From 56bbb366461fec54462951a0c2da5b4ae3da04a5 Mon Sep 17 00:00:00 2001
From: Oleg Alexandrov <oleg.alexandrov@gmail.com>
Date: Mon, 9 Aug 2021 18:47:21 +0300
Subject: [PATCH] Add fix for ground to image calculation for LRO NAC cameras
(#341)
* Add fix for ground to image calculation for LRO NAC cameras
* Make the choice of the sign of m_iTransL only once at model loading
* Reword a comment
* Robustness fix, must always ensure fractional part is 0.5
* Remove the abs, cannot assume those values are positive
* Added opposite flight and detector test
Co-authored-by: Jesse Mapel <jmapel@usgs.gov>
---
src/UsgsAstroLsSensorModel.cpp | 32 +++-
tests/Fixtures.h | 26 +++
tests/LineScanCameraTests.cpp | 8 +
tests/data/flippedOrbitalLineScan.json | 241 +++++++++++++++++++++++++
4 files changed, 306 insertions(+), 1 deletion(-)
create mode 100644 tests/data/flippedOrbitalLineScan.json
diff --git a/src/UsgsAstroLsSensorModel.cpp b/src/UsgsAstroLsSensorModel.cpp
index b329d34..1fe6bed 100644
--- a/src/UsgsAstroLsSensorModel.cpp
+++ b/src/UsgsAstroLsSensorModel.cpp
@@ -648,6 +648,36 @@ void UsgsAstroLsSensorModel::updateState() {
// Set focal length variance
m_covariance[15 * num_params + 15] = positionVariance;
+
+ // Test if a pixel projected to the ground and projected back
+ // returns to the original location. If not, flip the sign of
+ // m_iTransL. It is very important here to pick a pixel which is not
+ // an integer, as this test may succeed for integer pixels and fail
+ // for non-integer ones. Also, need to pick the answer with the
+ // smallest achieved precision, even when neither of them is smaller
+ // than the desired precision.
+
+ lineCtr = round(m_nLines / 2.0) + 0.5;
+ sampCtr = round(m_nSamples / 2.0) + 0.5;
+
+ double desiredPrecision = 0.001;
+ ip = csm::ImageCoord(lineCtr, sampCtr);
+ csm::EcefCoord xyz = imageToGround(ip, refHeight);
+
+ double achievedPrecision1 = 1.0;
+ // Will use m_iTransL on the next line
+ ip = groundToImage(xyz, desiredPrecision, &achievedPrecision1);
+
+ double achievedPrecision2 = 1.0;
+ for (int it = 0; it < sizeof(m_iTransL)/sizeof(double); it++)
+ m_iTransL[it] = -m_iTransL[it]; // use a flipped m_iTransL
+ ip = groundToImage(xyz, desiredPrecision, &achievedPrecision2);
+
+ if (std::abs(achievedPrecision1) <= std::abs(achievedPrecision2)) {
+ // Flip back m_iTransL as the original was better
+ for (int it = 0; it < sizeof(m_iTransL)/sizeof(double); it++)
+ m_iTransL[it] = -m_iTransL[it];
+ }
}
//---------------------------------------------------------------------------
@@ -2045,7 +2075,7 @@ std::vector<double> UsgsAstroLsSensorModel::computeDetectorView(
bodyToCamera[5] * bodyLookY +
bodyToCamera[8] * bodyLookZ;
MESSAGE_LOG(
- "computeDetectorView: look vector (camrea ref frame)"
+ "computeDetectorView: look vector (camera ref frame)"
"{} {} {}",
cameraLookX, cameraLookY, cameraLookZ)
diff --git a/tests/Fixtures.h b/tests/Fixtures.h
index a6c8848..d606fb0 100644
--- a/tests/Fixtures.h
+++ b/tests/Fixtures.h
@@ -261,6 +261,32 @@ class OrbitalLineScanSensorModel : public ::testing::Test {
}
};
+class FlippedOrbitalLineScanSensorModel : public ::testing::Test {
