/** Copyright  © 2017-2022 BAE Systems Information and Electronic Systems Integration Inc.

Redistribution and use in source and binary forms, with or without modification, are permitted
provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this list of conditions
and the following disclaimer.

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conditions and the following disclaimer in the documentation and/or other materials provided
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endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR
IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
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#include "UsgsAstroLsSensorModel.h"
#include "Distortion.h"
#include "Utilities.h"
#include "EigenUtilities.h"

#include <float.h>
#include <math.h>
#include <algorithm>
#include <iostream>
#include <sstream>

#include <Error.h>
#include <nlohmann/json.hpp>

#include "ale/Util.h"

#define MESSAGE_LOG(...)         \
  if (m_logger) {                \
    m_logger->log(__VA_ARGS__); \
  }

using json = nlohmann::json;

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 - "In Track Position Bias" - a constant shift in the spacecraft's position parallel to the flight path 
    "CT Pos. Bias   ",  //  1 - "Cross Track Position Bias" - a constant shift in the spacecraft's position perpendicular to the flight path
    "Rad Pos. Bias  ",  //  2 - "Radial Position Bias" - a constant shift in the spacecraft's "vertical positioning," i.e. distance from the target
    "IT Vel. Bias   ",  //  3 - "In Track Velocity Bias" - a time-dependent linear shift in the spacecraft's position parallel to the flight path
    "CT Vel. Bias   ",  //  4 - "Cross Track Velocity Bias" - a time-dependent linear shift in the spacecraft's position perpendicular to the flight path
    "Rad Vel. Bias  ",  //  5 - "Radial Velocity Bias" - a time-dependent linear shift in the spacecraft's "vertical positioning," i.e. distance from the target
    "Omega Bias     ",  //  6 - The initial omega angle (analogous to "roll")
    "Phi Bias       ",  //  7 - The initial phi angle (analogous to "pitch")
    "Kappa Bias     ",  //  8 - The initial kappa angle (analogous to "yaw")
    "Omega Rate     ",  //  9 - An angular rate that allows the omega angle to vary linearly with time
    "Phi Rate       ",  // 10 - An angular rate that allows the phi angle to vary linearly with time
    "Kappa Rate     ",  // 11 - An angular rate that allows the kappa angle to vary linearly with time
    "Omega Accl     ",  // 12 - An angular acceleration that allows the omega angle to vary quadratically with respect to time
    "Phi Accl       ",  // 13 - An angular acceleration that allows the phi angle to vary quadratically with respect to time
    "Kappa Accl     ",  // 14 - An angular acceleration that allows the kappa angle to vary quadratically with respect to time
    "Focal Bias     "   // 15 - Estimated error of the camera's focal length
};

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_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_sunPosition",
    "m_sunVelocity",
    "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(spdlog::level::info, "Replacing model state")

  reset();
  auto j = stateAsJson(stateString);
  int num_params = NUM_PARAMETERS;

  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(
      spdlog::level::trace,
      "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_detectorLineSumming = j["m_detectorLineSumming"];
  m_startingDetectorSample = j["m_startingDetectorSample"];
  m_startingDetectorLine = j["m_startingDetectorLine"];
  m_ikCode = j["m_ikCode"];
  MESSAGE_LOG(
      spdlog::level::trace,
      "m_startingEphemerisTime: {} "
      "m_centerEphemerisTime: {} "
      "m_detectorSampleSumming: {} "
      "m_detectorLineSumming: {} "
      "m_startingDetectorSample: {} "
      "m_ikCode: {} ",
      j["m_startingEphemerisTime"].dump(), j["m_centerEphemerisTime"].dump(),
      j["m_detectorSampleSumming"].dump(), j["m_detectorLineSumming"].dump(),
      j["m_startingDetectorSample"].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(
      spdlog::level::trace,
      "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(
      spdlog::level::trace,
      "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(
      spdlog::level::trace,
      "m_platformIdentifier: {} "
      "m_sensorIdentifier: {} ",
      j["m_platformIdentifier"].dump(), j["m_sensorIdentifier"].dump())

  m_minElevation = j["m_minElevation"];
  m_maxElevation = j["m_maxElevation"];
  MESSAGE_LOG(
      spdlog::level::trace,
      "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(
      spdlog::level::trace,
      "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(
      spdlog::level::trace,
      "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(
      spdlog::level::trace,
      "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_sunPosition = j["m_sunPosition"].get<std::vector<double>>();
  m_sunVelocity = j["m_sunVelocity"].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;
      }
    }
  }

  // If computed state values are still default, then compute them
  if (m_gsd == 1.0 && m_flyingHeight == 1000.0) {
    updateState();
  }

  try {
    // Approximate the ground-to-image function with a projective transform
    createProjectiveApproximation();
  } catch (...) {
    m_useApproxInitTrans = false;
  }
}

//***************************************************************************
// UsgsAstroLineScannerSensorModel::getModelNameFromModelState
//***************************************************************************
std::string UsgsAstroLsSensorModel::getModelNameFromModelState(
    const std::string& model_state) {
  // Parse the string to JSON
  auto j = stateAsJson(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(spdlog::level::info, "Running getModelState")

  json state;
  state["m_modelName"] = _SENSOR_MODEL_NAME;
  state["m_startingDetectorSample"] = m_startingDetectorSample;
  state["m_startingDetectorLine"] = m_startingDetectorLine;
  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(
      spdlog::level::trace,
      "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(
      spdlog::level::trace,
      "m_startingEphemerisTime: {} "
      "m_centerEphemerisTime: {} ",
      m_startingEphemerisTime, m_centerEphemerisTime)

  state["m_detectorSampleSumming"] = m_detectorSampleSumming;
  state["m_detectorLineSumming"] = m_detectorLineSumming;
  state["m_startingDetectorSample"] = m_startingDetectorSample;
  state["m_ikCode"] = m_ikCode;
  MESSAGE_LOG(
      spdlog::level::trace,
      "m_detectorSampleSumming: {} "
      "m_detectorLineSumming: {} "
      "m_startingDetectorSample: {} "
      "m_ikCode: {} ",
      m_detectorSampleSumming, m_detectorLineSumming, m_startingDetectorSample,
      m_ikCode)

  state["m_focalLength"] = m_focalLength;
  state["m_zDirection"] = m_zDirection;
  state["m_distortionType"] = m_distortionType;
  state["m_opticalDistCoeffs"] = m_opticalDistCoeffs;
  MESSAGE_LOG(
      spdlog::level::trace,
      "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(
      spdlog::level::trace,
      "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(
      spdlog::level::trace,
      "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(
      spdlog::level::trace,
      "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(
      spdlog::level::trace,
      "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(
      spdlog::level::trace,
      "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(
      spdlog::level::trace,
      "m_referencePointXyz: {} "
      "m_referencePointXyz: {} "
      "m_referencePointXyz: {} ",
      m_referencePointXyz.x, m_referencePointXyz.y, m_referencePointXyz.z)

  state["m_sunPosition"] = m_sunPosition;
  MESSAGE_LOG(spdlog::level::trace, "num sun positions: {} ", m_sunPosition.size())

  state["m_sunVelocity"] = m_sunVelocity;
  MESSAGE_LOG(spdlog::level::trace, "num sun velocities: {} ", m_sunVelocity.size());

