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UsgsAstroLsSensorModel.cpp
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Jesse Mapel authoredJesse Mapel authored
UsgsAstroLsSensorModel.cpp 82.14 KiB
//----------------------------------------------------------------------------
//
// UNCLASSIFIED
//
// Copyright © 1989-2017 BAE Systems Information and Electronic Systems Integration Inc.
// ALL RIGHTS RESERVED
// Use of this software product is governed by the terms of a license
// agreement. The license agreement is found in the installation directory.
//
// For support, please visit http://www.baesystems.com/gxp
//
// Revision History:
// Date Name Description
// ----------- ------------ -----------------------------------------------
// 13-Nov-2015 BAE Systems Initial Implementation
// 24-Apr-2017 BAE Systems Update for CSM 3.0.2
// 24-OCT-2017 BAE Systems Update for CSM 3.0.3
//-----------------------------------------------------------------------------
#define USGSASTROLINESCANNER_LIBRARY
#include "UsgsAstroLsSensorModel.h"
#include <algorithm>
#include <iostream>
#include <sstream>
#include <math.h>
//*****************************************************************************
// UsgsAstroLsSensorModel Constructor
//*****************************************************************************
UsgsAstroLsSensorModel::UsgsAstroLsSensorModel()
{
_no_adjustment.assign(UsgsAstroLsStateData::NUM_PARAMETERS, 0.0);
}
//*****************************************************************************
// UsgsAstroLsSensorModel Destructor
//*****************************************************************************
UsgsAstroLsSensorModel::~UsgsAstroLsSensorModel()
{
}
//*****************************************************************************
// UsgsAstroLsSensorModel set
//*****************************************************************************
void UsgsAstroLsSensorModel::set(const UsgsAstroLsStateData &state_data)
{
_linear = false; // default until a linear model is made
_u0 = 0.0;
_du_dx = 0.0;
_du_dy = 0.0;
_du_dz = 0.0;
_v0 = 0.0;
_dv_dx = 0.0;
_dv_dy = 0.0;
_dv_dz = 0.0;
_no_adjustment.assign(UsgsAstroLsStateData::NUM_PARAMETERS, 0.0);
_data = state_data;
// If needed set state data elements that need a sensor model to compute
// Update if still using default settings
if (_data.m_Gsd == 1.0 && _data.m_FlyingHeight == 1000.0)
{
updateState();
}
try
{
setLinearApproximation(); }
catch (...)
{
_linear = false;
}
}
//*****************************************************************************
// 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.
// Reference point (image center)
double lineCtr = _data.m_TotalLines / 2.0;
double sampCtr = _data.m_TotalSamples / 2.0;
csm::ImageCoord ip(lineCtr, sampCtr);
double refHeight = _data.m_RefElevation;
_data.m_ReferencePointXyz = imageToGround(ip, refHeight);
// Compute ground sample distance
ip.line += 1;
ip.samp += 1;
csm::EcefCoord delta = imageToGround(ip, refHeight);
double dx = delta.x - _data.m_ReferencePointXyz.x;
double dy = delta.y - _data.m_ReferencePointXyz.y;
double dz = delta.z - _data.m_ReferencePointXyz.z;
_data.m_Gsd = sqrt((dx*dx + dy*dy + dz*dz) / 2.0);
// Compute flying height
csm::EcefCoord sensorPos = getSensorPosition(0.0);
dx = sensorPos.x - _data.m_ReferencePointXyz.x;
dy = sensorPos.y - _data.m_ReferencePointXyz.y;
dz = sensorPos.z - _data.m_ReferencePointXyz.z;
_data.m_FlyingHeight = sqrt(dx*dx + dy*dy + dz*dz);
// Compute half swath
_data.m_HalfSwath = _data.m_Gsd * _data.m_TotalSamples / 2.0;
// Compute half time duration
double fullImageTime = _data.m_IntTimeStartTimes.back() - _data.m_IntTimeStartTimes.front()
+ _data.m_IntTimes.back() * (_data.m_TotalLines - _data.m_IntTimeLines.back());
_data.m_HalfTime = fullImageTime / 2.0;
// Parameter covariance, hardcoded accuracy values
int num_params = _data.NUM_PARAMETERS;
int num_params_square = num_params * num_params;
double variance = _data.m_Gsd * _data.m_Gsd;
for (int i = 0; i < num_params_square; i++)
{
_data.m_Covariance[i] = 0.0;
}
for (int i = 0; i < num_params; i++)
{
_data.m_Covariance[i * num_params + i] = variance;
}
// Set flag for flipping image along horizontal axis
int index = int((_data.m_NumEphem - 1) / 2.0) * 3;
double xs, ys, zs; // mid sensor position
xs = _data.m_EphemPts[index];
ys = _data.m_EphemPts[index + 1];
zs = _data.m_EphemPts[index + 2];
double xv, yv, zv; // mid sensor velocity
xv = _data.m_EphemRates[index];
yv = _data.m_EphemRates[index + 1];
zv = _data.m_EphemRates[index + 2];
double xm, ym, zm; // mid line position (mid sample)
xm = _data.m_ReferencePointXyz.x; ym = _data.m_ReferencePointXyz.y;
zm = _data.m_ReferencePointXyz.z;
// mid line position (first sample)
csm::EcefCoord posf = imageToGround(csm::ImageCoord(lineCtr, 0.0), refHeight);
// mid line position (last sample)
csm::EcefCoord posl = imageToGround(csm::ImageCoord(lineCtr, _data.m_TotalSamples - 1), refHeight);
double xd, yd, zd; // unit vector normal to image footprint
xd = posl.x - posf.x;
yd = posl.y - posf.y;
zd = posl.z - posf.z;
double xn, yn, zn;
xn = yv*zd - zv*yd;
yn = zv*xd - xv*zd;
zn = xv*yd - yv*xd;
double nmag = sqrt(xn*xn + yn*yn + zn*zn);
xn /= nmag;
yn /= nmag;
zn /= nmag;
double xo, yo, zo; // unit vector ground-to_satellite
xo = xs - xm;
yo = ys - ym;
zo = zs - zm;
double omag = sqrt(xo*xo + yo*yo + zo*zo);
xo /= omag;
yo /= omag;
zo /= omag;
double triple_product = xn*xo + yn*yo + zn*zo;
_data.m_ImageFlipFlag = 0;
if (triple_product > 0.0)
_data.m_ImageFlipFlag = 1;
}
//---------------------------------------------------------------------------
// Core Photogrammetry
//---------------------------------------------------------------------------
//***************************************************************************
// UsgsAstroLsSensorModel::groundToImage
//***************************************************************************
csm::ImageCoord UsgsAstroLsSensorModel::groundToImage(
const csm::EcefCoord& ground_pt,
double desired_precision,
double* achieved_precision,
csm::WarningList* warnings) const
{
// The public interface invokes the private interface with no adjustments.
return groundToImage(
ground_pt, _no_adjustment,
desired_precision, achieved_precision, warnings);
}
//***************************************************************************
// UsgsAstroLsSensorModel::groundToImage (internal version)
//***************************************************************************
csm::ImageCoord UsgsAstroLsSensorModel::groundToImage(
const csm::EcefCoord& ground_pt,
const std::vector<double>& adj,
double desired_precision,
double* achieved_precision,
csm::WarningList* warnings) const
{
// Search for the line, sample coordinate that viewed a given ground point.
// This method uses an iterative bisection method to search for the image
// line.
//
// For a given search window, this routine involves projecting the
// ground point onto the focal plane based on the instrument orientation
// at the start and end of the search window. Then, it computes the focal
// plane intersection at a mid-point of the search window. Then, it reduces // the search window based on the signs of the intersected line offsets from
// the center of the ccd. For example, if the line offset is -145 at the
// start of the window, 10 at the mid point, and 35 at the end of the search
// window, the window will be reduced to the start of the old window to the
// middle of the old window.
//
// In order to achieve faster convergence, the mid point is calculated
// using the False Position Method instead of simple bisection. This method
// uses the zero of the line between the two ends of the search window for
// the mid point instead of a simple bisection. In most cases, this will
// converge significantly faster, but it can be slower than simple bisection
// in some situations.
// Start bisection search on the image lines
double sampCtr = _data.m_TotalSamples / 2.0;
double firstTime = getImageTime(csm::ImageCoord(0.0, sampCtr));
double lastTime = getImageTime(csm::ImageCoord(_data.m_TotalLines, sampCtr));
double firstOffset = computeViewingPixel(firstTime, ground_pt, adj).line - 0.5;
double lastOffset = computeViewingPixel(lastTime, ground_pt, adj).line - 0.5;
// Check if both offsets have the same sign.
