if (m_numQuaternions < 6 && nOrder == 8)
nOrderQuat = 4;
MESSAGE_LOG(m_logger, "Calculating getQuaternions for time {} with {}"
"order lagrange",
time, nOrder)
lagrangeInterp(
m_numQuaternions/4, &m_quaternions[0], m_t0Quat, m_dtQuat, time, 4, nOrderQuat, q);
}
//***************************************************************************
// UsgsAstroLineScannerSensorModel::calculateAttitudeCorrection
//***************************************************************************
void UsgsAstroLsSensorModel::calculateAttitudeCorrection(
const double& time,
const std::vector<double>& adj,
double attCorr[9]) const
{
MESSAGE_LOG(m_logger, "Computing calculateAttitudeCorrection (with adjustment)"
"for time {}", time)
double aTime = time - m_t0Quat;
double euler[3];
double nTime = aTime / m_halfTime;
double nTime2 = nTime * nTime;
euler[0] =
(getValue(6, adj) + getValue(9, adj)* nTime + getValue(12, adj)* nTime2) / m_flyingHeight;
euler[1] =
(getValue(7, adj) + getValue(10, adj)* nTime + getValue(13, adj)* nTime2) / m_flyingHeight;
euler[2] =
(getValue(8, adj) + getValue(11, adj)* nTime + getValue(14, adj)* nTime2) / m_halfSwath;
MESSAGE_LOG(m_logger, "calculateAttitudeCorrection: euler {} {} {}",
euler[0], euler[1], euler[2])
calculateRotationMatrixFromEuler(euler, attCorr);
}
//***************************************************************************
// UsgsAstroLsSensorModel::losToEcf
//***************************************************************************
void UsgsAstroLsSensorModel::losToEcf(
const double& line, // CSM image convention
const double& sample, // UL pixel center == (0.5, 0.5)
const std::vector<double>& adj, // Parameter Adjustments for partials
double& xc, // output sensor x coordinate
double& yc, // output sensor y coordinate double& zc, // output sensor z coordinate
double& vx, // output sensor x velocity
double& vy, // output sensor y velocity
double& vz, // output sensor z velocity
double& bodyLookX, // output line-of-sight x coordinate
double& bodyLookY, // output line-of-sight y coordinate
double& bodyLookZ) const // output line-of-sight z coordinate
{
//# private_func_description
// Computes image ray (look vector) in ecf coordinate system.
// Compute adjusted sensor position and velocity
MESSAGE_LOG(m_logger, "Computing losToEcf (with adjustments) for"
"line {} sample {}",
line, sample)
double time = getImageTime(csm::ImageCoord(line, sample));
getAdjSensorPosVel(time, adj, xc, yc, zc, vx, vy, vz);
// CSM image image convention: UL pixel center == (0.5, 0.5)
// USGS image convention: UL pixel center == (1.0, 1.0)
double sampleCSMFull = sample;
double sampleUSGSFull = sampleCSMFull;
double fractionalLine = line - floor(line);
// Compute distorted image coordinates in mm (sample, line on image (pixels) -> focal plane
double distortedFocalPlaneX, distortedFocalPlaneY;
computeDistortedFocalPlaneCoordinates(
fractionalLine, sampleUSGSFull,
m_detectorSampleOrigin, m_detectorLineOrigin,
m_detectorSampleSumming, 1.0,
m_startingSample, 0.0,
m_iTransS, m_iTransL,
distortedFocalPlaneX, distortedFocalPlaneY);
// Remove lens
double undistortedFocalPlaneX, undistortedFocalPlaneY;
removeDistortion(distortedFocalPlaneX, distortedFocalPlaneY,
undistortedFocalPlaneX, undistortedFocalPlaneY,
m_opticalDistCoeffs,
m_distortionType);
// Define imaging ray (look vector) in camera space
double cameraLook[3];
createCameraLookVector(undistortedFocalPlaneX, undistortedFocalPlaneY, m_zDirection, m_focalLength, cameraLook);
// Apply attitude correction
double attCorr[9];
calculateAttitudeCorrection(time, adj, attCorr);
double correctedCameraLook[3];
correctedCameraLook[0] = attCorr[0] * cameraLook[0]
+ attCorr[1] * cameraLook[1]
+ attCorr[2] * cameraLook[2];
correctedCameraLook[1] = attCorr[3] * cameraLook[0]
+ attCorr[4] * cameraLook[1]
+ attCorr[5] * cameraLook[2];
correctedCameraLook[2] = attCorr[6] * cameraLook[0]
+ attCorr[7] * cameraLook[1]
+ attCorr[8] * cameraLook[2];
MESSAGE_LOG(m_logger, "losToEcf: corrected camera look vector {} {} {}",
correctedCameraLook[0], correctedCameraLook[1],
correctedCameraLook[2])
// Rotate the look vector into the body fixed frame from the camera reference frame by applying the rotation matrix from the sensor quaternions
double quaternions[4];
getQuaternions(time, quaternions);
double cameraToBody[9];
calculateRotationMatrixFromQuaternions(quaternions, cameraToBody);
bodyLookX = cameraToBody[0] * correctedCameraLook[0]
+ cameraToBody[1] * correctedCameraLook[1]
+ cameraToBody[2] * correctedCameraLook[2]; bodyLookY = cameraToBody[3] * correctedCameraLook[0]
+ cameraToBody[4] * correctedCameraLook[1]
+ cameraToBody[5] * correctedCameraLook[2];