  // Use dump(2) to avoid creating the model string as a single long line
  std::string stateString = getModelName() + "\n" + state.dump(2);
  return stateString;
}

//***************************************************************************
// UsgsAstroLineScannerSensorModel::applyTransformToState
//***************************************************************************
void UsgsAstroLsSensorModel::applyTransformToState(ale::Rotation const& r, ale::Vec3d const& t,
                                                   std::string& stateString) {

  nlohmann::json j = stateAsJson(stateString);

  // Apply rotation to quaternions
  std::vector<double> quaternions = j["m_quaternions"].get<std::vector<double>>();
  applyRotationToQuatVec(r, quaternions);
  j["m_quaternions"] = quaternions;

  // Apply rotation and translation to positions
  std::vector<double> positions = j["m_positions"].get<std::vector<double>>();;
  applyRotationTranslationToXyzVec(r, t, positions);
  j["m_positions"] = positions;

  // Apply rotation to velocities. The translation does not get applied.
  ale::Vec3d zero_t(0, 0, 0);
  std::vector<double> velocities = j["m_velocities"].get<std::vector<double>>();;
  applyRotationTranslationToXyzVec(r, zero_t, velocities);
  j["m_velocities"] = velocities;

  // Apply the transform to the reference point
  std::vector<double> refPt = j["m_referencePointXyz"];
  applyRotationTranslationToXyzVec(r, t, refPt);
  j["m_referencePointXyz"] = refPt;

  // We do not change the Sun position or velocity. The idea is that
  // the Sun is so far, that minor camera adjustments won't affect
  // where the Sun is.

  // Update the state string
  stateString = getModelNameFromModelState(stateString) + "\n" + j.dump(2);
}

//***************************************************************************
// UsgsAstroLineScannerSensorModel::reset
//***************************************************************************
void UsgsAstroLsSensorModel::reset() {
  MESSAGE_LOG(spdlog::level::debug, "Running reset()")
  m_useApproxInitTrans = false;  // default until an initial approximation is found

  _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_detectorLineSumming = 1.0;
  m_startingDetectorSample = 1.0;  // 16
  m_startingDetectorLine   = 1.0;
  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_sunPosition = std::vector<double>(3, 0.0);
  m_sunVelocity = std::vector<double>(3, 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
}

//*****************************************************************************
// UsgsAstroLsSensorModel Constructor
//*****************************************************************************
UsgsAstroLsSensorModel::UsgsAstroLsSensorModel() {
  _no_adjustment.assign(UsgsAstroLsSensorModel::NUM_PARAMETERS, 0.0);
}

//*****************************************************************************
// UsgsAstroLsSensorModel Destructor
//*****************************************************************************
UsgsAstroLsSensorModel::~UsgsAstroLsSensorModel() {
  if (m_logger) {
    m_logger->flush();
  }
}

//*****************************************************************************
// 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(spdlog::level::debug, "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(
      spdlog::level::trace,
      "updateState: center image coordinate set to {} {}",
      lineCtr, sampCtr)

  double refHeight = 0;
  m_referencePointXyz = imageToGround(ip, refHeight);
  MESSAGE_LOG(
      spdlog::level::trace,
      "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(
      spdlog::level::trace,
      "updateState: ground sample distance set to {} "
      "based on dx {} dy {} dz {}",
      m_gsd, dx, dy, dz)

  // Compute the flying height. Use the center of the image, as for
  // m_referencePointXyz and m_gsd.
  ip = csm::ImageCoord(lineCtr, sampCtr);
  csm::EcefCoord sensorPos = getSensorPosition(ip);
  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(
      spdlog::level::trace,
      "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(spdlog::level::trace, "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(spdlog::level::trace, "updateState: half time duration set to {}", m_halfTime)

  // Parameter covariance, hardcoded accuracy values
  // hardcoded ~1 pixel accuracy values
  int num_params = NUM_PARAMETERS;
  double positionVariance = m_gsd * m_gsd;
  // parameter time is scaled to [0, 2]
  // so divide by 2 for velocities and 4 for accelerations
  double velocityVariance = positionVariance / 2.0;
  double accelerationVariance = positionVariance / 4.0;
  m_covariance.assign(num_params * num_params, 0.0);

  // Set position variances
  m_covariance[0] = positionVariance;
  m_covariance[num_params + 1] = positionVariance;
  m_covariance[2 * num_params + 2] = positionVariance;
  m_covariance[3 * num_params + 3] = velocityVariance;
  m_covariance[4 * num_params + 4] = velocityVariance;
  m_covariance[5 * num_params + 5] = velocityVariance;

  // Set orientation variances
  m_covariance[6 * num_params + 6] = positionVariance;
  m_covariance[7 * num_params + 7] = positionVariance;
  m_covariance[8 * num_params + 8] = positionVariance;
  m_covariance[9 * num_params + 9] = velocityVariance;
  m_covariance[10 * num_params + 10] = velocityVariance;
  m_covariance[11 * num_params + 11] = velocityVariance;
  m_covariance[12 * num_params + 12] = accelerationVariance;
  m_covariance[13 * num_params + 13] = accelerationVariance;
  m_covariance[14 * num_params + 14] = accelerationVariance;

  // Set focal length variance
  m_covariance[15 * num_params + 15] = positionVariance;
}

//---------------------------------------------------------------------------
// 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(
      spdlog::level::info,
      "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.
  csm::ImageCoord imagePt = UsgsAstroLsSensorModel::groundToImage(
      ground_pt, _no_adjustment, desired_precision, achieved_precision, warnings);
  MESSAGE_LOG(
      spdlog::level::info,
      "groundToImage result of ({}, {})",
      imagePt.line, imagePt.samp);
  return imagePt;
}

//***************************************************************************
// UsgsAstroLsSensorModel::groundToImage (internal version)
//***************************************************************************
csm::ImageCoord UsgsAstroLsSensorModel::groundToImage(
    const csm::EcefCoord& groundPt, const std::vector<double>& adj,
    double desiredPrecision, double* achievedPrecision,
    csm::WarningList* warnings) const {

  csm::ImageCoord approxPt;
  computeProjectiveApproximation(groundPt, approxPt);
  MESSAGE_LOG(
      spdlog::level::trace,
      "Computed Proj Approximation: {}, {}",
      approxPt.line, approxPt.samp);