// This means there is not guaranteed to be a zero.
if ((firstOffset > 0) != (lastOffset < 0)) {
throw csm::Warning(
csm::Warning::IMAGE_COORD_OUT_OF_BOUNDS,
"The image coordinate is out of bounds of the image size.",
"UsgsAstroLsSensorModel::groundToImage");
}
// Convert the ground precision to pixel precision so we can
// check for convergence without re-intersecting
csm::ImageCoord approxPoint;
computeLinearApproximation(ground_pt, approxPoint);
csm::ImageCoord approxNextPoint = approxPoint;
if (approxNextPoint.line + 1 < _data.m_TotalLines) {
++approxNextPoint.line;
}
else {
--approxNextPoint.line;
}
csm::EcefCoord approxIntersect = imageToGround(approxPoint, _data.m_RefElevation);
csm::EcefCoord approxNextIntersect = imageToGround(approxNextPoint, _data.m_RefElevation);
double lineDX = approxNextIntersect.x - approxIntersect.x;
double lineDY = approxNextIntersect.y - approxIntersect.y;
double lineDZ = approxNextIntersect.z - approxIntersect.z;
double approxLineRes = sqrt(lineDX * lineDX + lineDY * lineDY + lineDZ * lineDZ);
// Increase the precision by a small amount to ensure the desired precision is met
double pixelPrec = desired_precision / approxLineRes * 0.9;
// Start bisection search for zero
for (int it = 0; it < 30; it++) {
double nextTime = ((firstTime * lastOffset) - (lastTime * firstOffset))
/ (lastOffset - firstOffset);
double nextOffset = computeViewingPixel(nextTime, ground_pt, adj).line - 0.5;
// We're looking for a zero, so check that either firstLine and middleLine have
// opposite signs, or middleLine and lastLine have opposite signs.
if ((firstOffset > 0) == (nextOffset < 0)) {
lastTime = nextTime;
lastOffset = nextOffset;
}
else {
firstTime = nextTime;
firstOffset = nextOffset;
}
if (fabs(lastOffset - firstOffset) < pixelPrec) {
break;
}
}
// Check that the desired precision was met
double computedTime = ((firstTime * lastOffset) - (lastTime * firstOffset))
/ (lastOffset - firstOffset);
csm::ImageCoord calculatedPixel = computeViewingPixel(computedTime, ground_pt, adj);
// The computed viewing line is the detector line, so we need to convert that to image lines
auto referenceTimeIt = std::upper_bound(_data.m_IntTimeStartTimes.begin(),
_data.m_IntTimeStartTimes.end(),
computedTime);
if (referenceTimeIt != _data.m_IntTimeStartTimes.begin()) {
--referenceTimeIt;
}
size_t referenceIndex = std::distance(_data.m_IntTimeStartTimes.begin(), referenceTimeIt);
calculatedPixel.line += _data.m_IntTimeLines[referenceIndex] - 1
+ (computedTime - _data.m_IntTimeStartTimes[referenceIndex])
/ _data.m_IntTimes[referenceIndex];
csm::EcefCoord calculatedPoint = imageToGround(calculatedPixel, _data.m_RefElevation);
double dx = ground_pt.x - calculatedPoint.x;
double dy = ground_pt.y - calculatedPoint.y;
double dz = ground_pt.z - calculatedPoint.z;
double len = dx * dx + dy * dy + dz * dz;
// Check that the pixel is actually in the image
if ((calculatedPixel.samp < 0) ||
(calculatedPixel.samp > _data.m_TotalSamples)) {
throw csm::Warning(
csm::Warning::IMAGE_COORD_OUT_OF_BOUNDS,
"The image coordinate is out of bounds of the image size.",
"UsgsAstroLsSensorModel::groundToImage");
}
// If the final correction is greater than 10 meters,
// the solution is not valid enough to report even with a warning
if (len > 100.0) {
throw csm::Error(
csm::Error::ALGORITHM,
"Did not converge.",
"UsgsAstroLsSensorModel::groundToImage");
}
if (achieved_precision) {
*achieved_precision = sqrt(len);
}
double preSquare = desired_precision * desired_precision;
if (warnings && (desired_precision > 0.0) && (preSquare < len)) {
std::stringstream msg;
msg << "Desired precision not achieved. ";
msg << len << " " << preSquare << "\n";
warnings->push_back(
csm::Warning(csm::Warning::PRECISION_NOT_MET,
msg.str().c_str(),
"UsgsAstroLsSensorModel::groundToImage()"));
}
return calculatedPixel;
}
//***************************************************************************
// UsgsAstroLsSensorModel::groundToImage
//***************************************************************************
csm::ImageCoordCovar UsgsAstroLsSensorModel::groundToImage(
const csm::EcefCoordCovar& groundPt,
double desired_precision,
double* achieved_precision,
csm::WarningList* warnings) const
{
// Ground to image with error propagation
// Compute corresponding image point
csm::EcefCoord gp;
gp.x = groundPt.x; gp.y = groundPt.y;
gp.z = groundPt.z;
csm::ImageCoord ip = groundToImage(
gp, desired_precision, achieved_precision, warnings);
csm::ImageCoordCovar result(ip.line, ip.samp);
// Compute partials ls wrt XYZ
std::vector<double> prt(6, 0.0);
prt = computeGroundPartials(groundPt);
// Error propagation
double ltx, lty, ltz;
double stx, sty, stz;
ltx =
prt[0] * groundPt.covariance[0] +
prt[1] * groundPt.covariance[3] +
prt[2] * groundPt.covariance[6];
lty =
prt[0] * groundPt.covariance[1] +
prt[1] * groundPt.covariance[4] +
prt[2] * groundPt.covariance[7];
ltz =
prt[0] * groundPt.covariance[2] +
prt[1] * groundPt.covariance[5] +
prt[2] * groundPt.covariance[8];
stx =
prt[3] * groundPt.covariance[0] +
prt[4] * groundPt.covariance[3] +
prt[5] * groundPt.covariance[6];
sty =
prt[3] * groundPt.covariance[1] +
prt[4] * groundPt.covariance[4] +
prt[5] * groundPt.covariance[7];
stz =
prt[3] * groundPt.covariance[2] +
prt[4] * groundPt.covariance[5] +
prt[5] * groundPt.covariance[8];
double gp_cov[4]; // Input gp cov in image space
gp_cov[0] = ltx * prt[0] + lty * prt[1] + ltz * prt[2];
gp_cov[1] = ltx * prt[3] + lty * prt[4] + ltz * prt[5];
gp_cov[2] = stx * prt[0] + sty * prt[1] + stz * prt[2];
gp_cov[3] = stx * prt[3] + sty * prt[4] + stz * prt[5];
std::vector<double> unmodeled_cov = getUnmodeledError(ip);
double sensor_cov[4]; // sensor cov in image space
determineSensorCovarianceInImageSpace(gp, sensor_cov);
result.covariance[0] = gp_cov[0] + unmodeled_cov[0] + sensor_cov[0];
result.covariance[1] = gp_cov[1] + unmodeled_cov[1] + sensor_cov[1];
result.covariance[2] = gp_cov[2] + unmodeled_cov[2] + sensor_cov[2];
result.covariance[3] = gp_cov[3] + unmodeled_cov[3] + sensor_cov[3];
return result;
}
//***************************************************************************
// UsgsAstroLsSensorModel::imageToGround
//***************************************************************************
csm::EcefCoord UsgsAstroLsSensorModel::imageToGround(
const csm::ImageCoord& image_pt,
double height,
double desired_precision,
double* achieved_precision,
csm::WarningList* warnings) const
{
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);
if (_data.m_AberrFlag == 1)
{
lightAberrationCorr(vx, vy, vz, xl, yl, zl, dxl, dyl, dzl);
xl += dxl;
yl += dyl;
zl += dzl;
}
double aPrec;
double x, y, z;
losEllipsoidIntersect(
height, xc, yc, zc, xl, yl, zl, x, y, z, aPrec, desired_precision);
if (achieved_precision)
*achieved_precision = aPrec;
if (warnings && (desired_precision > 0.0) && (aPrec > desired_precision))
{
warnings->push_back(
csm::Warning(
csm::Warning::PRECISION_NOT_MET,
"Desired precision not achieved.",
"UsgsAstroLsSensorModel::imageToGround()"));
}
return csm::EcefCoord(x, y, z);
}
void UsgsAstroLsSensorModel::determineSensorCovarianceInImageSpace(
csm::EcefCoord &gp,
double sensor_cov[4] ) const
{
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
{ // Image to ground with error propagation
// Use numerical partials
const double DELTA_IMAGE = 1.0;
const double DELTA_GROUND = _data.m_Gsd;
csm::ImageCoord ip(image_pt.line, image_pt.samp);
csm::EcefCoord gp = imageToGround(
ip, height, desired_precision, achieved_precision, warnings);
// Compute numerical partials xyz wrt to lsh
ip.line = image_pt.line + DELTA_IMAGE;
ip.samp = image_pt.samp;
csm::EcefCoord gpl = imageToGround(ip, height, desired_precision);
double xpl = (gpl.x - gp.x) / DELTA_IMAGE;
double ypl = (gpl.y - gp.y) / DELTA_IMAGE;
double zpl = (gpl.z - gp.z) / DELTA_IMAGE;
ip.line = image_pt.line;
ip.samp = image_pt.samp + DELTA_IMAGE;
csm::EcefCoord gps = imageToGround(ip, height, desired_precision);
double xps = (gps.x - gp.x) / DELTA_IMAGE;
double yps = (gps.y - gp.y) / DELTA_IMAGE;
double zps = (gps.z - gp.z) / DELTA_IMAGE;
ip.line = image_pt.line;
ip.samp = image_pt.samp; // +DELTA_IMAGE;
csm::EcefCoord gph = imageToGround(ip, height + DELTA_GROUND, desired_precision);
double xph = (gph.x - gp.x) / DELTA_GROUND;
double yph = (gph.y - gp.y) / DELTA_GROUND;
double zph = (gph.z - gp.z) / DELTA_GROUND;
// Convert sensor covariance to image space
double sCov[4];
determineSensorCovarianceInImageSpace(gp, sCov);
