From 6448168536ac98f781dd0c9618694e836bd9c3e9 Mon Sep 17 00:00:00 2001
From: acpaquette <acpaquette@usgs.gov>
Date: Thu, 25 Apr 2019 12:22:18 -0700
Subject: [PATCH] Dawn Distortion (#231)
* Added more logging to various functions
* Updated distortion and warning parseing
* Removed duplicate distortion models for kaguya
* Adds the dawn radial distortion model
* Updated comments in distortion and the line scanner
* Updated dawn distortion logic
* Removed duplicate logging statement in the frame sensor
* Updated dawn distortion model and added tests
---
include/usgscsm/Distortion.h | 3 +-
src/Distortion.cpp | 64 +++++++++++++++++++++++++++++++
src/UsgsAstroFrameSensorModel.cpp | 4 +-
src/UsgsAstroLsSensorModel.cpp | 22 +++++++++--
src/Utilities.cpp | 21 ++++++++++
tests/DistortionTests.cpp | 28 ++++++++++++++
6 files changed, 135 insertions(+), 7 deletions(-)
diff --git a/include/usgscsm/Distortion.h b/include/usgscsm/Distortion.h
index 149e374..b324d4c 100644
--- a/include/usgscsm/Distortion.h
+++ b/include/usgscsm/Distortion.h
@@ -9,7 +9,8 @@
enum DistortionType {
RADIAL,
TRANSVERSE,
- KAGUYATC
+ KAGUYATC,
+ DAWNFC
};
// Transverse Distortion
diff --git a/src/Distortion.cpp b/src/Distortion.cpp
index 150320b..36ba65e 100644
--- a/src/Distortion.cpp
+++ b/src/Distortion.cpp
@@ -200,6 +200,58 @@ void removeDistortion(double dx, double dy, double &ux, double &uy,
ux = dx + dr_x;
uy = dy + dr_y;
}
+ break;
+ // The dawn distortion model is "reversed" from other distortion models so
+ // the remove function iteratively computes undistorted coordinates based on
+ // the distorted coordinates, rather than iteratively computing distorted coordinates
+ // to undistorted coordinates.
+ case DAWNFC: {
+ double r2;
+ int numAttempts = 1;
+ bool done;
+
+ /****************************************************************************
+ * Pre-loop intializations
+ ****************************************************************************/
+
+ r2 = dy * dy + dx * dx;
+ double guess_dx, guess_dy;
+ double guess_ux, guess_uy;
+
+ /****************************************************************************
+ * Loop ...
+ ****************************************************************************/
+ do {
+ guess_ux = dx / (1.0 + opticalDistCoeffs[0] * r2);
+ guess_uy = dy / (1.0 + opticalDistCoeffs[0] * r2);
+
+ r2 = guess_uy * guess_uy + guess_ux * guess_ux;
+
+ guess_dx = guess_ux * (1.0 + opticalDistCoeffs[0] * r2);
+ guess_dy = guess_uy * (1.0 + opticalDistCoeffs[0] * r2);
+
+ done = false;
+
+ if (abs(guess_dx - dx) < tolerance && abs(guess_dy - dy) < tolerance) {
+ done = true;
+ }
+
+ /* Not converging so bomb */
+ numAttempts++;
+ if(numAttempts > 20) {
+ std::cout << "Didn't converge" << std::endl;
+ return;
+ }
+ }
+ while(!done);
+
+ /****************************************************************************
+ * Sucess ...
+ ****************************************************************************/
+
+ ux = guess_ux;
+ uy = guess_uy;
+ }
}
}
@@ -324,5 +376,17 @@ void applyDistortion(double ux, double uy, double &dx, double &dy,
dy = ydistorted;
}
}
+ break;
+ // The dawn distortion model is "reversed" from other distortion models so
+ // the apply function computes distorted coordinates as a
+ // fn(undistorted coordinates)
+ case DAWNFC: {
+ double r2;
+
+ r2 = ux * ux + uy * uy;
+
+ dx = ux * (1.0 + opticalDistCoeffs[0] * r2);
+ dy = uy * (1.0 + opticalDistCoeffs[0] * r2);
+ }
}
}
diff --git a/src/UsgsAstroFrameSensorModel.cpp b/src/UsgsAstroFrameSensorModel.cpp
index 26c01df..67f80c0 100644
--- a/src/UsgsAstroFrameSensorModel.cpp
+++ b/src/UsgsAstroFrameSensorModel.cpp
@@ -941,8 +941,8 @@ std::string UsgsAstroFrameSensorModel::constructStateFromIsd(const std::string&
}
// get optical_distortion
- state["m_distortionType"] = getDistortionModel(isd);
- state["m_opticalDistCoeffs"] = getDistortionCoeffs(isd);
+ state["m_distortionType"] = getDistortionModel(isd, warnings);
+ state["m_opticalDistCoeffs"] = getDistortionCoeffs(isd, warnings);
// get detector_center
state["m_ccdCenter"][0] = getDetectorCenterLine(isd, parsingWarnings);
diff --git a/src/UsgsAstroLsSensorModel.cpp b/src/UsgsAstroLsSensorModel.cpp
index 44986ff..6177b34 100644
--- a/src/UsgsAstroLsSensorModel.cpp
+++ b/src/UsgsAstroLsSensorModel.cpp
@@ -2865,11 +2865,25 @@ std::string UsgsAstroLsSensorModel::constructStateFromIsd(const std::string imag
}
// Get the optional logging file
- state["m_logFile"] = getLogFile(isd);
+ state["m_logFile"] = getLogFile(isd, warnings);
- // The state data will still be updated when a sensor model is created since
- // some state data is notin the ISD and requires a SM to compute them.