bodyLookZ = cameraToBody[6] * correctedCameraLook[0]
+ cameraToBody[7] * correctedCameraLook[1]
+ cameraToBody[8] * correctedCameraLook[2];
MESSAGE_LOG(m_logger, "losToEcf: body look vector {} {} {}",
bodyLookX, bodyLookY, bodyLookZ)
}
//***************************************************************************
// UsgsAstroLsSensorModel::lightAberrationCorr
//**************************************************************************
void UsgsAstroLsSensorModel::lightAberrationCorr(
const double& vx,
const double& vy,
const double& vz,
const double& xl,
const double& yl,
const double& zl,
double& dxl,
double& dyl,
double& dzl) const
{
MESSAGE_LOG(m_logger, "Computing lightAberrationCorr for camera velocity"
"{} {} {} and image ray {} {} {}",
vx, vy, vz, xl, yl, zl)
//# func_description
// Computes light aberration correction vector
// Compute angle between the image ray and the velocity vector
double dotP = xl * vx + yl * vy + zl * vz;
double losMag = sqrt(xl * xl + yl * yl + zl * zl);
double velocityMag = sqrt(vx * vx + vy * vy + vz * vz);
double cosThetap = dotP / (losMag * velocityMag);
double sinThetap = sqrt(1.0 - cosThetap * cosThetap);
// Image ray is parallel to the velocity vector
if (1.0 == fabs(cosThetap))
{
dxl = 0.0;
dyl = 0.0;
dzl = 0.0;
MESSAGE_LOG(m_logger, "lightAberrationCorr: image ray is parallel"
"to velocity vector")
}
// Compute the angle between the corrected image ray and spacecraft
// velocity. This key equation is derived using Lorentz transform.
double speedOfLight = 299792458.0; // meters per second
double beta = velocityMag / speedOfLight;
double cosTheta = (beta - cosThetap) / (beta * cosThetap - 1.0);
double sinTheta = sqrt(1.0 - cosTheta * cosTheta);
// Compute line-of-sight correction
double cfac = ((cosTheta * sinThetap
- sinTheta * cosThetap) * losMag)
/ (sinTheta * velocityMag);
dxl = cfac * vx;
dyl = cfac * vy;
dzl = cfac * vz;
MESSAGE_LOG(m_logger, "lightAberrationCorr: light of sight correction"
"{} {} {}", dxl, dyl, dzl)
}
//***************************************************************************
// UsgsAstroLsSensorModel::computeElevation
//***************************************************************************
void UsgsAstroLsSensorModel::computeElevation(
const double& x,
const double& y,
const double& z,
double& height,
double& achieved_precision,
const double& desired_precision) const
{
MESSAGE_LOG(m_logger, "Calculating computeElevation for {} {} {}"
"with desired precision {}",
x, y, z, desired_precision)
// Compute elevation given xyz
// Requires semi-major-axis and eccentricity-square
const int MKTR = 10;
double ecc_sqr = 1.0 - m_minorAxis * m_minorAxis / m_majorAxis / m_majorAxis;
double ep2 = 1.0 - ecc_sqr;
double d2 = x * x + y * y;
double d = sqrt(d2);
double h = 0.0;
int ktr = 0;
double hPrev, r;
// Suited for points near equator
if (d >= z)
{
double tt, zz, n;
double tanPhi = z / d;
do
{
hPrev = h;
tt = tanPhi * tanPhi;
r = m_majorAxis / sqrt(1.0 + ep2 * tt);
zz = z + r * ecc_sqr * tanPhi;
n = r * sqrt(1.0 + tt);
h = sqrt(d2 + zz * zz) - n;
tanPhi = zz / d;
ktr++;
} while (MKTR > ktr && fabs(h - hPrev) > desired_precision);
MESSAGE_LOG(m_logger, "computeElevation: point is near equator")
}
// Suited for points near the poles
else
{
double cc, dd, nn;
double cotPhi = d / z;
do
{
hPrev = h;
cc = cotPhi * cotPhi;
r = m_majorAxis / sqrt(ep2 + cc);
dd = d - r * ecc_sqr * cotPhi;
nn = r * sqrt(1.0 + cc) * ep2;
h = sqrt(dd * dd + z * z) - nn;
cotPhi = dd / z;
ktr++;
} while (MKTR > ktr && fabs(h - hPrev) > desired_precision);
MESSAGE_LOG(m_logger, "computeElevation: point is near poles")
}
height = h;
achieved_precision = fabs(h - hPrev);
MESSAGE_LOG(m_logger, "computeElevation: height {} with achieved"
"precision of {}",
height, achieved_precision)
}
//***************************************************************************
// UsgsAstroLsSensorModel::losEllipsoidIntersect
//**************************************************************************
void UsgsAstroLsSensorModel::losEllipsoidIntersect(
const double& height,
const double& xc,
const double& yc,
const double& zc,
const double& xl,
const double& yl,
const double& zl,
double& x,
double& y,
double& z,
double& achieved_precision,
const double& desired_precision) const
{
MESSAGE_LOG(m_logger, "Computing losEllipsoidIntersect for camera position"
"{} {} {} looking {} {} {} with desired precision"
"{}",
xc, yc, zc, xl, yl, zl, desired_precision)
// Helper function which computes the intersection of the image ray
// with the ellipsoid. All vectors are in earth-centered-fixed
// coordinate system with origin at the center of the earth.