std::vector<double> unmod = getUnmodeledError(image_pt);
double iCov[4];
iCov[0] = image_pt.covariance[0] + sCov[0] + unmod[0];
iCov[1] = image_pt.covariance[1] + sCov[1] + unmod[1];
iCov[2] = image_pt.covariance[2] + sCov[2] + unmod[2];
iCov[3] = image_pt.covariance[3] + sCov[3] + unmod[3];
// Temporary matrix product
double t00, t01, t02, t10, t11, t12, t20, t21, t22;
t00 = xpl * iCov[0] + xps * iCov[2];
t01 = xpl * iCov[1] + xps * iCov[3];
t02 = xph * heightVariance;
t10 = ypl * iCov[0] + yps * iCov[2];
t11 = ypl * iCov[1] + yps * iCov[3];
t12 = yph * heightVariance;
t20 = zpl * iCov[0] + zps * iCov[2];
t21 = zpl * iCov[1] + zps * iCov[3];
t22 = zph * heightVariance;
// Ground covariance
csm::EcefCoordCovar result;
result.x = gp.x;
result.y = gp.y;
result.z = gp.z;
result.covariance[0] = t00 * xpl + t01 * xps + t02 * xph;
result.covariance[1] = t00 * ypl + t01 * yps + t02 * yph;
result.covariance[2] = t00 * zpl + t01 * zps + t02 * zph;
result.covariance[3] = t10 * xpl + t11 * xps + t12 * xph;
result.covariance[4] = t10 * ypl + t11 * yps + t12 * yph;
result.covariance[5] = t10 * zpl + t11 * zps + t12 * zph;
result.covariance[6] = t20 * xpl + t21 * xps + t22 * xph;
result.covariance[7] = t20 * ypl + t21 * yps + t22 * yph; result.covariance[8] = t20 * zpl + t21 * zps + t22 * zph;
return result;
}
//***************************************************************************
// UsgsAstroLsSensorModel::imageToProximateImagingLocus
//***************************************************************************
csm::EcefLocus UsgsAstroLsSensorModel::imageToProximateImagingLocus(
const csm::ImageCoord& image_pt,
const csm::EcefCoord& ground_pt,
double desired_precision,
double* achieved_precision,
csm::WarningList* warnings) const
{
// Object ray unit direction near given ground location
const double DELTA_GROUND = _data.m_Gsd;
double x = ground_pt.x;
double y = ground_pt.y;
double z = ground_pt.z;
// Elevation at input ground point
double height, aPrec;
computeElevation(x, y, z, height, aPrec, desired_precision);
// Ground point on object ray with the same elevation
csm::EcefCoord gp1 = imageToGround(
image_pt, height, desired_precision, achieved_precision);
// Vector between 2 ground points above
double dx1 = x - gp1.x;
double dy1 = y - gp1.y;
double dz1 = z - gp1.z;
// Unit vector along object ray
csm::EcefCoord gp2 = imageToGround(
image_pt, height - DELTA_GROUND, desired_precision, achieved_precision);
double dx2 = gp2.x - gp1.x;
double dy2 = gp2.y - gp1.y;
double dz2 = gp2.z - gp1.z;
double mag2 = sqrt(dx2 * dx2 + dy2 * dy2 + dz2 * dz2);
dx2 /= mag2;
dy2 /= mag2;
dz2 /= mag2;
// Point on object ray perpendicular to input point
// Locus
csm::EcefLocus locus;
double scale = dx1 * dx2 + dy1 * dy2 + dz1 * dz2;
gp2.x = gp1.x + scale * dx2;
gp2.y = gp1.y + scale * dy2;
gp2.z = gp1.z + scale * dz2;
double hLocus;
computeElevation(gp2.x, gp2.y, gp2.z, hLocus, aPrec, desired_precision);
locus.point = imageToGround(
image_pt, hLocus, desired_precision, achieved_precision, warnings);
locus.direction.x = dx2;
locus.direction.y = dy2;
locus.direction.z = dz2;
return locus;
}
//***************************************************************************
// UsgsAstroLsSensorModel::imageToRemoteImagingLocus
//***************************************************************************csm::EcefLocus UsgsAstroLsSensorModel::imageToRemoteImagingLocus(
const csm::ImageCoord& image_pt,
double desired_precision,
double* achieved_precision,
csm::WarningList* warnings) const
{
// Object ray unit direction at exposure station
// Exposure station arbitrary for orthos, so set elevation to zero
// Set esposure station elevation to zero
double height = 0.0;
double GND_DELTA = _data.m_Gsd;
// Point on object ray at zero elevation
csm::EcefCoord gp1 = imageToGround(
image_pt, height, desired_precision, achieved_precision, warnings);
// Unit vector along object ray
csm::EcefCoord gp2 = imageToGround(
image_pt, height - GND_DELTA, desired_precision, achieved_precision, warnings);
double dx2, dy2, dz2;
dx2 = gp2.x - gp1.x;
dy2 = gp2.y - gp1.y;
dz2 = gp2.z - gp1.z;
double mag2 = sqrt(dx2 * dx2 + dy2 * dy2 + dz2 * dz2);
dx2 /= mag2;
dy2 /= mag2;
dz2 /= mag2;
// Locus
csm::EcefLocus locus;
locus.point = gp1;
locus.direction.x = dx2;
locus.direction.y = dy2;
locus.direction.z = dz2;
return locus;
}
//---------------------------------------------------------------------------
// Uncertainty Propagation
//---------------------------------------------------------------------------
//***************************************************************************
// UsgsAstroLsSensorModel::computeGroundPartials
//***************************************************************************
std::vector<double> UsgsAstroLsSensorModel::computeGroundPartials(
const csm::EcefCoord& ground_pt) const
{
double GND_DELTA = _data.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
{
// 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
{
// Compute numerical partials ls wrt specific parameter
const double DELTA = _data.m_Gsd;
std::vector<double> adj(UsgsAstroLsStateData::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
{
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
{
std::vector<int> indices = getParameterSetIndices(pSet);
size_t num = indices.size();
std::vector<csm::RasterGM::SensorPartials> partials;
for (int index = 0; index < num; index++)
{
partials.push_back(
computeSensorPartials(
indices[index], image_pt, ground_pt,
desired_precision, achieved_precision, warnings));
}
return partials;
}
//***************************************************************************
// UsgsAstroLsSensorModel::getParameterCovariance
//***************************************************************************
double UsgsAstroLsSensorModel::getParameterCovariance(
int index1,
int index2) const
{
int index = UsgsAstroLsStateData::NUM_PARAMETERS * index1 + index2;
return _data.m_Covariance[index];
}
//***************************************************************************
// UsgsAstroLsSensorModel::setParameterCovariance
//***************************************************************************
void UsgsAstroLsSensorModel::setParameterCovariance(
int index1,
int index2,
double covariance)
{
int index = UsgsAstroLsStateData::NUM_PARAMETERS * index1 + index2;
_data.m_Covariance[index] = covariance;
}
//---------------------------------------------------------------------------
// Time and Trajectory
//---------------------------------------------------------------------------
//***************************************************************************
// UsgsAstroLsSensorModel::getTrajectoryIdentifier
//***************************************************************************
std::string UsgsAstroLsSensorModel::getTrajectoryIdentifier() const
{
return _data.m_TrajectoryIdentifier;
}
//***************************************************************************
// UsgsAstroLsSensorModel::getReferenceDateAndTime
//***************************************************************************
std::string UsgsAstroLsSensorModel::getReferenceDateAndTime() const
{
if (_data.m_ReferenceDateAndTime == "UNKNOWN")
{
throw csm::Error(
csm::Error::UNSUPPORTED_FUNCTION,
"Unsupported function",
"UsgsAstroLsSensorModel::getReferenceDateAndTime");
}
return _data.m_ReferenceDateAndTime;
}
//***************************************************************************
// UsgsAstroLsSensorModel::getImageTime
//***************************************************************************
double UsgsAstroLsSensorModel::getImageTime(
const csm::ImageCoord& image_pt) const
{
// Flip image taken backwards
double line1 = image_pt.line;
// CSM image convention: UL pixel center == (0.5, 0.5)
// USGS image convention: UL pixel center == (1.0, 1.0)
double lineCSMFull = line1 + _data.m_OffsetLines;
double lineUSGSFull = lineCSMFull + 0.5;
// These calculation assumes that the values in the integration time
// vectors are in terms of ISIS' pixels
auto referenceLineIt = std::upper_bound(_data.m_IntTimeLines.begin(),
_data.m_IntTimeLines.end(),
lineUSGSFull);
if (referenceLineIt != _data.m_IntTimeLines.begin()) {
--referenceLineIt;
}
size_t referenceIndex = std::distance(_data.m_IntTimeLines.begin(), referenceLineIt);
double time = _data.m_IntTimeStartTimes[referenceIndex]
+ _data.m_IntTimes[referenceIndex] * (lineUSGSFull - _data.m_IntTimeLines[referenceIndex]);
return time;
}
//***************************************************************************