  // Search for the (line, sample) coordinate that views a given
  // ground point. Set this up as a root-finding problem and use the
  // secant method.
  int count = 0;
  double t0 = 0.0;
  double lineErr0 = calcDetectorLineErr(t0, approxPt, groundPt, adj);
  double t1 = 0.1;
  double lineErr1 = calcDetectorLineErr(t1, approxPt, groundPt, adj);
  MESSAGE_LOG(
      spdlog::level::trace,
      "Initial Line Error: {}, {}",
      lineErr0, lineErr1);
  while (std::abs(lineErr1) > desiredPrecision && ++count < 15) {

    if (lineErr1 == lineErr0)
      break; // avoid division by 0

    // Secant method update
    // https://en.wikipedia.org/wiki/Secant_method
    double t2 = t1 - lineErr1 * (t1 - t0) / (lineErr1 - lineErr0);
    double lineErr2 = calcDetectorLineErr(t2, approxPt, groundPt, adj);

    // Update for the next step
    t0 = t1; lineErr0 = lineErr1;
    t1 = t2; lineErr1 = lineErr2;
    MESSAGE_LOG(
        spdlog::level::trace,
        "{} Line Error and (t0, t1): {}, {}, {}, {}",
        count, lineErr0, lineErr1, t0, t1);
  }

  // Update the line with the found value
  approxPt.line += t1;
  MESSAGE_LOG(
      spdlog::level::trace,
      "After line Approximation: {}, {}",
      approxPt.line, approxPt.samp);

  double timei = getImageTime(approxPt);
  std::vector<double> detectorView = computeDetectorView(timei, groundPt, adj);
  MESSAGE_LOG(
      spdlog::level::trace,
      "Detector View: {}, and undistortedY: {}",
      detectorView[0], detectorView[1]);

  // Invert distortion
  double distortedFocalX, distortedFocalY;
  applyDistortion(detectorView[0], detectorView[1], distortedFocalX,
                  distortedFocalY, m_opticalDistCoeffs, m_focalLength,
                  m_distortionType,
                  desiredPrecision);
  MESSAGE_LOG(
      spdlog::level::trace,
      "Distorted X, Y: {}, and undistortedY: {}",
      distortedFocalX, distortedFocalY);

  // 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;
  MESSAGE_LOG(
      spdlog::level::trace,
      "Detector Line, Sample: {}, and undistortedY: {}",
      detectorLine, detectorSample);
  // Convert to image sample line
  double finalUpdate =
      (detectorLine + m_detectorLineOrigin - m_startingDetectorLine) /
      m_detectorLineSumming;
  approxPt.line += finalUpdate;
  approxPt.samp =
      (detectorSample + m_detectorSampleOrigin - m_startingDetectorSample) /
      m_detectorSampleSumming;

  if (achievedPrecision) {
    *achievedPrecision = finalUpdate;
  }

  MESSAGE_LOG(
      spdlog::level::debug,
      "groundToImage result image line sample {} {}",
      approxPt.line, approxPt.samp)

  if (warnings && (desiredPrecision > 0.0) &&
      (std::abs(finalUpdate) > desiredPrecision)) {
    warnings->push_back(csm::Warning(
        csm::Warning::PRECISION_NOT_MET, "Desired precision not achieved.",
        "UsgsAstroLsSensorModel::groundToImage()"));
  }

  return approxPt;
}

//***************************************************************************
// UsgsAstroLsSensorModel::groundToImage
//***************************************************************************
csm::ImageCoordCovar UsgsAstroLsSensorModel::groundToImage(
    const csm::EcefCoordCovar& groundPt, double desired_precision,
    double* achieved_precision, csm::WarningList* warnings) const {
  MESSAGE_LOG(
      spdlog::level::debug,
      "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 =
      UsgsAstroLsSensorModel::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(
      spdlog::level::info,
      "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, warnings);

  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(
      spdlog::level::info,
      "imageToGround result {} {} {}",
      x, y, z);
  return csm::EcefCoord(x, y, z);
}

//***************************************************************************
// UsgsAstroLineScannerSensorModel::determineSensorCovarianceInImageSpace
//***************************************************************************
void UsgsAstroLsSensorModel::determineSensorCovarianceInImageSpace(
    csm::EcefCoord& gp, double sensor_cov[4]) const {
  MESSAGE_LOG(
      spdlog::level::debug,
      "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(
      spdlog::level::debug,
      "Calculating imageToGround (covar) 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 = UsgsAstroLsSensorModel::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 = UsgsAstroLsSensorModel::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 = UsgsAstroLsSensorModel::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;
  csm::EcefCoord gph =
      UsgsAstroLsSensorModel::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(
      spdlog::level::info,
      "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 = computeEllipsoidElevation(x, y, z, m_majorAxis, m_minorAxis,
                                            desired_precision);

  // Ground point on object ray with the same elevation
  csm::EcefCoord gp1 =
      UsgsAstroLsSensorModel::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 = UsgsAstroLsSensorModel::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 = computeEllipsoidElevation(gp2.x, gp2.y, gp2.z, m_majorAxis,
                                            m_minorAxis, desired_precision);
  locus.point = UsgsAstroLsSensorModel::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(
      spdlog::level::info,
      "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;

  if (achieved_precision) {
    *achieved_precision = 0.0;
  }

  MESSAGE_LOG(
      spdlog::level::info,
      "imageToProximateImagingLocus result of point ({}, {}, {}) "
      "direction ({}, {}, {}).",
      locus.point.x, locus.point.y, locus.point.z,
      locus.direction.x, locus.direction.y, locus.direction.z);
  return locus;
}

//---------------------------------------------------------------------------
// Uncertainty Propagation
//---------------------------------------------------------------------------

//***************************************************************************
// UsgsAstroLsSensorModel::computeGroundPartials
//***************************************************************************
std::vector<double> UsgsAstroLsSensorModel::computeGroundPartials(
    const csm::EcefCoord& ground_pt) const {
  MESSAGE_LOG(
      spdlog::level::debug,
      "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(
      spdlog::level::debug,
      "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(
      spdlog::level::debug,
      "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(
      spdlog::level::info,
      "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(
      spdlog::level::debug,
      "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)

  return RasterGM::computeAllSensorPartials(image_pt, ground_pt, pSet, desired_precision,
                                            achieved_precision, warnings);
}

//***************************************************************************
// UsgsAstroLsSensorModel::getParameterCovariance
//***************************************************************************
double UsgsAstroLsSensorModel::getParameterCovariance(int index1,
                                                      int index2) const {
  int index = UsgsAstroLsSensorModel::NUM_PARAMETERS * index1 + index2;