const int MKTR = 10;
double ap, bp, k;
ap = m_majorAxis + height;
bp = m_minorAxis + height;
k = ap * ap / (bp * bp);
// Solve quadratic equation for scale factor
// applied to image ray to compute ground point
double at, bt, ct, quadTerm;
at = xl * xl + yl * yl + k * zl * zl;
bt = 2.0 * (xl * xc + yl * yc + k * zl * zc);
ct = xc * xc + yc * yc + k * zc * zc - ap * ap;
quadTerm = bt * bt - 4.0 * at * ct;
// If quadTerm is negative, the image ray does not
// intersect the ellipsoid. Setting the quadTerm to
// zero means solving for a point on the ray nearest
// the surface of the ellisoid.
if (0.0 > quadTerm)
{
quadTerm = 0.0;
}
double scale, scale1, h, slope;
double sprev, hprev;
double aPrec, sTerm;
int ktr = 0;
// Compute ground point vector
sTerm = sqrt(quadTerm);
scale = (-bt - sTerm);
scale1 = (-bt + sTerm);
if (fabs(scale1) < fabs(scale))
scale = scale1;
scale /= (2.0 * at);
x = xc + scale * xl;
y = yc + scale * yl;
z = zc + scale * zl;
computeElevation(x, y, z, h, aPrec, desired_precision);
slope = -1;
achieved_precision = fabs(height - h);
MESSAGE_LOG(m_logger, "losEllipsoidIntersect: found intersect at {} {} {}"
"with achieved precision of {}",
x, y, z, achieved_precision)
}
//***************************************************************************
// UsgsAstroLsSensorModel::losPlaneIntersect
//**************************************************************************
void UsgsAstroLsSensorModel::losPlaneIntersect(
const double& xc, // input: camera x coordinate
const double& yc, // input: camera y coordinate
const double& zc, // input: camera z coordinate
const double& xl, // input: component x image ray
const double& yl, // input: component y image ray
const double& zl, // input: component z image ray
double& x, // input/output: ground x coordinate
double& y, // input/output: ground y coordinate
double& z, // input/output: ground z coordinate
int& mode) const // input: -1 fixed component to be computed
// 0(X), 1(Y), or 2(Z) fixed
// output: 0(X), 1(Y), or 2(Z) fixed
{
MESSAGE_LOG(m_logger, "Calculating losPlaneIntersect for camera position"
"{} {} {} and image ray {} {} {}",
xc, yc, zc, xl, yl, zl)
//# func_description
// Computes 2 of the 3 coordinates of a ground point given the 3rd
// coordinate. The 3rd coordinate that is held fixed corresponds
// to the largest absolute component of the image ray.
// Define fixed or largest component
if (-1 == mode)
{
if (fabs(xl) > fabs(yl) && fabs(xl) > fabs(zl))
{
mode = 0;
}
else if (fabs(yl) > fabs(xl) && fabs(yl) > fabs(zl))
{
mode = 1;
}
else
{
mode = 2;
}
}
MESSAGE_LOG(m_logger, "losPlaneIntersect: largest/fixed image ray component"
"{} (1-x, 2-y, 3-z)", mode)
// X is the fixed or largest component
if (0 == mode)
{
y = yc + (x - xc) * yl / xl;
z = zc + (x - xc) * zl / xl;
}
// Y is the fixed or largest component
else if (1 == mode)
{
x = xc + (y - yc) * xl / yl;
z = zc + (y - yc) * zl / yl;
}
// Z is the fixed or largest component
else
{ x = xc + (z - zc) * xl / zl;
y = yc + (z - zc) * yl / zl;
}
MESSAGE_LOG(m_logger, "ground coordinate {} {} {}", x, y, z)
}
//***************************************************************************
// UsgsAstroLsSensorModel::imageToPlane
//***************************************************************************
void UsgsAstroLsSensorModel::imageToPlane(
const double& line, // CSM Origin UL corner of UL pixel
const double& sample, // CSM Origin UL corner of UL pixel
const double& height,
const std::vector<double> &adj,
double& x,
double& y,
double& z,
int& mode) const
{
MESSAGE_LOG(m_logger, "Computing imageToPlane")
//# func_description
// Computes ground coordinates by intersecting image ray with
// a plane perpendicular to the coordinate axis with the largest
// image ray component. This routine is primarily called by
// groundToImage().