// UsgsAstroLsSensorModel::getSensorPosition
//***************************************************************************
csm::EcefCoord UsgsAstroLsSensorModel::getSensorPosition(
const csm::ImageCoord& imagePt) const
{
return getSensorPosition(getImageTime(imagePt));
}
//***************************************************************************
// UsgsAstroLsSensorModel::getSensorPosition
//***************************************************************************
csm::EcefCoord UsgsAstroLsSensorModel::getSensorPosition(double time) const
{
double x, y, z, vx, vy, vz;
getAdjSensorPosVel(time, _no_adjustment, x, y, z, vx, vy, vz);
return csm::EcefCoord(x, y, z);
}
//***************************************************************************
// UsgsAstroLsSensorModel::getSensorVelocity
//***************************************************************************
csm::EcefVector UsgsAstroLsSensorModel::getSensorVelocity(
const csm::ImageCoord& imagePt) const
{
return getSensorVelocity(getImageTime(imagePt));
}
//***************************************************************************
// UsgsAstroLsSensorModel::getSensorVelocity
//***************************************************************************
csm::EcefVector UsgsAstroLsSensorModel::getSensorVelocity(double time) const
{
double x, y, z, vx, vy, vz;
getAdjSensorPosVel(time, _no_adjustment, x, y, z, vx, vy, vz);
return csm::EcefVector(vx, vy, vz);
}
//---------------------------------------------------------------------------
// Sensor Model Parameters
//---------------------------------------------------------------------------
//***************************************************************************
// UsgsAstroLsSensorModel::setParameterValue
//***************************************************************************
void UsgsAstroLsSensorModel::setParameterValue(int index, double value)
{
_data.m_ParameterVals[index] = value;
}
//***************************************************************************
// UsgsAstroLsSensorModel::getParameterValue
//***************************************************************************
double UsgsAstroLsSensorModel::getParameterValue(int index) const
{
return _data.m_ParameterVals[index];
}
//***************************************************************************
// UsgsAstroLsSensorModel::getParameterName
//***************************************************************************
std::string UsgsAstroLsSensorModel::getParameterName(int index) const
{
return _data.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 UsgsAstroLsStateData::NUM_PARAMETERS;
}
//***************************************************************************
// UsgsAstroLsSensorModel::getParameterType
//***************************************************************************
csm::param::Type UsgsAstroLsSensorModel::getParameterType(int index) const
{
return _data.m_ParameterType[index];
}
//***************************************************************************
// UsgsAstroLsSensorModel::setParameterType
//***************************************************************************
void UsgsAstroLsSensorModel::setParameterType(
int index, csm::param::Type pType)
{
_data.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 _data.m_ImageIdentifier;
}
//***************************************************************************
// UsgsAstroLsSensorModel::setImageIdentifier
//***************************************************************************
void UsgsAstroLsSensorModel::setImageIdentifier(
const std::string& imageId,
csm::WarningList* warnings)
{
// Image id should include the suffix without the path name
_data.m_ImageIdentifier = imageId;
}
//***************************************************************************
// UsgsAstroLsSensorModel::getSensorIdentifier
//***************************************************************************
std::string UsgsAstroLsSensorModel::getSensorIdentifier() const
{
return _data.m_SensorIdentifier;
}
//***************************************************************************
// UsgsAstroLsSensorModel::getPlatformIdentifier
//***************************************************************************
std::string UsgsAstroLsSensorModel::getPlatformIdentifier() const
{
return _data.m_PlatformIdentifier;
}
//***************************************************************************
// UsgsAstroLsSensorModel::setReferencePoint
//***************************************************************************
void UsgsAstroLsSensorModel::setReferencePoint(const csm::EcefCoord& ground_pt)
{
_data.m_ReferencePointXyz = ground_pt;
}
//***************************************************************************
// UsgsAstroLsSensorModel::getReferencePoint
//***************************************************************************
csm::EcefCoord UsgsAstroLsSensorModel::getReferencePoint() const
{
// Return ground point at image center
return _data.m_ReferencePointXyz;
}
//***************************************************************************
// UsgsAstroLsSensorModel::getSensorModelName
//***************************************************************************
std::string UsgsAstroLsSensorModel::getModelName() const
{
return UsgsAstroLsStateData::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(_data.m_TotalLines, _data.m_TotalSamples);
}
//---------------------------------------------------------------------------
// Sensor Model State
//---------------------------------------------------------------------------
//***************************************************************************
// UsgsAstroLsSensorModel::getSensorModelState
//***************************************************************************
std::string UsgsAstroLsSensorModel::getModelState() const
{
return _data.toJson();
}
//---------------------------------------------------------------------------
// Monoscopic Mensuration
//---------------------------------------------------------------------------
//***************************************************************************
// UsgsAstroLsSensorModel::getValidHeightRange
//***************************************************************************
std::pair<double, double> UsgsAstroLsSensorModel::getValidHeightRange() const
{
return std::pair<double, double>(_data.m_MinElevation, _data.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(_data.m_TotalLines, _data.m_TotalSamples));
}
//***************************************************************************
// UsgsAstroLsSensorModel::getIlluminationDirection
//***************************************************************************
csm::EcefVector UsgsAstroLsSensorModel::getIlluminationDirection(
const csm::EcefCoord& groundPt) const
{
throw csm::Error(
csm::Error::UNSUPPORTED_FUNCTION,
"Unsupported function",
"UsgsAstroLsSensorModel::getIlluminationDirection");
}
//---------------------------------------------------------------------------
// Error Correction
//---------------------------------------------------------------------------
//***************************************************************************
// UsgsAstroLsSensorModel::getNumGeometricCorrectionSwitches
//***************************************************************************
int UsgsAstroLsSensorModel::getNumGeometricCorrectionSwitches() const
{
return 0;}
//***************************************************************************
// UsgsAstroLsSensorModel::getGeometricCorrectionName
//***************************************************************************
std::string UsgsAstroLsSensorModel::getGeometricCorrectionName(int index) const
{
// 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)
{
// 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
{
// Since there are no geometric corrections, all indices are out of range
throw csm::Error(
csm::Error::INDEX_OUT_OF_RANGE,
"Index is out of range.",
"UsgsAstroLsSensorModel::getGeometricCorrectionSwitch");
}
//***************************************************************************
// UsgsAstroLsSensorModel::getCrossCovarianceMatrix
//***************************************************************************
std::vector<double> UsgsAstroLsSensorModel::getCrossCovarianceMatrix(
const csm::GeometricModel& comparisonModel,
csm::param::Set pSet,
const csm::GeometricModel::GeometricModelList& otherModels) const
{
// No correlation between models.