  MESSAGE_LOG(
      spdlog::level::debug,
      "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(
      spdlog::level::debug,
      "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 {
  csm::EcefCoord referencePointGround =
    UsgsAstroLsSensorModel::getReferencePoint();
  csm::ImageCoord referencePointImage =
    UsgsAstroLsSensorModel::groundToImage(referencePointGround);
  double relativeTime =
    UsgsAstroLsSensorModel::getImageTime(referencePointImage);
  time_t ephemTime = m_centerEphemerisTime + relativeTime;

  return ephemTimeToCalendarTime(ephemTime);
}

//***************************************************************************
// UsgsAstroLsSensorModel::getImageTime
//***************************************************************************
double UsgsAstroLsSensorModel::getImageTime(
    const csm::ImageCoord& image_pt) const {
  MESSAGE_LOG(
      spdlog::level::debug,
      "getImageTime for image line {}",
      image_pt.line)
  double lineFull = image_pt.line;

  auto referenceLineIt =
      std::upper_bound(m_intTimeLines.begin(), m_intTimeLines.end(), lineFull);
  if (referenceLineIt != m_intTimeLines.begin()) {
    --referenceLineIt;
  }
  size_t referenceIndex =
      std::distance(m_intTimeLines.begin(), referenceLineIt);

  // Adding 0.5 to the line results in center exposure time for a given line
  double time = m_intTimeStartTimes[referenceIndex] +
                m_intTimes[referenceIndex] *
                    (lineFull - m_intTimeLines[referenceIndex] + 0.5);

  MESSAGE_LOG(
      spdlog::level::debug,
      "getImageTime is {}",
      time)

  return time;
}

//***************************************************************************
// UsgsAstroLsSensorModel::getSensorPosition
//***************************************************************************
csm::EcefCoord UsgsAstroLsSensorModel::getSensorPosition(
    const csm::ImageCoord& imagePt) const {
  MESSAGE_LOG(
      spdlog::level::debug,
      "getSensorPosition at image coord ({}, {})",
      imagePt.line, imagePt.samp)

  return getSensorPosition(getImageTime(imagePt));
}

//***************************************************************************
// UsgsAstroLsSensorModel::getSensorPosition
//***************************************************************************
csm::EcefCoord UsgsAstroLsSensorModel::getSensorPosition(double time) const {
  MESSAGE_LOG(
      spdlog::level::debug,
      "getSensorPosition at {}",
      time)
  double x, y, z, vx, vy, vz;
  bool calc_vel = false;
  getAdjSensorPosVel(time, _no_adjustment, x, y, z, vx, vy, vz, calc_vel);

  MESSAGE_LOG(
      spdlog::level::debug,
      "getSensorPosition is ({}, {}, {})",
      x, y, z);
  return csm::EcefCoord(x, y, z);
}

//***************************************************************************
// UsgsAstroLsSensorModel::getSensorVelocity
//***************************************************************************
csm::EcefVector UsgsAstroLsSensorModel::getSensorVelocity(
    const csm::ImageCoord& imagePt) const {
  MESSAGE_LOG(
      spdlog::level::debug,
      "getSensorVelocity at image coord ({}, {})",
      imagePt.line, imagePt.samp);
  return getSensorVelocity(getImageTime(imagePt));
}

//***************************************************************************
// UsgsAstroLsSensorModel::getSensorVelocity
//***************************************************************************
csm::EcefVector UsgsAstroLsSensorModel::getSensorVelocity(double time) const {
  MESSAGE_LOG(
      spdlog::level::debug,
      "getSensorVelocity at {}",
      time);
  double x, y, z, vx, vy, vz;
  getAdjSensorPosVel(time, _no_adjustment, x, y, z, vx, vy, vz);


  MESSAGE_LOG(
      spdlog::level::debug,
      "getSensorVelocity is ({}, {}, {})",
      vx, vy, vz)
  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);
}

//---------------------------------------------------------------------------
//  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));  // Technically nl and ns are outside the
                                     // image in a zero based system.
}

//***************************************************************************
// UsgsAstroLsSensorModel::getIlluminationDirection
//***************************************************************************
csm::EcefVector UsgsAstroLsSensorModel::getIlluminationDirection(
    const csm::EcefCoord& groundPt) const {
  MESSAGE_LOG(
      spdlog::level::debug,
      "Accessing illumination direction of ground point"
      "{} {} {}.",
      groundPt.x, groundPt.y, groundPt.z);

  csm::EcefVector sunPosition =
      getSunPosition(getImageTime(groundToImage(groundPt)));
  csm::EcefVector illuminationDirection =
      csm::EcefVector(groundPt.x - sunPosition.x, groundPt.y - sunPosition.y,
                      groundPt.z - sunPosition.z);

  double scale = sqrt(illuminationDirection.x * illuminationDirection.x +
                      illuminationDirection.y * illuminationDirection.y +
                      illuminationDirection.z * illuminationDirection.z);

  illuminationDirection.x /= scale;
  illuminationDirection.y /= scale;
  illuminationDirection.z /= scale;
  return illuminationDirection;
}

//---------------------------------------------------------------------------
//  Error Correction
//---------------------------------------------------------------------------

//***************************************************************************
// UsgsAstroLsSensorModel::getNumGeometricCorrectionSwitches
//***************************************************************************
int UsgsAstroLsSensorModel::getNumGeometricCorrectionSwitches() const {
  return 0;
}

//***************************************************************************
// UsgsAstroLsSensorModel::getGeometricCorrectionName
//***************************************************************************
std::string UsgsAstroLsSensorModel::getGeometricCorrectionName(
    int index) const {
  MESSAGE_LOG(
      spdlog::level::debug,
      "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(
      spdlog::level::debug,
      "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(
      spdlog::level::debug,
      "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 {
  // Return covariance matrix
  if (&comparisonModel == this) {
    std::vector<int> paramIndices = getParameterSetIndices(pSet);
    int numParams = paramIndices.size();
    std::vector<double> covariances(numParams * numParams, 0.0);
    for (int i = 0; i < numParams; i++) {
      for (int j = 0; j < numParams; j++) {
        covariances[i * numParams + j] =
            getParameterCovariance(paramIndices[i], paramIndices[j]);
      }
    }
    return covariances;
  }
  // 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(
      spdlog::level::debug,
      "Checking sharing criteria for parameter {}. "
      "Sharing is not supported.",
      index);
  return csm::SharingCriteria();
}