// *** Computes camera position and image ray in ecf cs.
double xc, yc, zc;
double vx, vy, vz;
double xl, yl, zl;
double dxl, dyl, dzl;
losToEcf(line, sample, adj, xc, yc, zc, vx, vy, vz, xl, yl, zl);
losPlaneIntersect(xc, yc, zc, xl, yl, zl, x, y, z, mode);
}
//***************************************************************************
// UsgsAstroLineScannerSensorModel::getAdjSensorPosVel
//***************************************************************************
void UsgsAstroLsSensorModel::getAdjSensorPosVel(
const double& time,
const std::vector<double> &adj,
double& xc,
double& yc,
double& zc,
double& vx,
double& vy,
double& vz) const
{
MESSAGE_LOG(m_logger, "Calculating getAdjSensorPosVel at time {}",
time)
// Sensor position and velocity (4th or 8th order Lagrange).
int nOrder = 8;
if (m_platformFlag == 0)
nOrder = 4;
double sensPosNom[3];
lagrangeInterp(m_numPositions/3, &m_positions[0], m_t0Ephem, m_dtEphem,
time, 3, nOrder, sensPosNom);
double sensVelNom[3];
lagrangeInterp(m_numPositions/3, &m_velocities[0], m_t0Ephem, m_dtEphem,
time, 3, nOrder, sensVelNom);
MESSAGE_LOG(m_logger, "getAdjSensorPosVel: using {} order Lagrange",
nOrder)
// Compute rotation matrix from ICR to ECF
double radialUnitVec[3];
double radMag = sqrt(sensPosNom[0] * sensPosNom[0] + sensPosNom[1] * sensPosNom[1] +
sensPosNom[2] * sensPosNom[2]);
for (int i = 0; i < 3; i++)
radialUnitVec[i] = sensPosNom[i] / radMag;
double crossTrackUnitVec[3];
crossTrackUnitVec[0] = sensPosNom[1] * sensVelNom[2]
- sensPosNom[2] * sensVelNom[1];
crossTrackUnitVec[1] = sensPosNom[2] * sensVelNom[0]
- sensPosNom[0] * sensVelNom[2];
crossTrackUnitVec[2] = sensPosNom[0] * sensVelNom[1]
- sensPosNom[1] * sensVelNom[0];
double crossMag = sqrt(crossTrackUnitVec[0] * crossTrackUnitVec[0] +
crossTrackUnitVec[1] * crossTrackUnitVec[1] +
crossTrackUnitVec[2] * crossTrackUnitVec[2]);
for (int i = 0; i < 3; i++)
crossTrackUnitVec[i] /= crossMag;
double inTrackUnitVec[3];
inTrackUnitVec[0] = crossTrackUnitVec[1] * radialUnitVec[2]
- crossTrackUnitVec[2] * radialUnitVec[1];
inTrackUnitVec[1] = crossTrackUnitVec[2] * radialUnitVec[0]
- crossTrackUnitVec[0] * radialUnitVec[2];
inTrackUnitVec[2] = crossTrackUnitVec[0] * radialUnitVec[1]
- crossTrackUnitVec[1] * radialUnitVec[0];
double ecfFromIcr[9];
ecfFromIcr[0] = inTrackUnitVec[0];
ecfFromIcr[1] = crossTrackUnitVec[0];
ecfFromIcr[2] = radialUnitVec[0];
ecfFromIcr[3] = inTrackUnitVec[1];
ecfFromIcr[4] = crossTrackUnitVec[1];
ecfFromIcr[5] = radialUnitVec[1];
ecfFromIcr[6] = inTrackUnitVec[2];
ecfFromIcr[7] = crossTrackUnitVec[2];
ecfFromIcr[8] = radialUnitVec[2];
// Apply position and velocity corrections
double aTime = time - m_t0Ephem;
double dvi = getValue(3, adj) / m_halfTime;
double dvc = getValue(4, adj) / m_halfTime;
double dvr = getValue(5, adj) / m_halfTime;
vx = sensVelNom[0]
+ ecfFromIcr[0] * dvi + ecfFromIcr[1] * dvc + ecfFromIcr[2] * dvr;
vy = sensVelNom[1]
+ ecfFromIcr[3] * dvi + ecfFromIcr[4] * dvc + ecfFromIcr[5] * dvr;
vz = sensVelNom[2]
+ ecfFromIcr[6] * dvi + ecfFromIcr[7] * dvc + ecfFromIcr[8] * dvr;
double di = getValue(0, adj) + dvi * aTime;
double dc = getValue(1, adj) + dvc * aTime;
double dr = getValue(2, adj) + dvr * aTime;
xc = sensPosNom[0]
+ ecfFromIcr[0] * di + ecfFromIcr[1] * dc + ecfFromIcr[2] * dr;
yc = sensPosNom[1]
+ ecfFromIcr[3] * di + ecfFromIcr[4] * dc + ecfFromIcr[5] * dr;
zc = sensPosNom[2]
+ ecfFromIcr[6] * di + ecfFromIcr[7] * dc + ecfFromIcr[8] * dr;
MESSAGE_LOG(m_logger, "getAdjSensorPosVel: postition {} {} {}"
"and velocity {} {} {}",
xc, yc, zc, vx, vy, vz)
}
//***************************************************************************
// UsgsAstroLineScannerSensorModel::computeViewingPixel
//***************************************************************************
csm::ImageCoord UsgsAstroLsSensorModel::computeViewingPixel(
const double& time,
const csm::EcefCoord& groundPoint,
const std::vector<double>& adj,
const double& desiredPrecision) const
{ MESSAGE_LOG(m_logger, "Computing computeViewingPixel (with adjusments)"
"for ground point {} {} {} at time {} ",
groundPoint.x, groundPoint.y, groundPoint.z, time)
// Helper function to compute the CCD pixel that views a ground point based
// on the exterior orientation at a given time.
