From 2b67411d2c8098aeff1c81c576c67647cb17c9b6 Mon Sep 17 00:00:00 2001
From: Jesse Mapel <jmapel@usgs.gov>
Date: Mon, 15 Apr 2019 12:02:17 -0700
Subject: [PATCH] Recompute pixel size each time partials are computed
---
include/usgscsm/UsgsAstroFrameSensorModel.h | 1 -
src/UsgsAstroFrameSensorModel.cpp | 32 ++++++++++-----------
2 files changed, 15 insertions(+), 18 deletions(-)
diff --git a/include/usgscsm/UsgsAstroFrameSensorModel.h b/include/usgscsm/UsgsAstroFrameSensorModel.h
index c140d1e..c07d317 100644
--- a/include/usgscsm/UsgsAstroFrameSensorModel.h
+++ b/include/usgscsm/UsgsAstroFrameSensorModel.h
@@ -363,7 +363,6 @@ class UsgsAstroFrameSensorModel : public csm::RasterGM {
int m_nParameters;
csm::EcefCoord m_referencePointXyz;
- double m_pixelGroundSize;
std::string m_logFile;
std::shared_ptr<spdlog::logger> m_logger;
diff --git a/src/UsgsAstroFrameSensorModel.cpp b/src/UsgsAstroFrameSensorModel.cpp
index 477361f..8db8884 100644
--- a/src/UsgsAstroFrameSensorModel.cpp
+++ b/src/UsgsAstroFrameSensorModel.cpp
@@ -77,7 +77,6 @@ void UsgsAstroFrameSensorModel::reset() {
m_referencePointXyz.x = 0;
m_referencePointXyz.y = 0;
m_referencePointXyz.z = 0;
- m_pixelGroundSize = 1.0;
m_logFile = "";
m_logger.reset();
}
@@ -563,17 +562,23 @@ std::vector<double> UsgsAstroFrameSensorModel::computeGroundPartials(const csm::
double z = groundPt.z;
csm::ImageCoord ipB = groundToImage(groundPt);
- csm::ImageCoord ipX = groundToImage(csm::EcefCoord(x + m_pixelGroundSize, y, z));
- csm::ImageCoord ipY = groundToImage(csm::EcefCoord(x, y + m_pixelGroundSize, z));
- csm::ImageCoord ipZ = groundToImage(csm::EcefCoord(x, y, z + m_pixelGroundSize));
+ csm::EcefCoord nextPoint = imageToGround(csm::ImageCoord(ipB.line + 1, ipB.samp + 1));
+ double dx = nextPoint.x - x;
+ double dy = nextPoint.y - y;
+ double dz = nextPoint.z - z;
+ double pixelGroundSize = sqrt((dx*dx + dy*dy + dz*dz) / 2.0);
+
+ csm::ImageCoord ipX = groundToImage(csm::EcefCoord(x + pixelGroundSize, y, z));
+ csm::ImageCoord ipY = groundToImage(csm::EcefCoord(x, y + pixelGroundSize, z));
+ csm::ImageCoord ipZ = groundToImage(csm::EcefCoord(x, y, z + pixelGroundSize));
std::vector<double> partials(6, 0.0);
- partials[0] = (ipX.line - ipB.line) / m_pixelGroundSize;
- partials[3] = (ipX.samp - ipB.samp) / m_pixelGroundSize;
- partials[1] = (ipY.line - ipB.line) / m_pixelGroundSize;
- partials[4] = (ipY.samp - ipB.samp) / m_pixelGroundSize;
- partials[2] = (ipZ.line - ipB.line) / m_pixelGroundSize;
- partials[5] = (ipZ.samp - ipB.samp) / m_pixelGroundSize;
+ partials[0] = (ipX.line - ipB.line) / pixelGroundSize;
+ partials[3] = (ipX.samp - ipB.samp) / pixelGroundSize;
+ partials[1] = (ipY.line - ipB.line) / pixelGroundSize;
+ partials[4] = (ipY.samp - ipB.samp) / pixelGroundSize;
+ partials[2] = (ipZ.line - ipB.line) / pixelGroundSize;
+ partials[5] = (ipZ.samp - ipB.samp) / pixelGroundSize;
MESSAGE_LOG(this->m_logger, "Computing ground partials results:\nLine: {}, {}, {}\nSample: {}, {}, {}",
partials[0], partials[1], partials[2], partials[3], partials[4], partials[5]);
@@ -716,7 +721,6 @@ std::string UsgsAstroFrameSensorModel::getModelState() const {
{"m_referencePointXyz", {m_referencePointXyz.x,
m_referencePointXyz.y,
m_referencePointXyz.z}},
- {"m_pixelGroundSize", m_pixelGroundSize},
{"m_currentParameterCovariance", m_currentParameterCovariance},
{"m_logFile", m_logFile}
};
@@ -831,12 +835,6 @@ void UsgsAstroFrameSensorModel::replaceModelState(const std::string& stringState
m_collectionIdentifier = state.at("m_collectionIdentifier").get<std::string>();
// Set reference point to the center of the image
m_referencePointXyz = imageToGround(csm::ImageCoord(m_nLines/2.0, m_nSamples/2.0));
- // Compute the pixel ground size at the reference point
- csm::EcefCoord nextRefPoint = imageToGround(csm::ImageCoord(m_nLines/2.0 + 1, m_nSamples/2.0 + 1));
- double dx = nextRefPoint.x - m_referencePointXyz.x;
- double dy = nextRefPoint.y - m_referencePointXyz.y;
- double dz = nextRefPoint.z - m_referencePointXyz.z;
- m_pixelGroundSize = sqrt((dx*dx + dy*dy + dz*dz) / 2.0);
m_currentParameterCovariance = state.at("m_currentParameterCovariance").get<std::vector<double>>();
m_logFile = state.at("m_logFile").get<std::string>();
if (m_logFile.empty()) {
--
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