//***************************************************************************
// 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(
      spdlog::level::debug,
      "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(
      spdlog::level::debug,
      "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(
      spdlog::level::trace,
      "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(
      spdlog::level::debug,
      "Computing losToEcf (with adjustments) for"
      "line {} sample {}",
      line, sample);

  double time = getImageTime(csm::ImageCoord(line, sample));
  bool calc_vel = false;
  getAdjSensorPosVel(time, adj, xc, yc, zc, vx, vy, vz, calc_vel);
  // 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;

  // Compute distorted image coordinates in mm (sample, line on image (pixels)
  // -> focal plane
  double distortedFocalPlaneX, distortedFocalPlaneY;
  computeDistortedFocalPlaneCoordinates(
      0.0, sampleUSGSFull, m_detectorSampleOrigin, m_detectorLineOrigin,
      m_detectorSampleSumming, m_detectorLineSumming, m_startingDetectorSample,
      m_startingDetectorLine, m_iTransS, m_iTransL, distortedFocalPlaneX,
      distortedFocalPlaneY);
  MESSAGE_LOG(
      spdlog::level::trace,
      "losToEcf: distorted focal plane coordinate {} {}",
      distortedFocalPlaneX, distortedFocalPlaneY)

  // Remove lens
  double undistortedFocalPlaneX, undistortedFocalPlaneY;
  removeDistortion(distortedFocalPlaneX, distortedFocalPlaneY,
                   undistortedFocalPlaneX, undistortedFocalPlaneY,
                   m_opticalDistCoeffs, m_focalLength, m_distortionType);
  MESSAGE_LOG(
      spdlog::level::trace,
      "losToEcf: undistorted focal plane coordinate {} {}",
      undistortedFocalPlaneX, undistortedFocalPlaneY)

  // Define imaging ray (look vector) in camera space
  double cameraLook[3];
  createCameraLookVector(
      undistortedFocalPlaneX, undistortedFocalPlaneY, m_zDirection,
      m_focalLength * (1 - getValue(15, adj) / m_halfSwath), cameraLook);
  MESSAGE_LOG(
      spdlog::level::trace,
      "losToEcf: uncorrected camera look vector {} {} {}",
      cameraLook[0], cameraLook[1], cameraLook[2])

  // 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(
      spdlog::level::trace,
      "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(
      spdlog::level::debug,
      "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(
      spdlog::level::debug,
      "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(
        spdlog::level::warn,
        "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(
      spdlog::level::debug,
      "lightAberrationCorr: light of sight correction"
      "{} {} {}",
      dxl, dyl, dzl)
}

//***************************************************************************
// 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, csm::WarningList* warnings) const {
  MESSAGE_LOG(
      spdlog::level::debug,
      "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;
    std::string message = "Image ray does not intersect ellipsoid";
    if (warnings) {
      warnings->push_back(csm::Warning(
          csm::Warning::NO_INTERSECTION, message, "UsgsAstroLsSensorModel::losElliposidIntersect"));
    }
    MESSAGE_LOG(spdlog::level::warn, message)
  }
  double scale, scale1, h;
  double sprev, hprev;
  double 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;
  h = computeEllipsoidElevation(x, y, z, m_majorAxis, m_minorAxis,
                                desired_precision);

  achieved_precision = fabs(height - h);
  MESSAGE_LOG(
      spdlog::level::debug,
      "losEllipsoidIntersect: found intersect at {} {} {}"
      "with achieved precision of {}",
      x, y, z, achieved_precision)
}

//***************************************************************************
// 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,
                                                bool calc_vel) const {
  MESSAGE_LOG(
      spdlog::level::debug,
      "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);

  // Avoid computing the velocity and adjustments, if not needed, as those
  // take up at least half of this function's time. Note that if the
  // adjustments are non-null, need to compute the velocity in order
  // to find the adjusted position.
  if (!calc_vel) {
    bool has_adj = false;
    for (size_t it = 0; it < adj.size(); it++) {
      if (getValue(it, adj) != 0) has_adj = true;
    }
    if (!has_adj) {
      xc = sensPosNom[0];
      yc = sensPosNom[1];
      zc = sensPosNom[2];
      vx = 0.0;
      vy = 0.0;
      vz = 0.0;

      MESSAGE_LOG(
          spdlog::level::debug,
          "getAdjSensorPosVel: no velocity, postition ({}, {}, {})",
          xc, yc, zc)
      return;
    }
  }

  double sensVelNom[3];
  lagrangeInterp(m_numPositions / 3, &m_velocities[0], m_t0Ephem, m_dtEphem,
                 time, 3, nOrder, sensVelNom);

  // 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(
      spdlog::level::debug,
      "getAdjSensorPosVel: postition ({}, {}, {}) "
      "and velocity ({}, {}, {})",
      xc, yc, zc, vx, vy, vz)
}

//***************************************************************************
// UsgsAstroLineScannerSensorModel::computeDetectorView
//***************************************************************************
std::vector<double> UsgsAstroLsSensorModel::computeDetectorView(
    const double& time, const csm::EcefCoord& groundPoint,
    const std::vector<double>& adj) const {
  MESSAGE_LOG(
      spdlog::level::debug,
      "Computing computeDetectorView (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;
  bool calc_vel = false;
  getAdjSensorPosVel(time, adj, xc, yc, zc, vx, vy, vz, calc_vel);

  // Compute the look vector
  double bodyLookX = groundPoint.x - xc;
  double bodyLookY = groundPoint.y - yc;
  double bodyLookZ = groundPoint.z - zc;
  MESSAGE_LOG(
      spdlog::level::trace,
      "computeDetectorView: 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(
      spdlog::level::trace,
      "computeDetectorView: look vector (camera 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(
      spdlog::level::trace,
      "computeDetectorView: adjusted look vector"
      "{} {} {}",
      adjustedLookX, adjustedLookY, adjustedLookZ)

  // Convert to focal plane coordinate
  double lookScale = (m_focalLength + getValue(15, adj)) / adjustedLookZ;
  double focalX = adjustedLookX * lookScale;
  double focalY = adjustedLookY * lookScale;

  MESSAGE_LOG(
      spdlog::level::debug,
      "computeDetectorView: focal plane coordinates"
      "x:{} y:{} scale:{}",
      focalX, focalY, lookScale)

  return std::vector<double>{focalX, focalY};
}

//***************************************************************************
// UsgsAstroLineScannerSensorModel::computeProjectiveApproximation
//***************************************************************************
void UsgsAstroLsSensorModel::computeProjectiveApproximation(const csm::EcefCoord& gp,
                                                            csm::ImageCoord& ip) const {
  MESSAGE_LOG(
      spdlog::level::debug,
      "Computing projective approximation for ground point ({}, {}, {})",
      gp.x, gp.y, gp.z);
  if (m_useApproxInitTrans) {
    std::vector<double> const& u = m_projTransCoeffs; // alias, to save on typing

    double x = gp.x, y = gp.y, z = gp.z;
    double line_den = 1 + u[4]  * x + u[5]  * y + u[6]  * z;
    double samp_den = 1 + u[11] * x + u[12] * y + u[13] * z;