// Get the exterior orientation
double xc, yc, zc, vx, vy, vz;
getAdjSensorPosVel(time, adj, xc, yc, zc, vx, vy, vz);
// Compute the look vector
double bodyLookX = groundPoint.x - xc;
double bodyLookY = groundPoint.y - yc;
double bodyLookZ = groundPoint.z - zc;
MESSAGE_LOG(m_logger, "computeViewingPixel: look vector {} {} {}",
bodyLookX, bodyLookY, bodyLookZ)
// Rotate the look vector into the camera reference frame
double quaternions[4];
getQuaternions(time, quaternions);
double bodyToCamera[9];
calculateRotationMatrixFromQuaternions(quaternions, bodyToCamera);
// Apply transpose of matrix to rotate body->camera
double cameraLookX = bodyToCamera[0] * bodyLookX
+ bodyToCamera[3] * bodyLookY
+ bodyToCamera[6] * bodyLookZ;
double cameraLookY = bodyToCamera[1] * bodyLookX
+ bodyToCamera[4] * bodyLookY
+ bodyToCamera[7] * bodyLookZ;
double cameraLookZ = bodyToCamera[2] * bodyLookX
+ bodyToCamera[5] * bodyLookY
+ bodyToCamera[8] * bodyLookZ;
MESSAGE_LOG(m_logger, "computeViewingPixel: look vector (camrea ref frame)"
"{} {} {}",
cameraLookX, cameraLookY, cameraLookZ)
// Invert the attitude correction
double attCorr[9];
calculateAttitudeCorrection(time, adj, attCorr);
// Apply transpose of matrix to invert the attidue correction
double adjustedLookX = attCorr[0] * cameraLookX
+ attCorr[3] * cameraLookY
+ attCorr[6] * cameraLookZ;
double adjustedLookY = attCorr[1] * cameraLookX
+ attCorr[4] * cameraLookY
+ attCorr[7] * cameraLookZ;
double adjustedLookZ = attCorr[2] * cameraLookX
+ attCorr[5] * cameraLookY
+ attCorr[8] * cameraLookZ;
MESSAGE_LOG(m_logger, "computeViewingPixel: adjusted look vector"
"{} {} {}",
adjustedLookX, adjustedLookY, adjustedLookZ)
// Convert to focal plane coordinate
double lookScale = m_focalLength / adjustedLookZ;
double focalX = adjustedLookX * lookScale;
double focalY = adjustedLookY * lookScale;
double distortedFocalX, distortedFocalY;
MESSAGE_LOG(m_logger, "computeViewingPixel: focal plane coordinates"
"x:{} y:{} scale:{}",
focalX, focalY, lookScale)
// Invert distortion
applyDistortion(focalX, focalY, distortedFocalX, distortedFocalY,
m_opticalDistCoeffs, m_distortionType, desiredPrecision);
// Convert to detector line and sample double detectorLine = m_iTransL[0]
+ m_iTransL[1] * distortedFocalX
+ m_iTransL[2] * distortedFocalY;
double detectorSample = m_iTransS[0]
+ m_iTransS[1] * distortedFocalX
+ m_iTransS[2] * distortedFocalY;
// Convert to image sample line
double line = detectorLine + m_detectorLineOrigin;
double sample = (detectorSample + m_detectorSampleOrigin - m_startingSample)
/ m_detectorSampleSumming;
MESSAGE_LOG(m_logger, "computeViewingPixel: image line sample {} {}",
line, sample)
return csm::ImageCoord(line, sample);
}
//***************************************************************************
// UsgsAstroLineScannerSensorModel::computeLinearApproximation
//***************************************************************************
void UsgsAstroLsSensorModel::computeLinearApproximation(
const csm::EcefCoord &gp,
csm::ImageCoord &ip) const
{
if (_linear)
{
ip.line = _u0 + _du_dx * gp.x + _du_dy * gp.y + _du_dz * gp.z;
ip.samp = _v0 + _dv_dx * gp.x + _dv_dy * gp.y + _dv_dz * gp.z;
// Since this is valid only over image,
// don't let result go beyond the image border.
