From 1028b665221e006e38817b0246f13f38b655b82a Mon Sep 17 00:00:00 2001
From: Jesse Mapel <jam826@nau.edu>
Date: Wed, 13 Mar 2019 22:37:53 -0700
Subject: [PATCH] Fixed imageToRemoteImagingLocus in LS and a bug with
quaternions near the end of images (#201)
---
src/UsgsAstroLsSensorModel.cpp | 45 ++++++++++------------------------
tests/LineScanCameraTests.cpp | 2 +-
2 files changed, 14 insertions(+), 33 deletions(-)
diff --git a/src/UsgsAstroLsSensorModel.cpp b/src/UsgsAstroLsSensorModel.cpp
index ec3d030..e11c513 100644
--- a/src/UsgsAstroLsSensorModel.cpp
+++ b/src/UsgsAstroLsSensorModel.cpp
@@ -882,37 +882,18 @@ csm::EcefLocus UsgsAstroLsSensorModel::imageToRemoteImagingLocus(
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 = 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;
+ double vx, vy, vz;
+ csm::EcefLocus locus;
+ losToEcf(
+ image_pt.line, image_pt.samp, _no_adjustment,
+ locus.point.x, locus.point.y, locus.point.z,
+ vx, vy, vz,
+ locus.direction.x, locus.direction.y, locus.direction.z);
+ // losToEcf computes the negative look vector, so negate it
+ locus.direction.x = -locus.direction.x;
+ locus.direction.y = -locus.direction.y;
+ locus.direction.z = -locus.direction.z;
+ return locus;
}
//---------------------------------------------------------------------------
@@ -1603,7 +1584,7 @@ void UsgsAstroLsSensorModel::getQuaternions(const double& time, double q[4]) con
if (m_numQuaternions < 6 && nOrder == 8)
nOrderQuat = 4;
lagrangeInterp(
- m_numQuaternions, &m_quaternions[0], m_t0Quat, m_dtQuat, time, 4, nOrderQuat, q);
+ m_numQuaternions/4, &m_quaternions[0], m_t0Quat, m_dtQuat, time, 4, nOrderQuat, q);
}
diff --git a/tests/LineScanCameraTests.cpp b/tests/LineScanCameraTests.cpp
index a63d46c..e5d2876 100644
--- a/tests/LineScanCameraTests.cpp
+++ b/tests/LineScanCameraTests.cpp
@@ -68,7 +68,7 @@ TEST_F(ConstVelocityLineScanSensorModel, RemoteImageLocus) {
EXPECT_DOUBLE_EQ(locus.direction.x, -1.0);
EXPECT_DOUBLE_EQ(locus.direction.y, 0.0);
EXPECT_DOUBLE_EQ(locus.direction.z, 0.0);
- EXPECT_DOUBLE_EQ(locus.point.x, 10.0);
+ EXPECT_DOUBLE_EQ(locus.point.x, 1000.0);
EXPECT_DOUBLE_EQ(locus.point.y, 0.0);
EXPECT_DOUBLE_EQ(locus.point.z, 0.0);
}
--
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