    // Sanity checks. Ensure we don't divide by 0 and that the numbers are valid.
    if (line_den == 0.0 || std::isnan(line_den) || std::isinf(line_den) ||
        samp_den == 0.0 || std::isnan(samp_den) || std::isinf(samp_den)) {

      ip.line = m_nLines / 2.0;
      ip.samp = m_nSamples / 2.0;
      MESSAGE_LOG(
          spdlog::level::warn,
          "Computing initial guess with constant approx line/2 and sample/2");

      return;
    }

    // Apply the formula
    ip.line = (u[0] + u[1] * x + u[2] * y + u[3]  * z) / line_den;
    ip.samp = (u[7] + u[8] * x + u[9] * y + u[10] * z) / samp_den;

    MESSAGE_LOG(
        spdlog::level::debug,
        "Projective approximation before bounding ({}, {})",
        ip.line, ip.samp);

    // Since this is valid only over the image,
    // don't let the 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;
  } else {
    ip.line = m_nLines / 2.0;
    ip.samp = m_nSamples / 2.0;
  }
  MESSAGE_LOG(
      spdlog::level::debug,
      "Projective approximation ({}, {})",
      ip.line, ip.samp);
}

//***************************************************************************
// UsgsAstroLineScannerSensorModel::createProjectiveApproximation
//***************************************************************************
void UsgsAstroLsSensorModel::createProjectiveApproximation() {
  MESSAGE_LOG(
      spdlog::level::debug,
      "Calculating createProjectiveApproximation");

  // Use 9 points (9*4 eventual matrix rows) as we need to fit 14 variables.
  const int numPts = 9;
  double u_factors[numPts] = {0.0, 0.0, 0.0, 0.5, 0.5, 0.5, 1.0, 1.0, 1.0};
  double v_factors[numPts] = {0.0, 0.5, 1.0, 0.0, 0.5, 1.0, 0.0, 0.5, 1.0};

  csm::EcefCoord refPt = getReferencePoint();

  double desired_precision = 0.01;
  double height = computeEllipsoidElevation(
      refPt.x, refPt.y, refPt.z, m_majorAxis, m_minorAxis, desired_precision);
  if (std::isnan(height)) {
    MESSAGE_LOG(
        spdlog::level::warn,
        "createProjectiveApproximation: computeElevation of "
        "reference point {} {} {} with desired precision "
        "{} and major/minor radii {}, {} returned nan height; nonprojective",
        refPt.x, refPt.y, refPt.z, desired_precision, m_majorAxis, m_minorAxis);
    m_useApproxInitTrans = false;
    return;
  }
  MESSAGE_LOG(
      spdlog::level::trace,
      "createProjectiveApproximation: computeElevation of "
      "reference point {} {} {} with desired precision "
      "{} and major/minor radii {}, {} returned {} height",
      refPt.x, refPt.y, refPt.z, desired_precision, m_majorAxis, m_minorAxis, height);

  double numImageRows = m_nLines;
  double numImageCols = m_nSamples;

  std::vector<csm::ImageCoord> ip(2 * numPts);
  std::vector<csm::EcefCoord>  gp(2 * numPts);

  // Sample at two heights above the ellipsoid in order to get a
  // reliable estimate of the relationship between image points and
  // ground points.

  for (int i = 0; i < numPts; i++) {
    ip[i].line = u_factors[i] * numImageRows;
    ip[i].samp = v_factors[i] * numImageCols;
    gp[i]      = imageToGround(ip[i], height);
  }

  double delta_z = 100.0;
  height += delta_z;
  for (int i = 0; i < numPts; i++) {
    ip[i + numPts].line = u_factors[i] * numImageRows;
    ip[i + numPts].samp = v_factors[i] * numImageCols;
    gp[i + numPts]      = imageToGround(ip[i + numPts], height);
  }

  usgscsm::computeBestFitProjectiveTransform(ip, gp, m_projTransCoeffs);
  m_useApproxInitTrans = true;

  MESSAGE_LOG(
      spdlog::level::debug,
      "Completed createProjectiveApproximation");
}

//***************************************************************************
// UsgsAstroLineScannerSensorModel::constructStateFromIsd
//***************************************************************************
std::string UsgsAstroLsSensorModel::constructStateFromIsd(
    const std::string imageSupportData, csm::WarningList* warnings) {
  json state = {};
  MESSAGE_LOG(
      spdlog::level::debug,
      "Constructing state from Isd")
  // Instantiate UsgsAstroLineScanner sensor model
  json jsonIsd = json::parse(imageSupportData);
  std::shared_ptr<csm::WarningList> parsingWarnings(new csm::WarningList);

  state["m_modelName"] = ale::getSensorModelName(jsonIsd);
  state["m_imageIdentifier"] = ale::getImageId(jsonIsd);
  state["m_sensorName"] = ale::getSensorName(jsonIsd);
  state["m_platformName"] = ale::getPlatformName(jsonIsd);
  MESSAGE_LOG(
      spdlog::level::trace,
      "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"] = ale::getFocalLength(jsonIsd);
  MESSAGE_LOG(
      spdlog::level::trace,
      "m_focalLength: {} ",
      state["m_focalLength"].dump())

  state["m_nLines"] = ale::getTotalLines(jsonIsd);
  state["m_nSamples"] = ale::getTotalSamples(jsonIsd);
  MESSAGE_LOG(
      spdlog::level::trace,
      "m_nLines: {} "
      "m_nSamples: {} ",
      state["m_nLines"].dump(), state["m_nSamples"].dump())

  state["m_iTransS"] = ale::getFocal2PixelSamples(jsonIsd);
  state["m_iTransL"] = ale::getFocal2PixelLines(jsonIsd);
  MESSAGE_LOG(
      spdlog::level::trace,
      "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(
      spdlog::level::trace,
      "m_platformFlag: {} "
      "m_ikCode: {} "
      "m_zDirection: {} ",
      state["m_platformFlag"].dump(), state["m_ikCode"].dump(),
      state["m_zDirection"].dump())

  state["m_distortionType"] =
      getDistortionModel(ale::getDistortionModel(jsonIsd));
  state["m_opticalDistCoeffs"] = ale::getDistortionCoeffs(jsonIsd);
  MESSAGE_LOG(
      spdlog::level::trace,
      "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(
      spdlog::level::trace,
      "m_referencePointXyz: {} ",
      state["m_referencePointXyz"].dump())