double numRows = m_nLines;
double numCols = m_nSamples;
if (ip.line < 0.0) ip.line = 0.0;
if (ip.line > numRows) ip.line = numRows;
if (ip.samp < 0.0) ip.samp = 0.0;
if (ip.samp > numCols) ip.samp = numCols;
MESSAGE_LOG(m_logger, "Computing computeLinearApproximation"
"with linear approximation")
}
else
{
ip.line = m_nLines / 2.0;
ip.samp = m_nSamples / 2.0;
MESSAGE_LOG(m_logger, "Computing computeLinearApproximation"
"nonlinear approx line/2 and sample/2")
}
}
//***************************************************************************
// UsgsAstroLineScannerSensorModel::setLinearApproximation
//***************************************************************************
void UsgsAstroLsSensorModel::setLinearApproximation()
{
MESSAGE_LOG(m_logger, "Calculating setLinearApproximation")
double u_factors[4] = { 0.0, 0.0, 1.0, 1.0 };
double v_factors[4] = { 0.0, 1.0, 0.0, 1.0 };
csm::EcefCoord refPt = getReferencePoint();
double height, aPrec;
double desired_precision = 0.01;
computeElevation(refPt.x, refPt.y, refPt.z, height, aPrec, desired_precision);
if (isnan(height))
{
MESSAGE_LOG(m_logger, "setLinearApproximation: computeElevation of"
"reference point {} {} {} with desired precision" "{} returned nan height; nonlinear",
refPt.x, refPt.y, refPt.z, desired_precision)
_linear = false;
return;
}
MESSAGE_LOG(m_logger, "setLinearApproximation: computeElevation of"
"reference point {} {} {} with desired precision"
"{} returned {} height",
refPt.x, refPt.y, refPt.z, desired_precision, height)
double numRows = m_nLines;
double numCols = m_nSamples;
csm::ImageCoord imagePt;
csm::EcefCoord gp[8];
int i;
for (i = 0; i < 4; i++)
{
imagePt.line = u_factors[i] * numRows;
imagePt.samp = v_factors[i] * numCols;
gp[i] = imageToGround(imagePt, height);
}
double delz = 100.0;
height += delz;
for (i = 0; i < 4; i++)
{
imagePt.line = u_factors[i] * numRows;
imagePt.samp = v_factors[i] * numCols;
gp[i + 4] = imageToGround(imagePt, height);
}
csm::EcefCoord d_du;
d_du.x = (
(gp[2].x + gp[3].x + gp[6].x + gp[7].x) -
(gp[0].x + gp[1].x + gp[4].x + gp[5].x)) / numRows / 4.0;
d_du.y = (
(gp[2].y + gp[3].y + gp[6].y + gp[7].y) -
(gp[0].y + gp[1].y + gp[4].y + gp[5].y)) / numRows / 4.0;
d_du.z = (
(gp[2].z + gp[3].z + gp[6].z + gp[7].z) -
(gp[0].z + gp[1].z + gp[4].z + gp[5].z)) / numRows / 4.0;
csm::EcefCoord d_dv;
d_dv.x = (
(gp[1].x + gp[3].x + gp[5].x + gp[7].x) -
(gp[0].x + gp[2].x + gp[4].x + gp[6].x)) / numCols / 4.0;
d_dv.y = (
(gp[1].y + gp[3].y + gp[5].y + gp[7].y) -
(gp[0].y + gp[2].y + gp[4].y + gp[6].y)) / numCols / 4.0;
d_dv.z = (
(gp[1].z + gp[3].z + gp[5].z + gp[7].z) -
(gp[0].z + gp[2].z + gp[4].z + gp[6].z)) / numCols / 4.0;
double mat3x3[9];
mat3x3[0] = d_du.x;
mat3x3[1] = d_dv.x;
mat3x3[2] = 1.0;
mat3x3[3] = d_du.y;
mat3x3[4] = d_dv.y;
mat3x3[5] = 1.0;
mat3x3[6] = d_du.z;
mat3x3[7] = d_dv.z;
mat3x3[8] = 1.0;
double denom = determinant3x3(mat3x3);
if (fabs(denom) < 1.0e-8) // can not get derivatives this way {
MESSAGE_LOG(m_logger, "setLinearApproximation: determinant3x3 of"
"matrix of partials is {}; nonlinear",
denom)
_linear = false;
return;
}
mat3x3[0] = 1.0;
mat3x3[3] = 0.0;
mat3x3[6] = 0.0;
_du_dx = determinant3x3(mat3x3) / denom;
mat3x3[0] = 0.0;
mat3x3[3] = 1.0;
mat3x3[6] = 0.0;
_du_dy = determinant3x3(mat3x3) / denom;
mat3x3[0] = 0.0;
mat3x3[3] = 0.0;
mat3x3[6] = 1.0;
_du_dz = determinant3x3(mat3x3) / denom;
mat3x3[0] = d_du.x;
mat3x3[3] = d_du.y;
mat3x3[6] = d_du.z;
mat3x3[1] = 1.0;
mat3x3[4] = 0.0;
mat3x3[7] = 0.0;
_dv_dx = determinant3x3(mat3x3) / denom;
mat3x3[1] = 0.0;
mat3x3[4] = 1.0;
mat3x3[7] = 0.0;
_dv_dy = determinant3x3(mat3x3) / denom;
mat3x3[1] = 0.0;
mat3x3[4] = 0.0;
mat3x3[7] = 1.0;
_dv_dz = determinant3x3(mat3x3) / denom;
_u0 = -gp[0].x * _du_dx - gp[0].y * _du_dy - gp[0].z * _du_dz;
_v0 = -gp[0].x * _dv_dx - gp[0].y * _dv_dy - gp[0].z * _dv_dz;
_linear = true;
MESSAGE_LOG(m_logger, "Completed setLinearApproximation")
}
//***************************************************************************
// UsgsAstroLineScannerSensorModel::determinant3x3
//***************************************************************************
double UsgsAstroLsSensorModel::determinant3x3(double mat[9]) const
{
return
mat[0] * (mat[4] * mat[8] - mat[7] * mat[5]) -
mat[1] * (mat[3] * mat[8] - mat[6] * mat[5]) +
mat[2] * (mat[3] * mat[7] - mat[6] * mat[4]);