+ protected:
+ csm::Isd isd;
+ UsgsAstroLsSensorModel *sensorModel;
+
+ void SetUp() override {
+ sensorModel = NULL;
+
+ isd.setFilename("data/flippedOrbitalLineScan.img");
+ UsgsAstroPlugin cameraPlugin;
+
+ csm::Model *model = cameraPlugin.constructModelFromISD(
+ isd, "USGS_ASTRO_LINE_SCANNER_SENSOR_MODEL");
+ sensorModel = dynamic_cast<UsgsAstroLsSensorModel *>(model);
+
+ ASSERT_NE(sensorModel, nullptr);
+ }
+
+ void TearDown() override {
+ if (sensorModel) {
+ delete sensorModel;
+ sensorModel = NULL;
+ }
+ }
+};
+
class TwoLineScanSensorModels : public ::testing::Test {
protected:
csm::Isd isd;
diff --git a/tests/LineScanCameraTests.cpp b/tests/LineScanCameraTests.cpp
index 8ae9bd8..f08abb7 100644
--- a/tests/LineScanCameraTests.cpp
+++ b/tests/LineScanCameraTests.cpp
@@ -276,6 +276,14 @@ TEST_F(OrbitalLineScanSensorModel, ReferenceDateTime) {
EXPECT_EQ(date, "2000-01-01T00:16:39Z");
}
+TEST_F(FlippedOrbitalLineScanSensorModel, OppositeFlightDetector) {
+ csm::ImageCoord imagePt(8.7, 8.0);
+ csm::EcefCoord groundPt = sensorModel->imageToGround(imagePt, 0.0);
+ csm::ImageCoord backProjImagePt = sensorModel->groundToImage(groundPt);
+ EXPECT_NEAR(imagePt.line, backProjImagePt.line, 0.001);
+ EXPECT_NEAR(imagePt.samp, backProjImagePt.samp, 0.001);
+}
+
TEST_F(TwoLineScanSensorModels, CrossCovariance) {
std::vector<double> crossCovars =
sensorModel1->getCrossCovarianceMatrix(*sensorModel2);
diff --git a/tests/data/flippedOrbitalLineScan.json b/tests/data/flippedOrbitalLineScan.json
new file mode 100644
index 0000000..3059d9d
--- /dev/null
+++ b/tests/data/flippedOrbitalLineScan.json
@@ -0,0 +1,241 @@
+{
+ "name_model" : "USGS_ASTRO_LINE_SCANNER_SENSOR_MODEL",
+ "name_platform" : "TEST_PLATFORM",
+ "name_sensor" : "TEST_SENSOR",
+ "center_ephemeris_time": 1000.0,
+ "starting_ephemeris_time": 999.2,
+ "line_scan_rate": [
+ [0.5, -0.85, 0.1]
+ ],
+ "detector_sample_summing": 1,
+ "detector_line_summing": 1,
+ "t0_ephemeris": -0.8,
+ "dt_ephemeris": 0.1,
+ "t0_quaternion": -0.8,
+ "dt_quaternion": 0.1,
+ "focal2pixel_lines": [0.0, 10.0, 0.0],
+ "focal2pixel_samples": [0.0, 0.0, 10.0],
+ "focal_length_model": {
+ "focal_length": 50
+ },
+ "image_lines": 16,
+ "image_samples": 16,
+ "detector_center" : {
+ "line" : 0.5,
+ "sample" : 8.0
+ },
+ "interpolation_method": "lagrange",
+ "optical_distortion": {
+ "radial": {
+ "coefficients": [0.0, 0.0, 0.0]
+ }
+ },
+ "radii": {
+ "semimajor": 1000,
+ "semiminor": 1000,
+ "unit":"km"
+ },
+ "reference_height": {
+ "maxheight": 1000,
+ "minheight": -1000,
+ "unit": "m"
+ },
+ "instrument_position": {
+ "unit": "km",
+ "positions": [
+ [1050.0, 0.0, -0.0],
+ [1049.99999524, 0.0, -0.1],
+ [1049.99998095, 0.0, -0.2],
+ [1049.99995714, 0.0, -0.3],
+ [1049.99992381, 0.0, -0.39999999],
+ [1049.99988095, 0.0, -0.49999998],
+ [1049.99982857, 0.0, -0.59999997],
+ [1049.99976667, 0.0, -0.69999995],
+ [1049.99969524, 0.0, -0.79999992],
+ [1049.99961429, 0.0, -0.89999989],
+ [1049.99952381, 0.0, -0.99999985],
+ [1049.99942381, 0.0, -1.0999998],
+ [1049.99931429, 0.0, -1.19999974],
+ [1049.99919524, 0.0, -1.29999967],