  // Sun position and sensor position use the same times so compute that now
  ale::States inst_state = ale::getInstrumentPosition(jsonIsd);
  std::vector<double> ephemTime = inst_state.getTimes();
  double startTime = ephemTime.front();
  double stopTime = ephemTime.back();
  // Force at least 25 nodes to help with lagrange interpolation
  // These also have to be equally spaced for lagrange interpolation
  if (ephemTime.size() < 25) {
    ephemTime.resize(25);
  }
  double timeStep = (stopTime - startTime) / (ephemTime.size() - 1);
  for (size_t i = 0; i < ephemTime.size(); i++) {
    ephemTime[i] = startTime + i * timeStep;
  }

  try {
    state["m_dtEphem"] = timeStep;
    MESSAGE_LOG(
        spdlog::level::trace,
        "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(spdlog::level::warn, "m_dtEphem not in ISD")
  }

  try {
    state["m_t0Ephem"] = startTime - ale::getCenterTime(jsonIsd);
    MESSAGE_LOG(
        spdlog::level::trace,
        "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(spdlog::level::warn, "t0_ephemeris not in ISD")
  }

  ale::States sunState = ale::getSunPosition(jsonIsd);
  ale::Orientations j2000_to_target = ale::getBodyRotation(jsonIsd);
  ale::State interpSunState, rotatedSunState;
  std::vector<double> sunPositions = {};
  std::vector<double> sunVelocities = {};

  for (int i = 0; i < ephemTime.size(); i++) {
    interpSunState = sunState.getState(ephemTime[i], ale::SPLINE);
    rotatedSunState = j2000_to_target.rotateStateAt(ephemTime[i], interpSunState);
    // ALE operates in km and we want m
    sunPositions.push_back(rotatedSunState.position.x * 1000);
    sunPositions.push_back(rotatedSunState.position.y * 1000);
    sunPositions.push_back(rotatedSunState.position.z * 1000);
    sunVelocities.push_back(rotatedSunState.velocity.x * 1000);
    sunVelocities.push_back(rotatedSunState.velocity.y * 1000);
    sunVelocities.push_back(rotatedSunState.velocity.z * 1000);
  }

  state["m_sunPosition"] = sunPositions;
  state["m_sunVelocity"] = sunVelocities;

  // 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(
      spdlog::level::trace,
      "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"] = ale::getCenterTime(jsonIsd);
  state["m_startingEphemerisTime"] = ale::getStartingTime(jsonIsd);
  MESSAGE_LOG(
      spdlog::level::trace,
      "m_centerEphemerisTime: {} "
      "m_startingEphemerisTime: {} ",
      state["m_centerEphemerisTime"].dump(),
      state["m_startingEphemerisTime"].dump())

  std::vector<std::vector<double>> lineScanRate = ale::getLineScanRate(jsonIsd);
  state["m_intTimeLines"] =
    getIntegrationStartLines(lineScanRate, parsingWarnings.get());
  state["m_intTimeStartTimes"] =
    getIntegrationStartTimes(lineScanRate, parsingWarnings.get());
  state["m_intTimes"] = getIntegrationTimes(lineScanRate, parsingWarnings.get());
  MESSAGE_LOG(
      spdlog::level::trace,
      "m_intTimeLines: {} "
      "m_intTimeStartTimes: {} "
      "m_intTimes: {} ",
      state["m_intTimeLines"].dump(), state["m_intTimeStartTimes"].dump(),
      state["m_intTimes"].dump())

  state["m_detectorSampleSumming"] = ale::getSampleSumming(jsonIsd);
  state["m_detectorLineSumming"] = ale::getLineSumming(jsonIsd);
  state["m_startingDetectorSample"] = ale::getDetectorStartingSample(jsonIsd);
  state["m_startingDetectorLine"] = ale::getDetectorStartingLine(jsonIsd);
  state["m_detectorSampleOrigin"] = ale::getDetectorCenterSample(jsonIsd);
  state["m_detectorLineOrigin"] = ale::getDetectorCenterLine(jsonIsd);
  MESSAGE_LOG(
      spdlog::level::trace,
      "m_detectorSampleSumming: {} "
      "m_detectorLineSumming: {}"
      "m_startingDetectorSample: {} "
      "m_startingDetectorLine: {} "
      "m_detectorSampleOrigin: {} "
      "m_detectorLineOrigin: {} ",
      state["m_detectorSampleSumming"].dump(),
      state["m_detectorLineSumming"].dump(),
      state["m_startingDetectorSample"].dump(),
      state["m_startingDetectorLine"].dump(),
      state["m_detectorSampleOrigin"].dump(),
      state["m_detectorLineOrigin"].dump())

  ale::Orientations j2000_to_sensor = ale::getInstrumentPointing(jsonIsd);
  ale::State interpInstState, rotatedInstState;
  std::vector<double> positions = {};
  std::vector<double> velocities = {};

  for (int i = 0; i < ephemTime.size(); i++) {
    interpInstState = inst_state.getState(ephemTime[i], ale::SPLINE);
    rotatedInstState =
        j2000_to_target.rotateStateAt(ephemTime[i], interpInstState, ale::SLERP);
    // ALE operates in km and we want m
    positions.push_back(rotatedInstState.position.x * 1000);
    positions.push_back(rotatedInstState.position.y * 1000);
    positions.push_back(rotatedInstState.position.z * 1000);
    velocities.push_back(rotatedInstState.velocity.x * 1000);
    velocities.push_back(rotatedInstState.velocity.y * 1000);
    velocities.push_back(rotatedInstState.velocity.z * 1000);
  }

  state["m_positions"] = positions;
  state["m_numPositions"] = positions.size();
  MESSAGE_LOG(
      spdlog::level::trace,
      "m_positions: {}"
      "m_numPositions: {}",
      state["m_positions"].dump(), state["m_numPositions"].dump())

  state["m_velocities"] = velocities;
  MESSAGE_LOG(
      spdlog::level::trace,
      "m_velocities: {}",
      state["m_velocities"].dump())