const std::vector<int>& indices = getParameterSetIndices(pSet);
size_t num_rows = indices.size();
const std::vector<int>& indices2 = comparisonModel.getParameterSetIndices(pSet);
size_t num_cols = indices.size();
return std::vector<double>(num_rows * num_cols, 0.0);
}
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 _data.m_CollectionIdentifier;
}
//***************************************************************************
// 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
{
// Parameter sharing is not supported for this sensor,
// all indices are out of range
throw csm::Error(
csm::Error::INDEX_OUT_OF_RANGE,
"Index out of range.",
"UsgsAstroLsSensorModel::getParameterSharingCriteria");
}
//***************************************************************************
// UsgsAstroLsSensorModel::getSensorType
//***************************************************************************
std::string UsgsAstroLsSensorModel::getSensorType() const
{
return CSM_SENSOR_TYPE_EO;
}
//***************************************************************************
// UsgsAstroLsSensorModel::getSensorMode
//***************************************************************************
std::string UsgsAstroLsSensorModel::getSensorMode() const
{
return CSM_SENSOR_MODE_PB;
}
//***************************************************************************
// UsgsAstroLsSensorModel::getVersion
//***************************************************************************
csm::Version UsgsAstroLsSensorModel::getVersion() const
{ return csm::Version(1, 0, 0);
}
//***************************************************************************
// UsgsAstroLsSensorModel::replaceModelState
//***************************************************************************
void UsgsAstroLsSensorModel::replaceModelState(const std::string& argState)
{
set(argState);
}
csm::Ellipsoid UsgsAstroLsSensorModel::getEllipsoid() const
{
return csm::Ellipsoid(_data.m_SemiMajorAxis, _data.m_SemiMinorAxis);
}
void UsgsAstroLsSensorModel::setEllipsoid(
const csm::Ellipsoid &ellipsoid)
{
_data.m_SemiMajorAxis = ellipsoid.getSemiMajorRadius();
_data.m_SemiMinorAxis = ellipsoid.getSemiMinorRadius();
}
double UsgsAstroLsSensorModel::getValue(
int index,
const std::vector<double> &adjustments) const
{
return _data.m_ParameterVals[index] + adjustments[index];
}
//***************************************************************************
// 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& xl, // output line-of-sight x coordinate
double& yl, // output line-of-sight y coordinate
double& zl) const // output line-of-sight z coordinate
{
//# private_func_description
// Computes image ray in ecf coordinate system.
// Compute adjusted sensor position and velocity
double time = getImageTime(csm::ImageCoord(line, sample));
getAdjSensorPosVel(time, adj, xc, yc, zc, vx, vy, vz);
// CSM image image convention: UL pixel center == (0.5, 0.5)
// USGS image convention: UL pixel center == (1.0, 1.0)
double sampleCSMFull = sample + _data.m_OffsetSamples;
double sampleUSGSFull = sampleCSMFull + 0.5;
double fractionalLine = line - floor(line) - 0.5;
// Compute distorted image coordinates in mm
double isisDetSample = (sampleUSGSFull - 1.0)
* _data.m_DetectorSampleSumming + _data.m_StartingSample;
double m11 = _data.m_ITransL[1];
double m12 = _data.m_ITransL[2]; double m21 = _data.m_ITransS[1];
double m22 = _data.m_ITransS[2];
double t1 = fractionalLine + _data.m_DetectorLineOffset
- _data.m_DetectorLineOrigin - _data.m_ITransL[0];
double t2 = isisDetSample - _data.m_DetectorSampleOrigin - _data.m_ITransS[0];
double determinant = m11 * m22 - m12 * m21;
double p11 = m11 / determinant;
double p12 = -m12 / determinant;
double p21 = -m21 / determinant;
double p22 = m22 / determinant;
double isisNatFocalPlaneX = p11 * t1 + p12 * t2;
double isisNatFocalPlaneY = p21 * t1 + p22 * t2;
// Remove lens distortion
double isisFocalPlaneX = isisNatFocalPlaneX;
double isisFocalPlaneY = isisNatFocalPlaneY;
switch (_data.m_IkCode)
{
case -85610:
case -85600:
isisFocalPlaneY = isisNatFocalPlaneY / (1.0 + _data.m_OpticalDistCoef[0]
* isisNatFocalPlaneY * isisNatFocalPlaneY);
break;
default:
if (_data.m_OpticalDistCoef[0] != 0.0 ||
_data.m_OpticalDistCoef[1] != 0.0 ||
_data.m_OpticalDistCoef[2] != 0.0)
{
double rr = isisNatFocalPlaneX * isisNatFocalPlaneX
+ isisNatFocalPlaneY * isisNatFocalPlaneY;
if (rr > 1.0E-6)
{
double dr = _data.m_OpticalDistCoef[0] + (rr * (_data.m_OpticalDistCoef[1]
+ rr * _data.m_OpticalDistCoef[2]));
isisFocalPlaneX = isisNatFocalPlaneX * (1.0 - dr);
isisFocalPlaneY = isisNatFocalPlaneY * (1.0 - dr);
}
}
break;
}
// Define imaging ray in image space
double losIsis[3];
losIsis[0] = -isisFocalPlaneX * _data.m_IsisZDirection;
losIsis[1] = -isisFocalPlaneY * _data.m_IsisZDirection;
losIsis[2] = -_data.m_Focal * (1.0 - getValue(15, adj) / _data.m_HalfSwath);
double isisMag = sqrt(losIsis[0] * losIsis[0]
+ losIsis[1] * losIsis[1]
+ losIsis[2] * losIsis[2]);
losIsis[0] /= isisMag;
losIsis[1] /= isisMag;
losIsis[2] /= isisMag;
// Apply boresight correction
double losApl[3];
losApl[0] =
_data.m_MountingMatrix[0] * losIsis[0]
+ _data.m_MountingMatrix[1] * losIsis[1]
+ _data.m_MountingMatrix[2] * losIsis[2];
losApl[1] =
_data.m_MountingMatrix[3] * losIsis[0]
+ _data.m_MountingMatrix[4] * losIsis[1]
+ _data.m_MountingMatrix[5] * losIsis[2];
losApl[2] =
_data.m_MountingMatrix[6] * losIsis[0]
+ _data.m_MountingMatrix[7] * losIsis[1]
+ _data.m_MountingMatrix[8] * losIsis[2];
// Apply attitude correction
double aTime = time - _data.m_T0Quat;
double euler[3];
double nTime = aTime / _data.m_HalfTime;
double nTime2 = nTime * nTime;
euler[0] =
(getValue(6, adj) + getValue(9, adj)* nTime + getValue(12, adj)* nTime2) / _data.m_FlyingHeight;
euler[1] =
(getValue(7, adj) + getValue(10, adj)* nTime + getValue(13, adj)* nTime2) / _data.m_FlyingHeight;
euler[2] =
(getValue(8, adj) + getValue(11, adj)* nTime + getValue(14, adj)* nTime2) / _data.m_HalfSwath;
double cos_a = cos(euler[0]);
double sin_a = sin(euler[0]);
double cos_b = cos(euler[1]);
double sin_b = sin(euler[1]);
double cos_c = cos(euler[2]);
double sin_c = sin(euler[2]);
double plFromApl[9];
plFromApl[0] = cos_b * cos_c;
plFromApl[1] = -cos_a * sin_c + sin_a * sin_b * cos_c;
plFromApl[2] = sin_a * sin_c + cos_a * sin_b * cos_c;
plFromApl[3] = cos_b * sin_c;
plFromApl[4] = cos_a * cos_c + sin_a * sin_b * sin_c;
plFromApl[5] = -sin_a * cos_c + cos_a * sin_b * sin_c;
plFromApl[6] = -sin_b;
plFromApl[7] = sin_a * cos_b;
plFromApl[8] = cos_a * cos_b;
double losPl[3];
losPl[0] = plFromApl[0] * losApl[0] + plFromApl[1] * losApl[1]
+ plFromApl[2] * losApl[2];
losPl[1] = plFromApl[3] * losApl[0] + plFromApl[4] * losApl[1]
+ plFromApl[5] * losApl[2];
losPl[2] = plFromApl[6] * losApl[0] + plFromApl[7] * losApl[1]
+ plFromApl[8] * losApl[2];
// Apply rotation matrix from sensor quaternions
int nOrder = 8;
if (_data.m_PlatformFlag == 0)
nOrder = 4;
int nOrderQuat = nOrder;
if (_data.m_NumQuaternions < 6 && nOrder == 8)
nOrderQuat = 4;
double q[4];
lagrangeInterp(
_data.m_NumQuaternions, &_data.m_Quaternions[0], _data.m_T0Quat, _data.m_DtQuat,
time, 4, nOrderQuat, q);
double norm = sqrt(q[0] * q[0] + q[1] * q[1] + q[2] * q[2] + q[3] * q[3]);
q[0] /= norm;
q[1] /= norm;
q[2] /= norm;
q[3] /= norm;
double ecfFromPl[9];
ecfFromPl[0] = q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3];
ecfFromPl[1] = 2 * (q[0] * q[1] - q[2] * q[3]);
ecfFromPl[2] = 2 * (q[0] * q[2] + q[1] * q[3]);
ecfFromPl[3] = 2 * (q[0] * q[1] + q[2] * q[3]);
ecfFromPl[4] = -q[0] * q[0] + q[1] * q[1] - q[2] * q[2] + q[3] * q[3];
ecfFromPl[5] = 2 * (q[1] * q[2] - q[0] * q[3]);
ecfFromPl[6] = 2 * (q[0] * q[2] - q[1] * q[3]);
ecfFromPl[7] = 2 * (q[1] * q[2] + q[0] * q[3]);
ecfFromPl[8] = -q[0] * q[0] - q[1] * q[1] + q[2] * q[2] + q[3] * q[3];
xl = ecfFromPl[0] * losPl[0] + ecfFromPl[1] * losPl[1]
+ ecfFromPl[2] * losPl[2];
yl = ecfFromPl[3] * losPl[0] + ecfFromPl[4] * losPl[1]
+ ecfFromPl[5] * losPl[2];
zl = ecfFromPl[6] * losPl[0] + ecfFromPl[7] * losPl[1]
+ ecfFromPl[8] * losPl[2];}
//***************************************************************************
// 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
{
//# 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;
}
// 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;
}
//***************************************************************************
// UsgsAstroLsSensorModel::lagrangeInterp
//***************************************************************************
void UsgsAstroLsSensorModel::lagrangeInterp(
const int& numTime,
const double* valueArray,
const double& startTime,
const double& delTime,
const double& time,
const int& vectorLength,
const int& i_order,
double* valueVector) const
{
// Lagrange interpolation for uniform post interval.