+ [1049.99906667, 0.0, -1.39999959],
+ [1049.99892857, 0.0, -1.49999949]
+ ],
+ "velocities": [
+ [-0.0, 0.0, -1.0500],
+ [-0.1, 0.0, -1.04999999524],
+ [-0.2, 0.0, -1.04999998095],
+ [-0.3, 0.0, -1.04999995714],
+ [-0.39999999, 0.0 ,-1.04999992381],
+ [-0.49999998, 0.0 ,-1.04999988095],
+ [-0.59999997, 0.0 ,-1.04999982857],
+ [-0.69999995, 0.0 ,-1.04999976667],
+ [-0.79999992, 0.0 ,-1.04999969524],
+ [-0.89999989, 0.0 ,-1.04999961429],
+ [-0.99999985, 0.0 ,-1.04999952381],
+ [-1.0999998, 0.0 ,-1.04999942381],
+ [-1.19999974, 0.0 ,-1.04999931429],
+ [-1.29999967, 0.0 ,-1.04999919524],
+ [-1.39999959, 0.0 ,-1.04999906667],
+ [-1.49999949, 0.0, -1.04999892857]
+ ],
+ "ephemeris_times": [
+ 999.2,
+ 999.3,
+ 999.4,
+ 999.5,
+ 999.6,
+ 999.7,
+ 999.8,
+ 999.9,
+ 1000.0,
+ 1000.1,
+ 1000.2,
+ 1000.3,
+ 1000.4,
+ 1000.5,
+ 1000.6,
+ 1000.7
+ ],
+ "reference_frame": 1
+ },
+ "instrument_pointing": {
+ "quaternions": [
+ [0.70710678, 0.0, -0.70710678, 0.0],
+ [0.70707311, 0.0, -0.70714045, 0.0],
+ [0.70703943, 0.0, -0.70717412, 0.0],
+ [0.70700576, 0.0, -0.70720779, 0.0],
+ [0.70697208, 0.0, -0.70724146, 0.0],
+ [0.7069384, 0.0, -0.70727512, 0.0],
+ [0.70690472, 0.0, -0.70730878, 0.0],
+ [0.70687104, 0.0, -0.70734244, 0.0],
+ [0.70683736, 0.0, -0.7073761 , 0.0],
+ [0.70680367, 0.0, -0.70740976, 0.0],
+ [0.70676998, 0.0, -0.70744342, 0.0],
+ [0.70673629, 0.0, -0.70747707, 0.0],
+ [0.7067026, 0.0, -0.70751073, 0.0],
+ [0.70666891, 0.0, -0.70754438, 0.0],
+ [0.70663522, 0.0, -0.70757803, 0.0],
+ [0.70660152, 0.0, -0.70761168, 0.0]
+ ],
+ "ephemeris_times": [
+ 999.2,
+ 999.3,
+ 999.4,
+ 999.5,
+ 999.6,
+ 999.7,
+ 999.8,
+ 999.9,
+ 1000.0,
+ 1000.1,
+ 1000.2,
+ 1000.3,
+ 1000.4,
+ 1000.5,
+ 1000.6,
+ 1000.7
+ ],
+ "angular_velocities": [
+ [0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0]
+ ],
+ "reference_frame": 1
+ },
+ "body_rotation": {
+ "quaternions": [
+ [1.0, 0.0, 0.0, 0.0],
+ [1.0, 0.0, 0.0, 0.0],
+ [1.0, 0.0, 0.0, 0.0],
+ [1.0, 0.0, 0.0, 0.0],
+ [1.0, 0.0, 0.0, 0.0],
+ [1.0, 0.0, 0.0, 0.0],
+ [1.0, 0.0, 0.0, 0.0],
+ [1.0, 0.0, 0.0, 0.0],
+ [1.0, 0.0, 0.0, 0.0],
+ [1.0, 0.0, 0.0, 0.0],
+ [1.0, 0.0, 0.0, 0.0],
+ [1.0, 0.0, 0.0, 0.0],
+ [1.0, 0.0, 0.0, 0.0],
+ [1.0, 0.0, 0.0, 0.0],
+ [1.0, 0.0, 0.0, 0.0],
+ [1.0, 0.0, 0.0, 0.0]
+ ],
+ "ephemeris_times": [
+ 999.2,
+ 999.3,
+ 999.4,
+ 999.5,
+ 999.6,
+ 999.7,
+ 999.8,
+ 999.9,
+ 1000.0,
+ 1000.1,
+ 1000.2,
+ 1000.3,
+ 1000.4,
+ 1000.5,
+ 1000.6,
+ 1000.7
+ ],
+ "angular_velocities": [
+ [0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0]
+ ],
+ "reference_frame": 1,
+ "constant_frames": [1, 2, 3],
+ "time_dependent_frames": [4, 5, 6]
+ },
+ "starting_detector_line": 1,
+ "starting_detector_sample": 0,
+ "sun_position": {
+ "positions": [
+ [0.100, 0.100, 0.100],
+ [0.150, 0.150, 0.150],
+ [0.200, 0.200, 0.200],
+ [0.250, 0.250, 0.250]
+ ],
+ "velocities": [
+ [0.125, 0.125, 0.125],
+ [0.125, 0.125, 0.125],
+ [0.125, 0.125, 0.125],
+ [0.125, 0.125, 0.125]
+ ],
+ "ephemeris_times": [
+ 999.2,
+ 999.6,
+ 1000.0,
+ 1000.4
+ ],
+ "reference_frame": 1,
+ "unit": "km"
+ }
+}
--
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