  // Work-around for issues in ALE <=0.8.5 where Orientations without angular
  // velocities seg fault when you multiply them. This will make the angular
  // velocities in the final Orientations dubious but they are not used
  // in any calculations so this is okay.
  if (j2000_to_sensor.getAngularVelocities().empty()) {
    j2000_to_sensor = ale::Orientations(
        j2000_to_sensor.getRotations(),
        j2000_to_sensor.getTimes(),
        std::vector<ale::Vec3d>(j2000_to_sensor.getTimes().size()),
        j2000_to_sensor.getConstantRotation(),
        j2000_to_sensor.getConstantFrames(),
        j2000_to_sensor.getTimeDependentFrames());
  }
  if (j2000_to_target.getAngularVelocities().empty()) {
    j2000_to_target = ale::Orientations(
        j2000_to_target.getRotations(),
        j2000_to_target.getTimes(),
        std::vector<ale::Vec3d>(j2000_to_target.getTimes().size()),
        j2000_to_target.getConstantRotation(),
        j2000_to_target.getConstantFrames(),
        j2000_to_target.getTimeDependentFrames());
  }

  ale::Orientations sensor_to_j2000 = j2000_to_sensor.inverse();
  ale::Orientations sensor_to_target = j2000_to_target * sensor_to_j2000;
  ephemTime = sensor_to_target.getTimes();
  double quatStep =
      (ephemTime.back() - ephemTime.front()) / (ephemTime.size() - 1);
  try {
    state["m_dtQuat"] = quatStep;
    MESSAGE_LOG(
        spdlog::level::trace,
        "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(
        spdlog::level::warn,
        "dt_quaternion not in ISD")
  }

  try {
    state["m_t0Quat"] = ephemTime[0] - ale::getCenterTime(jsonIsd);
    MESSAGE_LOG(
        spdlog::level::trace,
        "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(
        spdlog::level::warn,
        "t0_quaternion not in ISD")
  }
  std::vector<double> quaternion;
  std::vector<double> quaternions;

  for (size_t i = 0; i < ephemTime.size(); i++) {
    ale::Rotation rotation = sensor_to_target.interpolate(
        ephemTime.front() + quatStep * i, ale::SLERP);
    quaternion = rotation.toQuaternion();
    quaternions.push_back(quaternion[1]);
    quaternions.push_back(quaternion[2]);
    quaternions.push_back(quaternion[3]);
    quaternions.push_back(quaternion[0]);
  }

  state["m_quaternions"] = quaternions;
  state["m_numQuaternions"] = quaternions.size();
  MESSAGE_LOG(
      spdlog::level::trace,
      "m_quaternions: {}"
      "m_numQuaternions: {}",
      state["m_quaternions"].dump(), state["m_numQuaternions"].dump())

  state["m_currentParameterValue"] = std::vector<double>(NUM_PARAMETERS, 0.0);
  MESSAGE_LOG(
      spdlog::level::trace,
      "m_currentParameterValue: {}",
      state["m_currentParameterValue"].dump())

  // Get radii
  // ALE operates in km and we want m
  state["m_minorAxis"] = ale::getSemiMinorRadius(jsonIsd) * 1000;
  state["m_majorAxis"] = ale::getSemiMajorRadius(jsonIsd) * 1000;
  MESSAGE_LOG(
      spdlog::level::trace,
      "m_minorAxis: {}"
      "m_majorAxis: {}",
      state["m_minorAxis"].dump(), state["m_majorAxis"].dump())

  // set identifiers
  state["m_platformIdentifier"] = ale::getPlatformName(jsonIsd);
  state["m_sensorIdentifier"] = ale::getSensorName(jsonIsd);
  MESSAGE_LOG(
      spdlog::level::trace,
      "m_platformIdentifier: {}"
      "m_sensorIdentifier: {}",
      state["m_platformIdentifier"].dump(), state["m_sensorIdentifier"].dump())

  // get reference_height
  state["m_minElevation"] = ale::getMinHeight(jsonIsd);
  state["m_maxElevation"] = ale::getMaxHeight(jsonIsd);
  MESSAGE_LOG(
      spdlog::level::trace,
      "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;
  }

  if (!parsingWarnings->empty()) {
    if (warnings) {
      warnings->insert(warnings->end(), parsingWarnings->begin(),
                       parsingWarnings->end());
    }
    throw csm::Error(csm::Error::SENSOR_MODEL_NOT_CONSTRUCTIBLE,
                     "ISD is invalid for creating the sensor model.",
                     "UsgsAstroLsSensorModel::constructStateFromIsd");
  }

  // The state data will still be updated when a sensor model is created since
  // some state data is not in the ISD and requires a SM to compute them.
  return state.dump();
}

//***************************************************************************
// UsgsAstroLineScannerSensorModel::getLogger
//***************************************************************************
std::shared_ptr<spdlog::logger> UsgsAstroLsSensorModel::getLogger() {
  return m_logger;
}

void UsgsAstroLsSensorModel::setLogger(std::string logName) {
  m_logger = spdlog::get(logName);
}

csm::EcefVector UsgsAstroLsSensorModel::getSunPosition(
    const double imageTime) const {
  int numSunPositions = m_sunPosition.size();
  int numSunVelocities = m_sunVelocity.size();
  csm::EcefVector sunPosition = csm::EcefVector();

  // If there are multiple positions, use Lagrange interpolation
  if ((numSunPositions / 3) > 1) {
    double sunPos[3];
    lagrangeInterp(numSunPositions / 3, &m_sunPosition[0], m_t0Ephem,
                   m_dtEphem, imageTime, 3, 8, sunPos);
    sunPosition.x = sunPos[0];
    sunPosition.y = sunPos[1];
    sunPosition.z = sunPos[2];
  } else if ((numSunVelocities / 3) >= 1) {
    // If there is one position triple with at least one velocity triple
    //  then the illumination direction is calculated via linear extrapolation.
    sunPosition.x = (imageTime * m_sunVelocity[0] + m_sunPosition[0]);
    sunPosition.y = (imageTime * m_sunVelocity[1] + m_sunPosition[1]);
    sunPosition.z = (imageTime * m_sunVelocity[2] + m_sunPosition[2]);
  } else {
    // If there is one position triple with no velocity triple, then the
    //  illumination direction is the difference of the original vectors.
    sunPosition.x = m_sunPosition[0];
    sunPosition.y = m_sunPosition[1];
    sunPosition.z = m_sunPosition[2];
  }
  return sunPosition;
}

// A function whose value will be 0 when the line a given ground point
// projects into is found. The obtained line will be approxPt.line +
// t.
double UsgsAstroLsSensorModel::calcDetectorLineErr(double t, csm::ImageCoord const& approxPt,
                                                   const csm::EcefCoord& groundPt,
                                                   const std::vector<double>& adj) const {

  csm::ImageCoord currPt = approxPt;
  currPt.line += t;

  double timei = getImageTime(currPt);
  std::vector<double> detectorView = computeDetectorView(timei, groundPt, adj);

  // Invert distortion
  double distortedFocalX, distortedFocalY;
  applyDistortion(detectorView[0], detectorView[1], distortedFocalX,
                  distortedFocalY, m_opticalDistCoeffs, m_focalLength, m_distortionType);

  // Convert to detector line
  double detectorLine = m_iTransL[0] + m_iTransL[1] * distortedFocalX +
                        m_iTransL[2] * distortedFocalY + m_detectorLineOrigin -
                        m_startingDetectorLine;
  detectorLine /= m_detectorLineSumming;

  return detectorLine;
}