}
//***************************************************************************
// UsgsAstroLineScannerSensorModel::constructStateFromIsd
//***************************************************************************
std::string UsgsAstroLsSensorModel::constructStateFromIsd(const std::string imageSupportData, csm::WarningList *warnings) const
{
MESSAGE_LOG(m_logger, "Constructing state from Isd")
// Instantiate UsgsAstroLineScanner sensor model
json isd = json::parse(imageSupportData);
json state = {};
csm::WarningList* parsingWarnings = new csm::WarningList;
int num_params = NUM_PARAMETERS;
state["m_modelName"] = getSensorModelName(isd, parsingWarnings);
state["m_imageIdentifier"] = getImageId(isd, parsingWarnings);
state["m_sensorName"] = getSensorName(isd, parsingWarnings);
state["m_platformName"] = getPlatformName(isd, parsingWarnings);
MESSAGE_LOG(m_logger, "m_modelName: {} "
"m_imageIdentifier: {} "
"m_sensorName: {} "
"m_platformName: {} ",
state["m_modelName"].dump(),
state["m_imageIdentifier"].dump(),
state["m_sensorName"].dump(),
state["m_platformName"].dump())
state["m_focalLength"] = getFocalLength(isd, parsingWarnings);
MESSAGE_LOG(m_logger, "m_focalLength: {} ", state["m_focalLength"].dump())
state["m_nLines"] = getTotalLines(isd, parsingWarnings);
state["m_nSamples"] = getTotalSamples(isd, parsingWarnings);
MESSAGE_LOG(m_logger, "m_nLines: {} "
"m_nSamples: {} ",
state["m_nLines"].dump(), state["m_nSamples"].dump())
state["m_iTransS"] = getFocal2PixelSamples(isd, parsingWarnings);
state["m_iTransL"] = getFocal2PixelLines(isd, parsingWarnings);
MESSAGE_LOG(m_logger, "m_iTransS: {} "
"m_iTransL: {} ",
state["m_iTransS"].dump(), state["m_iTransL"].dump())
state["m_platformFlag"] = 1;
state["m_ikCode"] = 0;
state["m_zDirection"] = 1;
MESSAGE_LOG(m_logger, "m_platformFlag: {} "
"m_ikCode: {} "
"m_zDirection: {} ",
state["m_platformFlag"].dump(), state["m_ikCode"].dump(),
state["m_zDirection"].dump())
state["m_distortionType"] = getDistortionModel(isd, parsingWarnings);
state["m_opticalDistCoeffs"] = getDistortionCoeffs(isd, parsingWarnings);
MESSAGE_LOG(m_logger, "m_distortionType: {} "
"m_opticalDistCoeffs: {} ",
state["m_distortionType"].dump(),
state["m_opticalDistCoeffs"].dump())
// Zero computed state values
state["m_referencePointXyz"] = std::vector<double>(3, 0.0);
MESSAGE_LOG(m_logger, "m_referencePointXyz: {} ",
state["m_referencePointXyz"].dump())
// leave these be for now.
state["m_gsd"] = 1.0;
state["m_flyingHeight"] = 1000.0;
state["m_halfSwath"] = 1000.0;
state["m_halfTime"] = 10.0;
MESSAGE_LOG(m_logger, "m_gsd: {} "
"m_flyingHeight: {} "
"m_halfSwath: {} "
"m_halfTime: {} ",
state["m_gsd"].dump(), state["m_flyingHeight"].dump(),
state["m_halfSwath"].dump(), state["m_halfTime"].dump())
state["m_centerEphemerisTime"] = getCenterTime(isd, parsingWarnings);
state["m_startingEphemerisTime"] = getStartingTime(isd, parsingWarnings);
MESSAGE_LOG(m_logger, "m_centerEphemerisTime: {} "
"m_startingEphemerisTime: {} ", state["m_centerEphemerisTime"].dump(),
state["m_startingEphemerisTime"].dump())
state["m_intTimeLines"] = getIntegrationStartLines(isd, parsingWarnings);
state["m_intTimeStartTimes"] = getIntegrationStartTimes(isd, parsingWarnings);
state["m_intTimes"] = getIntegrationTimes(isd, parsingWarnings);
MESSAGE_LOG(m_logger, "m_intTimeLines: {} "
"m_intTimeStartTimes: {} "
"m_intTimes: {} ",
state["m_intTimeLines"].dump(),
state["m_intTimeStartTimes"].dump(),
state["m_intTimes"].dump())
state["m_detectorSampleSumming"] = getSampleSumming(isd, parsingWarnings);
state["m_startingDetectorSample"] = getDetectorStartingSample(isd, parsingWarnings);
state["m_startingDetectorLine"] = getDetectorStartingLine(isd, parsingWarnings);
state["m_detectorSampleOrigin"] = getDetectorCenterSample(isd, parsingWarnings);
state["m_detectorLineOrigin"] = getDetectorCenterLine(isd, parsingWarnings);
MESSAGE_LOG(m_logger, "m_detectorSampleSumming: {} "
"m_startingDetectorSample: {} "
"m_startingDetectorLine: {} "
"m_detectorSampleOrigin: {} "
"m_detectorLineOrigin: {} ",
state["m_detectorSampleSumming"].dump(),
state["m_startingDetectorSample"].dump(),
state["m_startingDetectorLine"].dump(),
state["m_detectorSampleOrigin"].dump(),
state["m_detectorLineOrigin"].dump())
// These are exlusive to LineScanners, leave them here for now.