// Largest order possible is 8th. Points far away from // data center are handled gracefully to avoid failure.
// Compute index
double fndex = (time - startTime) / delTime;
int index = int(fndex);
//Time outside range
//printf("%f | %i\n", fndex, index);
//if (index < 0 || index >= numTime - 1) {
// printf("TIME ISSUE\n");
// double d1 = fndex / (numTime - 1);
// double d0 = 1.0 - d1;
// int indx0 = vectorLength * (numTime - 1);
// for (int i = 0; i < vectorLength; i++)
// {
// valueVector[i] = d0 * valueArray[i] + d1 * valueArray[indx0 + i];
// }
// return;
//}
if (index < 0)
{
index = 0;
}
if (index > numTime - 2)
{
index = numTime - 2;
}
// Define order, max is 8
int order;
if (index >= 3 && index < numTime - 4) {
order = 8;
}
else if (index == 2 || index == numTime - 4) {
order = 6;
}
else if (index == 1 || index == numTime - 3) {
order = 4;
}
else if (index == 0 || index == numTime - 2) {
order = 2;
}
if (order > i_order) {
order = i_order;
}
// Compute interpolation coefficients
double tp3, tp2, tp1, tm1, tm2, tm3, tm4, d[8];
double tau = fndex - index;
if (order == 2) {
tm1 = tau - 1;
d[0] = -tm1;
d[1] = tau;
}
else if (order == 4) {
tp1 = tau + 1;
tm1 = tau - 1;
tm2 = tau - 2;
d[0] = -tau * tm1 * tm2 / 6.0;
d[1] = tp1 * tm1 * tm2 / 2.0;
d[2] = -tp1 * tau * tm2 / 2.0;
d[3] = tp1 * tau * tm1 / 6.0;
}
else if (order == 6) {
tp2 = tau + 2;
tp1 = tau + 1;
tm1 = tau - 1; tm2 = tau - 2;
tm3 = tau - 3;
d[0] = -tp1 * tau * tm1 * tm2 * tm3 / 120.0;
d[1] = tp2 * tau * tm1 * tm2 * tm3 / 24.0;
d[2] = -tp2 * tp1 * tm1 * tm2 * tm3 / 12.0;
d[3] = tp2 * tp1 * tau * tm2 * tm3 / 12.0;
d[4] = -tp2 * tp1 * tau * tm1 * tm3 / 24.0;
d[5] = tp2 * tp1 * tau * tm1 * tm2 / 120.0;
}
else if (order == 8) {
tp3 = tau + 3;
tp2 = tau + 2;
tp1 = tau + 1;
tm1 = tau - 1;
tm2 = tau - 2;
tm3 = tau - 3;
tm4 = tau - 4;
// Why are the denominators hard coded, as it should be x[0] - x[i]
d[0] = -tp2 * tp1 * tau * tm1 * tm2 * tm3 * tm4 / 5040.0;
d[1] = tp3 * tp1 * tau * tm1 * tm2 * tm3 * tm4 / 720.0;
d[2] = -tp3 * tp2 * tau * tm1 * tm2 * tm3 * tm4 / 240.0;
d[3] = tp3 * tp2 * tp1 * tm1 * tm2 * tm3 * tm4 / 144.0;
d[4] = -tp3 * tp2 * tp1 * tau * tm2 * tm3 * tm4 / 144.0;
d[5] = tp3 * tp2 * tp1 * tau * tm1 * tm3 * tm4 / 240.0;
d[6] = -tp3 * tp2 * tp1 * tau * tm1 * tm2 * tm4 / 720.0;
d[7] = tp3 * tp2 * tp1 * tau * tm1 * tm2 * tm3 / 5040.0;
}
// Compute interpolated point
int indx0 = index - order / 2 + 1;
for (int i = 0; i < vectorLength; i++)
{
valueVector[i] = 0.0;
}
for (int i = 0; i < order; i++)
{
int jndex = vectorLength * (indx0 + i);
for (int j = 0; j < vectorLength; j++)
{
valueVector[j] += d[i] * valueArray[jndex + j];
}
}
}
//***************************************************************************
// UsgsAstroLsSensorModel::computeElevation
//***************************************************************************
void UsgsAstroLsSensorModel::computeElevation(
const double& x,
const double& y,
const double& z,
double& height,
double& achieved_precision,
const double& desired_precision) const
{
// Compute elevation given xyz
// Requires semi-major-axis and eccentricity-square
const int MKTR = 10;
double ecc_sqr = 1.0 - _data.m_SemiMinorAxis * _data.m_SemiMinorAxis / _data.m_SemiMajorAxis / _data.m_SemiMajorAxis;
double ep2 = 1.0 - ecc_sqr;
double d2 = x * x + y * y;
double d = sqrt(d2);
double h = 0.0;
int ktr = 0;
double hPrev, r;
// Suited for points near equator
if (d >= z)
{ double tt, zz, n;
double tanPhi = z / d;
do
{
hPrev = h;
tt = tanPhi * tanPhi;
r = _data.m_SemiMajorAxis / sqrt(1.0 + ep2 * tt);
zz = z + r * ecc_sqr * tanPhi;
n = r * sqrt(1.0 + tt);
h = sqrt(d2 + zz * zz) - n;
tanPhi = zz / d;
ktr++;
} while (MKTR > ktr && fabs(h - hPrev) > desired_precision);
}
// Suited for points near the poles
else
{
double cc, dd, nn;
double cotPhi = d / z;
do
{
hPrev = h;
cc = cotPhi * cotPhi;
r = _data.m_SemiMajorAxis / sqrt(ep2 + cc);
dd = d - r * ecc_sqr * cotPhi;
nn = r * sqrt(1.0 + cc) * ep2;
h = sqrt(dd * dd + z * z) - nn;
cotPhi = dd / z;
ktr++;
} while (MKTR > ktr && fabs(h - hPrev) > desired_precision);
}
height = h;
achieved_precision = fabs(h - hPrev);
}
//***************************************************************************
// UsgsAstroLsSensorModel::losEllipsoidIntersect
//**************************************************************************
void UsgsAstroLsSensorModel::losEllipsoidIntersect(
const double& height,
const double& xc,
const double& yc,
const double& zc,
const double& xl,
const double& yl,
const double& zl,
double& x,
double& y,
double& z,
double& achieved_precision,
const double& desired_precision) const
{
// 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 = _data.m_SemiMajorAxis + height;
bp = _data.m_SemiMinorAxis + height;
k = ap * ap / (bp * bp);
// Solve quadratic equation for scale factor
// applied to image ray to compute ground point
double at, bt, ct, quadTerm;
at = xl * xl + yl * yl + k * zl * zl; bt = 2.0 * (xl * xc + yl * yc + k * zl * zc);
ct = xc * xc + yc * yc + k * zc * zc - ap * ap;
quadTerm = bt * bt - 4.0 * at * ct;
// If quadTerm is negative, the image ray does not
// intersect the ellipsoid. Setting the quadTerm to
// zero means solving for a point on the ray nearest
// the surface of the ellisoid.