- return state.dump();
+ if (!parsingWarnings->empty()) {
+ if (warnings) {
+ warnings->insert(warnings->end(), parsingWarnings->begin(), parsingWarnings->end());
+ }
+ delete parsingWarnings;
+ parsingWarnings = nullptr;
+ throw csm::Error(csm::Error::SENSOR_MODEL_NOT_CONSTRUCTIBLE,
+ "ISD is invalid for creating the sensor model.",
+ "UsgsAstroFrameSensorModel::constructStateFromIsd");
+ }
+
+ delete parsingWarnings;
+ parsingWarnings = nullptr;
+
+ // The state data will still be updated when a sensor model is created since
+ // some state data is not in the ISD and requires a SM to compute them.
+ return state.dump();
}
diff --git a/src/Utilities.cpp b/src/Utilities.cpp
index fe46655..c591038 100644
--- a/src/Utilities.cpp
+++ b/src/Utilities.cpp
@@ -766,6 +766,9 @@ DistortionType getDistortionModel(json isd, csm::WarningList *list) {
else if (distortion.compare("kaguyatc") == 0) {
return DistortionType::KAGUYATC;
}
+ else if (distortion.compare("dawnfc") == 0) {
+ return DistortionType::DAWNFC;
+ }
}
catch (...) {
if (list) {
@@ -855,7 +858,25 @@ std::vector<double> getDistortionCoeffs(json isd, csm::WarningList *list) {
coefficients = std::vector<double>(8, 0.0);
}
}
+ break;
+ case DistortionType::DAWNFC: {
+ try {
+ coefficients = isd.at("optical_distortion").at("dawnfc").at("coefficients").get<std::vector<double>>();
+ return coefficients;
+ }
+ catch (...) {
+ if (list) {
+ list->push_back(
+ csm::Warning(
+ csm::Warning::DATA_NOT_AVAILABLE,
+ "Could not parse the dawn radial distortion model coefficients.",
+ "Utilities::getDistortion()"));
+ }
+ coefficients = std::vector<double>(1, 0.0);
+ }
+ }
+ break;
}
if (list) {
list->push_back(
diff --git a/tests/DistortionTests.cpp b/tests/DistortionTests.cpp
index 26715ef..d39275b 100644
--- a/tests/DistortionTests.cpp
+++ b/tests/DistortionTests.cpp
@@ -149,3 +149,31 @@ TEST(Radial, testInverseOnesCoeffs){
EXPECT_NEAR(dx,4,1e-8);
EXPECT_NEAR(dy,0,1e-8);
}
+
+TEST(DawnFc, testApply) {
+ csm::ImageCoord imagePt(10.0, 10.0);
+
+ double dx, dy;
+ double desiredPrecision = 0.0000001;
+ std::vector<double> coeffs = {8.4e-06};
+
+ applyDistortion(imagePt.samp, imagePt.line, dx, dy, coeffs,
+ DistortionType::DAWNFC, desiredPrecision);
+
+ EXPECT_NEAR(dx, 10.0168, 1e-8);
+ EXPECT_NEAR(dy, 10.0168, 1e-8);
+}
+
+TEST(DawnFc, testRemove) {
+ csm::ImageCoord imagePt(10.0168, 10.0168);
+
+ double ux, uy;
+ double desiredPrecision = 0.0000001;
+ std::vector<double> coeffs = {8.4e-06};
+
+ removeDistortion(imagePt.samp, imagePt.line, ux, uy, coeffs,
+ DistortionType::DAWNFC, desiredPrecision);
+
+ EXPECT_NEAR(ux,10.0,1e-8);
+ EXPECT_NEAR(uy,10.0,1e-8);
+}
--
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