try {
state["m_dtEphem"] = isd.at("dt_ephemeris");
MESSAGE_LOG(m_logger, "m_dtEphem: {} ", state["m_dtEphem"].dump())
}
catch(...) {
parsingWarnings->push_back(
csm::Warning(
csm::Warning::DATA_NOT_AVAILABLE,
"dt_ephemeris not in ISD",
"UsgsAstroFrameSensorModel::constructStateFromIsd()"));
MESSAGE_LOG(m_logger, "m_dtEphem not in ISD")
}
try {
state["m_t0Ephem"] = isd.at("t0_ephemeris");
MESSAGE_LOG(m_logger, "t0_ephemeris: {}", state["m_t0Ephem"].dump())
}
catch(...) {
parsingWarnings->push_back(
csm::Warning(
csm::Warning::DATA_NOT_AVAILABLE,
"t0_ephemeris not in ISD",
"UsgsAstroFrameSensorModel::constructStateFromIsd()"));
MESSAGE_LOG(m_logger, "t0_ephemeris not in ISD")
}
try{
state["m_dtQuat"] = isd.at("dt_quaternion");
MESSAGE_LOG(m_logger, "dt_quaternion: {}", state["m_dtQuat"].dump())
}
catch(...) {
parsingWarnings->push_back(
csm::Warning(
csm::Warning::DATA_NOT_AVAILABLE,
"dt_quaternion not in ISD",
"UsgsAstroFrameSensorModel::constructStateFromIsd()"));
MESSAGE_LOG(m_logger, "dt_quaternion not in ISD")
}
try{ state["m_t0Quat"] = isd.at("t0_quaternion");
MESSAGE_LOG(m_logger, "m_t0Quat: {}", state["m_t0Quat"].dump())
}
catch(...) {
parsingWarnings->push_back(
csm::Warning(
csm::Warning::DATA_NOT_AVAILABLE,
"t0_quaternion not in ISD",
"UsgsAstroFrameSensorModel::constructStateFromIsd()"));
MESSAGE_LOG(m_logger, "t0_quaternion not in ISD")
}
std::vector<double> positions = getSensorPositions(isd, parsingWarnings);
state["m_positions"] = positions;
state["m_numPositions"] = positions.size();
MESSAGE_LOG(m_logger, "m_positions: {}"
"m_numPositions: {}",
state["m_positions"].dump(),
state["m_numPositions"].dump())
state["m_velocities"] = getSensorVelocities(isd, parsingWarnings);
MESSAGE_LOG(m_logger, "m_velocities: {}",
state["m_velocities"].dump())
std::vector<double> quaternions = getSensorOrientations(isd, parsingWarnings);
state["m_quaternions"] = quaternions;
state["m_numQuaternions"] = quaternions.size();
MESSAGE_LOG(m_logger, "m_quaternions: {}"
"m_numQuaternions: {}",
state["m_quaternions"].dump(),
state["m_numQuaternions"].dump())
state["m_currentParameterValue"] = std::vector<double>(NUM_PARAMETERS, 0.0);
MESSAGE_LOG(m_logger, "m_currentParameterValue: {}",
state["m_currentParameterValue"].dump())
// get radii
state["m_minorAxis"] = getSemiMinorRadius(isd, parsingWarnings);
state["m_majorAxis"] = getSemiMajorRadius(isd, parsingWarnings);
MESSAGE_LOG(m_logger, "m_minorAxis: {}"
"m_majorAxis: {}",
state["m_minorAxis"].dump(), state["m_majorAxis"].dump())
// set identifiers
state["m_platformIdentifier"] = getPlatformName(isd, parsingWarnings);
state["m_sensorIdentifier"] = getSensorName(isd, parsingWarnings);
MESSAGE_LOG(m_logger, "m_platformIdentifier: {}"
"m_sensorIdentifier: {}",
state["m_platformIdentifier"].dump(),
state["m_sensorIdentifier"].dump())
// get reference_height
state["m_minElevation"] = getMinHeight(isd, parsingWarnings);
state["m_maxElevation"] = getMaxHeight(isd, parsingWarnings);
MESSAGE_LOG(m_logger, "m_minElevation: {}"
"m_maxElevation: {}",
state["m_minElevation"].dump(),
state["m_maxElevation"].dump())
// Default to identity covariance
state["m_covariance"] =
std::vector<double>(NUM_PARAMETERS * NUM_PARAMETERS, 0.0);
for (int i = 0; i < NUM_PARAMETERS; i++) {
state["m_covariance"][i * NUM_PARAMETERS + i] = 1.0;
}
// Get the optional logging file
state["m_logFile"] = getLogFile(isd);
// The state data will still be updated when a sensor model is created since // some state data is notin the ISD and requires a SM to compute them.
return state.dump();
}
//***************************************************************************
// UsgsAstroLineScannerSensorModel::getLogger
//***************************************************************************
std::shared_ptr<spdlog::logger> UsgsAstroLsSensorModel::getLogger() {
// MESSAGE_LOG(m_logger, "Getting log pointer, logger is {}",
// m_logger)
return m_logger;
}
void UsgsAstroLsSensorModel::setLogger(std::shared_ptr<spdlog::logger> logger) {
m_logger = logger;
}