if (0.0 > quadTerm)
{
quadTerm = 0.0;
}
double scale, scale1, h, slope;
double sprev, hprev;
double aPrec, sTerm;
int ktr = 0;
// Compute ground point vector
sTerm = sqrt(quadTerm);
scale = (-bt - sTerm);
scale1 = (-bt + sTerm);
if (fabs(scale1) < fabs(scale))
scale = scale1;
scale /= (2.0 * at);
x = xc + scale * xl;
y = yc + scale * yl;
z = zc + scale * zl;
computeElevation(x, y, z, h, aPrec, desired_precision);
slope = -1;
while (MKTR > ktr && fabs(height - h) > desired_precision)
{
sprev = scale;
scale += slope * (height - h);
x = xc + scale * xl;
y = yc + scale * yl;
z = zc + scale * zl;
hprev = h;
computeElevation(x, y, z, h, aPrec, desired_precision);
slope = (sprev - scale) / (hprev - h);
ktr++;
}
achieved_precision = fabs(height - h);
}
//***************************************************************************
// UsgsAstroLsSensorModel::losPlaneIntersect
//**************************************************************************
void UsgsAstroLsSensorModel::losPlaneIntersect(
const double& xc, // input: camera x coordinate
const double& yc, // input: camera y coordinate
const double& zc, // input: camera z coordinate
const double& xl, // input: component x image ray
const double& yl, // input: component y image ray
const double& zl, // input: component z image ray
double& x, // input/output: ground x coordinate
double& y, // input/output: ground y coordinate
double& z, // input/output: ground z coordinate
int& mode) const // input: -1 fixed component to be computed
// 0(X), 1(Y), or 2(Z) fixed
// output: 0(X), 1(Y), or 2(Z) fixed
{
//# func_description
// Computes 2 of the 3 coordinates of a ground point given the 3rd
// coordinate. The 3rd coordinate that is held fixed corresponds
// to the largest absolute component of the image ray.
// Define fixed or largest component
if (-1 == mode)
{
if (fabs(xl) > fabs(yl) && fabs(xl) > fabs(zl))
{
mode = 0;
}
else if (fabs(yl) > fabs(xl) && fabs(yl) > fabs(zl))
{
mode = 1;
}
else
{
mode = 2;
}
}
// X is the fixed or largest component
if (0 == mode)
{
y = yc + (x - xc) * yl / xl;
z = zc + (x - xc) * zl / xl;
}
// Y is the fixed or largest component
else if (1 == mode)
{
x = xc + (y - yc) * xl / yl;
z = zc + (y - yc) * zl / yl;
}
// Z is the fixed or largest component
else
{
x = xc + (z - zc) * xl / zl;
y = yc + (z - zc) * yl / zl;
}
}
//***************************************************************************
// UsgsAstroLsSensorModel::imageToPlane
//***************************************************************************
void UsgsAstroLsSensorModel::imageToPlane(
const double& line, // CSM Origin UL corner of UL pixel
const double& sample, // CSM Origin UL corner of UL pixel
const double& height,
const std::vector<double> &adj,
double& x,
double& y,
double& z,
int& mode) const
{
//# func_description
// Computes ground coordinates by intersecting image ray with
// a plane perpendicular to the coordinate axis with the largest
// image ray component. This routine is primarily called by
// groundToImage().
// *** Computes camera position and image ray in ecf cs.
double xc, yc, zc;
double vx, vy, vz;
double xl, yl, zl;
double dxl, dyl, dzl;
losToEcf(line, sample, adj, xc, yc, zc, vx, vy, vz, xl, yl, zl);
if (_data.m_AberrFlag == 1)
{
lightAberrationCorr(vx, vy, vz, xl, yl, zl, dxl, dyl, dzl);
xl += dxl;
yl += dyl;
zl += dzl;
}
losPlaneIntersect(xc, yc, zc, xl, yl, zl, x, y, z, mode);
}
//***************************************************************************
// UsgsAstroLineScannerSensorModel::getAdjSensorPosVel
//***************************************************************************
void UsgsAstroLsSensorModel::getAdjSensorPosVel(
const double& time,
const std::vector<double> &adj,
double& xc,
double& yc,
double& zc,
double& vx,
double& vy,
double& vz) const
{
// Sensor position and velocity (4th or 8th order Lagrange).
int nOrder = 8;
if (_data.m_PlatformFlag == 0)
nOrder = 4;
double sensPosNom[3];
lagrangeInterp(_data.m_NumEphem, &_data.m_EphemPts[0], _data.m_T0Ephem, _data.m_DtEphem,
time, 3, nOrder, sensPosNom);
double sensVelNom[3];
lagrangeInterp(_data.m_NumEphem, &_data.m_EphemRates[0], _data.m_T0Ephem, _data.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 - _data.m_T0Ephem;
double dvi = getValue(3, adj) / _data.m_HalfTime;
double dvc = getValue(4, adj) / _data.m_HalfTime;
double dvr = getValue(5, adj) / _data.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;
}
//***************************************************************************
// UsgsAstroLineScannerSensorModel::computeViewingPixel
//***************************************************************************
csm::ImageCoord UsgsAstroLsSensorModel::computeViewingPixel(
const double& time,
const csm::EcefCoord& groundPoint,
const std::vector<double>& adj) const
{
// Get the exterior orientation
double xc, yc, zc, vx, vy, vz;
getAdjSensorPosVel(time, adj, xc, yc, zc, vx, vy, vz);
// Compute the look vector
double bodyLookX = groundPoint.x - xc;
double bodyLookY = groundPoint.y - yc;
double bodyLookZ = groundPoint.z - zc;
// Rotate the look vector into the camera reference frame
int nOrder = 8;
if (_data.m_PlatformFlag == 0)
nOrder = 4;
int nOrderQuat = nOrder;
if (_data.m_NumQuaternions < 6 && nOrder == 8)
nOrderQuat = 4;
double q[4];
lagrangeInterp(
_data.m_NumQuaternions, &_data.m_Quaternions[0], _data.m_T0Quat, _data.m_DtQuat,
time, 4, nOrderQuat, q);
double norm = sqrt(q[0] * q[0] + q[1] * q[1] + q[2] * q[2] + q[3] * q[3]);
// Divide by the negative norm for 0 through 2 to invert the quaternion
q[0] /= -norm;
q[1] /= -norm;
q[2] /= -norm;
q[3] /= norm;
double bodyToCamera[9];
bodyToCamera[0] = q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3];
bodyToCamera[1] = 2 * (q[0] * q[1] - q[2] * q[3]);
bodyToCamera[2] = 2 * (q[0] * q[2] + q[1] * q[3]);
bodyToCamera[3] = 2 * (q[0] * q[1] + q[2] * q[3]);
bodyToCamera[4] = -q[0] * q[0] + q[1] * q[1] - q[2] * q[2] + q[3] * q[3];
bodyToCamera[5] = 2 * (q[1] * q[2] - q[0] * q[3]);
bodyToCamera[6] = 2 * (q[0] * q[2] - q[1] * q[3]);
bodyToCamera[7] = 2 * (q[1] * q[2] + q[0] * q[3]); bodyToCamera[8] = -q[0] * q[0] - q[1] * q[1] + q[2] * q[2] + q[3] * q[3];
double cameraLookX = bodyToCamera[0] * bodyLookX
+ bodyToCamera[1] * bodyLookY
+ bodyToCamera[2] * bodyLookZ;
double cameraLookY = bodyToCamera[3] * bodyLookX
+ bodyToCamera[4] * bodyLookY
+ bodyToCamera[5] * bodyLookZ;
double cameraLookZ = bodyToCamera[6] * bodyLookX
+ bodyToCamera[7] * bodyLookY
+ bodyToCamera[8] * bodyLookZ;
// Invert the attitude correction
double aTime = time - _data.m_T0Quat;
double euler[3];
double nTime = aTime / _data.m_HalfTime;
double nTime2 = nTime * nTime;
euler[0] =
(getValue(6, adj) + getValue(9, adj)* nTime + getValue(12, adj)* nTime2) / _data.m_FlyingHeight;
euler[1] =
(getValue(7, adj) + getValue(10, adj)* nTime + getValue(13, adj)* nTime2) / _data.m_FlyingHeight;
euler[2] =
(getValue(8, adj) + getValue(11, adj)* nTime + getValue(14, adj)* nTime2) / _data.m_HalfSwath;
double cos_a = cos(euler[0]);
double sin_a = sin(euler[0]);
double cos_b = cos(euler[1]);
double sin_b = sin(euler[1]);
double cos_c = cos(euler[2]);
double sin_c = sin(euler[2]);
double attCorr[9];
attCorr[0] = cos_b * cos_c;
attCorr[1] = -cos_a * sin_c + sin_a * sin_b * cos_c;
attCorr[2] = sin_a * sin_c + cos_a * sin_b * cos_c;
attCorr[3] = cos_b * sin_c;
attCorr[4] = cos_a * cos_c + sin_a * sin_b * sin_c;
attCorr[5] = -sin_a * cos_c + cos_a * sin_b * sin_c;
attCorr[6] = -sin_b;
attCorr[7] = sin_a * cos_b;
attCorr[8] = cos_a * cos_b;
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;
// Invert the boresight correction
double correctedLookX = _data.m_MountingMatrix[0] * adjustedLookX
+ _data.m_MountingMatrix[3] * adjustedLookY
+ _data.m_MountingMatrix[6] * adjustedLookZ;
double correctedLookY = _data.m_MountingMatrix[1] * adjustedLookX
+ _data.m_MountingMatrix[4] * adjustedLookY
+ _data.m_MountingMatrix[7] * adjustedLookZ;
double correctedLookZ = _data.m_MountingMatrix[2] * adjustedLookX
+ _data.m_MountingMatrix[5] * adjustedLookY
+ _data.m_MountingMatrix[8] * adjustedLookZ;
// Convert to focal plane coordinate
double lookScale = _data.m_Focal / correctedLookZ;
double focalX = correctedLookX * lookScale;
double focalY = correctedLookY * lookScale;
// TODO invert distortion here
// We probably only want to try and invert the distortion if we are
// reasonably close to the actual CCD because the distortion equations are
// sometimes only well behaved close to the CCD.
