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aflab
astrogeology
Usgscsm
Commits
0f6e6712
Unverified
Commit
0f6e6712
authored
Feb 12, 2020
by
Jesse Mapel
Committed by
GitHub
Feb 12, 2020
Browse files
Options
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Plain Diff
Implemented cross covariance method (#271)
* Added proper covariance and reverted fl adjustment * Added tests
parent
1bb01ae6
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Changes
3
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3 changed files
src/UsgsAstroLsSensorModel.cpp
+43
-11
43 additions, 11 deletions
src/UsgsAstroLsSensorModel.cpp
tests/Fixtures.h
+38
-0
38 additions, 0 deletions
tests/Fixtures.h
tests/LineScanCameraTests.cpp
+28
-1
28 additions, 1 deletion
tests/LineScanCameraTests.cpp
with
109 additions
and
12 deletions
src/UsgsAstroLsSensorModel.cpp
+
43
−
11
View file @
0f6e6712
...
...
@@ -620,17 +620,36 @@ void UsgsAstroLsSensorModel::updateState()
m_halfTime
)
// Parameter covariance, hardcoded accuracy values
// hardcoded ~1 pixel accuracy values
int
num_params
=
NUM_PARAMETERS
;
int
num_paramsSquare
=
num_params
*
num_params
;
double
variance
=
m_gsd
*
m_gsd
;
for
(
int
i
=
0
;
i
<
num_paramsSquare
;
i
++
)
{
m_covariance
[
i
]
=
0.0
;
}
for
(
int
i
=
0
;
i
<
num_params
;
i
++
)
{
m_covariance
[
i
*
num_params
+
i
]
=
variance
;
}
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
;
}
...
...
@@ -1695,6 +1714,18 @@ std::vector<double> UsgsAstroLsSensorModel::getCrossCovarianceMatrix(
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
();
...
...
@@ -1918,7 +1949,8 @@ void UsgsAstroLsSensorModel::losToEcf(
// Define imaging ray (look vector) in camera space
double
cameraLook
[
3
];
createCameraLookVector
(
undistortedFocalPlaneX
,
undistortedFocalPlaneY
,
m_zDirection
,
m_focalLength
+
getValue
(
15
,
adj
),
cameraLook
);
m_zDirection
,
m_focalLength
*
(
1
-
getValue
(
15
,
adj
)
/
m_halfSwath
),
cameraLook
);
MESSAGE_LOG
(
m_logger
,
"losToEcf: uncorrected camera look vector {} {} {}"
,
cameraLook
[
0
],
cameraLook
[
1
],
cameraLook
[
2
])
...
...
This diff is collapsed.
Click to expand it.
tests/Fixtures.h
+
38
−
0
View file @
0f6e6712
...
...
@@ -267,6 +267,44 @@ class OrbitalLineScanSensorModel : public ::testing::Test {
}
};
class
TwoLineScanSensorModels
:
public
::
testing
::
Test
{
protected:
csm
::
Isd
isd
;
UsgsAstroLsSensorModel
*
sensorModel1
;
UsgsAstroLsSensorModel
*
sensorModel2
;
void
SetUp
()
override
{
sensorModel1
=
nullptr
;
sensorModel2
=
nullptr
;
isd
.
setFilename
(
"data/orbitalLineScan.img"
);
UsgsAstroPlugin
cameraPlugin
;
csm
::
Model
*
model1
=
cameraPlugin
.
constructModelFromISD
(
isd
,
"USGS_ASTRO_LINE_SCANNER_SENSOR_MODEL"
);
sensorModel1
=
dynamic_cast
<
UsgsAstroLsSensorModel
*>
(
model1
);
csm
::
Model
*
model2
=
cameraPlugin
.
constructModelFromISD
(
isd
,
"USGS_ASTRO_LINE_SCANNER_SENSOR_MODEL"
);
sensorModel2
=
dynamic_cast
<
UsgsAstroLsSensorModel
*>
(
model2
);
ASSERT_NE
(
sensorModel1
,
nullptr
);
ASSERT_NE
(
sensorModel2
,
nullptr
);
}
void
TearDown
()
override
{
if
(
sensorModel1
)
{
delete
sensorModel1
;
sensorModel1
=
nullptr
;
}
if
(
sensorModel2
)
{
delete
sensorModel2
;
sensorModel2
=
nullptr
;
}
}
};
#endif
This diff is collapsed.
Click to expand it.
tests/LineScanCameraTests.cpp
+
28
−
1
View file @
0f6e6712
...
...
@@ -241,9 +241,36 @@ TEST_F(OrbitalLineScanSensorModel, ReferenceDateTime) {
EXPECT_EQ
(
date
,
"20000101T001639"
);
}
TEST_F
(
TwoLineScanSensorModels
,
CrossCovariance
)
{
std
::
vector
<
double
>
crossCovars
=
sensorModel1
->
getCrossCovarianceMatrix
(
*
sensorModel2
);
ASSERT_EQ
(
crossCovars
.
size
(),
sensorModel1
->
getNumParameters
()
*
sensorModel2
->
getNumParameters
());
for
(
int
i
=
0
;
i
<
sensorModel1
->
getNumParameters
();
i
++
)
{
for
(
int
j
=
0
;
j
<
sensorModel2
->
getNumParameters
();
j
++
)
{
EXPECT_EQ
(
crossCovars
[
i
*
sensorModel2
->
getNumParameters
()
+
j
],
0.0
)
<<
"Value at row "
<<
i
<<
" column "
<<
j
;
}
}
std
::
vector
<
double
>
covars
=
sensorModel1
->
getCrossCovarianceMatrix
(
*
sensorModel1
);
ASSERT_EQ
(
covars
.
size
(),
16
*
16
);
for
(
int
i
=
0
;
i
<
16
;
i
++
)
{
for
(
int
j
=
0
;
j
<
16
;
j
++
)
{
if
(
i
==
j
)
{
EXPECT_GT
(
covars
[
i
*
16
+
j
],
0.0
)
<<
"Value at row "
<<
i
<<
" column "
<<
j
;
}
else
{
EXPECT_EQ
(
covars
[
i
*
16
+
j
],
0.0
)
<<
"Value at row "
<<
i
<<
" column "
<<
j
;
}
}
}
std
::
vector
<
double
>
fixedCovars
=
sensorModel1
->
getCrossCovarianceMatrix
(
*
sensorModel1
,
csm
::
param
::
NON_ADJUSTABLE
);
EXPECT_EQ
(
fixedCovars
.
size
(),
0
);
}
TEST_F
(
ConstVelocityLineScanSensorModel
,
FocalLengthAdjustment
)
{
csm
::
ImageCoord
imagePt
(
8.5
,
4.0
);
sensorModel
->
setParameterValue
(
15
,
-
45
);
sensorModel
->
setParameterValue
(
15
,
0.9
*
sensorModel
->
m_halfSwath
);
csm
::
EcefLocus
locus
=
sensorModel
->
imageToRemoteImagingLocus
(
imagePt
);
double
scale
=
sqrt
(
5
*
5
+
0.4
*
0.4
+
0.05
*
0.05
);
EXPECT_DOUBLE_EQ
(
locus
.
direction
.
x
,
-
5.0
/
scale
);
...
...
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