// Convert to detector line and sample double detectorLine = _data.m_ITransL[0]
+ _data.m_ITransL[1] * focalX
+ _data.m_ITransL[2] * focalY;
double detectorSample = _data.m_ITransS[0]
+ _data.m_ITransS[1] * focalX
+ _data.m_ITransS[2] * focalY;
// Convert to image sample line
double line = detectorLine + _data.m_DetectorLineOrigin - _data.m_DetectorLineOffset
- _data.m_OffsetLines + 0.5;
double sample = (detectorSample + _data.m_DetectorSampleOrigin - _data.m_StartingSample)
/ _data.m_DetectorSampleSumming - _data.m_OffsetSamples + 0.5;
return csm::ImageCoord(line, sample);
}
//***************************************************************************
// UsgsAstroLineScannerSensorModel::computeLinearApproximation
//***************************************************************************
void UsgsAstroLsSensorModel::computeLinearApproximation(
const csm::EcefCoord &gp,
csm::ImageCoord &ip) const
{
if (_linear)
{
ip.line = _u0 + _du_dx * gp.x + _du_dy * gp.y + _du_dz * gp.z;
ip.samp = _v0 + _dv_dx * gp.x + _dv_dy * gp.y + _dv_dz * gp.z;
// Since this is valid only over image,
// don't let result go beyond the image border.
double numRows = _data.m_TotalLines;
double numCols = _data.m_TotalSamples;
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 = _data.m_TotalLines / 2.0;
ip.samp = _data.m_TotalSamples / 2.0;
}
}
//***************************************************************************
// UsgsAstroLineScannerSensorModel::setLinearApproximation
//***************************************************************************
void UsgsAstroLsSensorModel::setLinearApproximation()
{
double u_factors[4] = { 0.0, 0.0, 1.0, 1.0 };
double v_factors[4] = { 0.0, 1.0, 0.0, 1.0 };
csm::EcefCoord refPt = getReferencePoint();
double height, aPrec;
double desired_precision = 0.01;
computeElevation(refPt.x, refPt.y, refPt.z, height, aPrec, desired_precision);
if (isnan(height))
{
_linear = false;
return;
}
double numRows = _data.m_TotalLines;
double numCols = _data.m_TotalSamples;
csm::ImageCoord imagePt; csm::EcefCoord gp[8];
int i;
for (i = 0; i < 4; i++)
{
imagePt.line = u_factors[i] * numRows;
imagePt.samp = v_factors[i] * numCols;
gp[i] = imageToGround(imagePt, height);
}
double delz = 100.0;
height += delz;
for (i = 0; i < 4; i++)
{
imagePt.line = u_factors[i] * numRows;
imagePt.samp = v_factors[i] * numCols;
gp[i + 4] = imageToGround(imagePt, height);
}
csm::EcefCoord d_du;
d_du.x = (
(gp[2].x + gp[3].x + gp[6].x + gp[7].x) -
(gp[0].x + gp[1].x + gp[4].x + gp[5].x)) / numRows / 4.0;
d_du.y = (
(gp[2].y + gp[3].y + gp[6].y + gp[7].y) -
(gp[0].y + gp[1].y + gp[4].y + gp[5].y)) / numRows / 4.0;
d_du.z = (
(gp[2].z + gp[3].z + gp[6].z + gp[7].z) -
(gp[0].z + gp[1].z + gp[4].z + gp[5].z)) / numRows / 4.0;
csm::EcefCoord d_dv;
d_dv.x = (
(gp[1].x + gp[3].x + gp[5].x + gp[7].x) -
(gp[0].x + gp[2].x + gp[4].x + gp[6].x)) / numCols / 4.0;
d_dv.y = (
(gp[1].y + gp[3].y + gp[5].y + gp[7].y) -
(gp[0].y + gp[2].y + gp[4].y + gp[6].y)) / numCols / 4.0;
d_dv.z = (
(gp[1].z + gp[3].z + gp[5].z + gp[7].z) -
(gp[0].z + gp[2].z + gp[4].z + gp[6].z)) / numCols / 4.0;
double mat3x3[9];
mat3x3[0] = d_du.x;
mat3x3[1] = d_dv.x;
mat3x3[2] = 1.0;
mat3x3[3] = d_du.y;
mat3x3[4] = d_dv.y;
mat3x3[5] = 1.0;
mat3x3[6] = d_du.z;
mat3x3[7] = d_dv.z;
mat3x3[8] = 1.0;
double denom = determinant3x3(mat3x3);
if (fabs(denom) < 1.0e-8) // can not get derivatives this way
{
_linear = false;
return;
}
mat3x3[0] = 1.0;
mat3x3[3] = 0.0;
mat3x3[6] = 0.0;
_du_dx = determinant3x3(mat3x3) / denom;
mat3x3[0] = 0.0;
mat3x3[3] = 1.0;
mat3x3[6] = 0.0;
_du_dy = determinant3x3(mat3x3) / denom;
mat3x3[0] = 0.0;
mat3x3[3] = 0.0;
mat3x3[6] = 1.0;
_du_dz = determinant3x3(mat3x3) / denom;
mat3x3[0] = d_du.x;
mat3x3[3] = d_du.y;
mat3x3[6] = d_du.z;
mat3x3[1] = 1.0;
mat3x3[4] = 0.0;
mat3x3[7] = 0.0;
_dv_dx = determinant3x3(mat3x3) / denom;
mat3x3[1] = 0.0;
mat3x3[4] = 1.0;
mat3x3[7] = 0.0;
_dv_dy = determinant3x3(mat3x3) / denom;
mat3x3[1] = 0.0;
mat3x3[4] = 0.0;
mat3x3[7] = 1.0;
_dv_dz = determinant3x3(mat3x3) / denom;
_u0 = -gp[0].x * _du_dx - gp[0].y * _du_dy - gp[0].z * _du_dz;
_v0 = -gp[0].x * _dv_dx - gp[0].y * _dv_dy - gp[0].z * _dv_dz;
_linear = true;
}
//***************************************************************************
// UsgsAstroLineScannerSensorModel::determinant3x3
//***************************************************************************
double UsgsAstroLsSensorModel::determinant3x3(double mat[9]) const
{
return
mat[0] * (mat[4] * mat[8] - mat[7] * mat[5]) -
mat[1] * (mat[3] * mat[8] - mat[6] * mat[5]) +
mat[2] * (mat[3] * mat[7] - mat[6] * mat[4]);
}