diff --git a/src/UsgsAstroLsSensorModel.cpp b/src/UsgsAstroLsSensorModel.cpp
index f28f7661b172fccc12fa4bbbe1e8e18cc6d99e27..a8a87f690ffebcc3410c84e8a000ddac2e80e6d5 100644
--- a/src/UsgsAstroLsSensorModel.cpp
+++ b/src/UsgsAstroLsSensorModel.cpp
@@ -2286,17 +2286,50 @@ std::string UsgsAstroLsSensorModel::constructStateFromIsd(
state["m_referencePointXyz"] = std::vector<double>(3, 0.0);
MESSAGE_LOG("m_referencePointXyz: {} ", state["m_referencePointXyz"].dump())
- // Sun position and velocity are required for getIlluminationDirection
+ // Sun position and sensor position use the same times so compute that now
+ ale::States inst_state = ale::getInstrumentPosition(jsonIsd);
+ std::vector<double> ephemTime = inst_state.getTimes();
+ double startTime = ephemTime.front();
+ double stopTime = ephemTime.back();
+ // Force at least 25 nodes to help with lagrange interpolation
+ // These also have to be equally spaced for lagrange interpolation
+ if (ephemTime.size() < 25) {
+ ephemTime.resize(25);
+ }
+ double timeStep = (stopTime - startTime) / (ephemTime.size() - 1);
+ for (size_t i = 0; i < ephemTime.size(); i++) {
+ ephemTime[i] = startTime + i * timeStep;
+ }
+
+ try {
+ state["m_dtEphem"] = timeStep;
+ MESSAGE_LOG("m_dtEphem: {} ", state["m_dtEphem"].dump())
+ } catch (...) {
+ parsingWarnings->push_back(csm::Warning(
+ csm::Warning::DATA_NOT_AVAILABLE, "dt_ephemeris not in ISD",
+ "UsgsAstroFrameSensorModel::constructStateFromIsd()"));
+ MESSAGE_LOG("m_dtEphem not in ISD")
+ }
+
+ try {
+ state["m_t0Ephem"] = startTime - ale::getCenterTime(jsonIsd);
+ MESSAGE_LOG("t0_ephemeris: {}", state["m_t0Ephem"].dump())
+ } catch (...) {
+ parsingWarnings->push_back(csm::Warning(
+ csm::Warning::DATA_NOT_AVAILABLE, "t0_ephemeris not in ISD",
+ "UsgsAstroFrameSensorModel::constructStateFromIsd()"));
+ MESSAGE_LOG("t0_ephemeris not in ISD")
+ }
+
ale::States sunState = ale::getSunPosition(jsonIsd);
- std::vector<ale::State> sunStates = sunState.getStates();
- std::vector<double> ephemTime = sunState.getTimes();
ale::Orientations j2000_to_target = ale::getBodyRotation(jsonIsd);
- ale::State rotatedSunState;
+ ale::State interpSunState, rotatedSunState;
std::vector<double> sunPositions = {};
std::vector<double> sunVelocities = {};
for (int i = 0; i < ephemTime.size(); i++) {
- rotatedSunState = j2000_to_target.rotateStateAt(ephemTime[i], sunStates[i]);
+ interpSunState = sunState.getState(ephemTime[i], ale::SPLINE);
+ rotatedSunState = j2000_to_target.rotateStateAt(ephemTime[i], interpSunState);
// ALE operates in Km and we want m
sunPositions.push_back(rotatedSunState.position.x * 1000);
sunPositions.push_back(rotatedSunState.position.y * 1000);
@@ -2363,41 +2396,17 @@ std::string UsgsAstroLsSensorModel::constructStateFromIsd(
state["m_detectorSampleOrigin"].dump(),
state["m_detectorLineOrigin"].dump())
- ale::States inst_state = ale::getInstrumentPosition(jsonIsd);
- // These are exlusive to LineScanners, leave them here for now.
- ephemTime = inst_state.getTimes();
- try {
- state["m_dtEphem"] = (ephemTime[ephemTime.size() - 1] - ephemTime[0]) /
- (ephemTime.size() - 1);
- MESSAGE_LOG("m_dtEphem: {} ", state["m_dtEphem"].dump())
- } catch (...) {
- parsingWarnings->push_back(csm::Warning(
- csm::Warning::DATA_NOT_AVAILABLE, "dt_ephemeris not in ISD",
- "UsgsAstroFrameSensorModel::constructStateFromIsd()"));
- MESSAGE_LOG("m_dtEphem not in ISD")
- }
- try {
- state["m_t0Ephem"] = ephemTime[0] - ale::getCenterTime(jsonIsd);
- MESSAGE_LOG("t0_ephemeris: {}", state["m_t0Ephem"].dump())
- } catch (...) {
- parsingWarnings->push_back(csm::Warning(
- csm::Warning::DATA_NOT_AVAILABLE, "t0_ephemeris not in ISD",
- "UsgsAstroFrameSensorModel::constructStateFromIsd()"));
- MESSAGE_LOG("t0_ephemeris not in ISD")
- }
ale::Orientations j2000_to_sensor = ale::getInstrumentPointing(jsonIsd);
- ephemTime = inst_state.getTimes();
- std::vector<ale::State> instStates = inst_state.getStates();
- ale::State rotatedInstState;
- ale::State rotatedInstStateInv;
+ ale::State interpInstState, rotatedInstState;
std::vector<double> positions = {};
std::vector<double> velocities = {};
for (int i = 0; i < ephemTime.size(); i++) {
+ interpInstState = inst_state.getState(ephemTime[i], ale::SPLINE);
rotatedInstState =
- j2000_to_target.rotateStateAt(ephemTime[i], instStates[i], ale::SLERP);
+ j2000_to_target.rotateStateAt(ephemTime[i], interpInstState, ale::SLERP);
// ALE operates in Km and we want m
positions.push_back(rotatedInstState.position.x * 1000);
positions.push_back(rotatedInstState.position.y * 1000);
@@ -2562,10 +2571,8 @@ csm::EcefVector UsgsAstroLsSensorModel::getSunPosition(
// If there are multiple positions, use Lagrange interpolation
if ((numSunPositions / 3) > 1) {
double sunPos[3];
- double endTime = m_t0Ephem + (m_dtEphem * ((m_numPositions / 3)));
- double sun_dtEphem = (endTime - m_t0Ephem) / (numSunPositions / 3);
lagrangeInterp(numSunPositions / 3, &m_sunPosition[0], m_t0Ephem,
- sun_dtEphem, imageTime, 3, 8, sunPos);
+ m_dtEphem, imageTime, 3, 8, sunPos);
sunPosition.x = sunPos[0];
sunPosition.y = sunPos[1];
sunPosition.z = sunPos[2];
diff --git a/tests/LineScanCameraTests.cpp b/tests/LineScanCameraTests.cpp
index b767a543963cd434bca41ca989a159afc22ec60d..a36be717904cc7a7521bf5eb8ad8fd324fcb252a 100644
--- a/tests/LineScanCameraTests.cpp
+++ b/tests/LineScanCameraTests.cpp
@@ -192,9 +192,9 @@ TEST_F(OrbitalLineScanSensorModel, getSunPositionStationary) {
TEST_F(OrbitalLineScanSensorModel, Center) {
csm::ImageCoord imagePt(8.5, 8.0);
csm::EcefCoord groundPt = sensorModel->imageToGround(imagePt, 0.0);
- EXPECT_NEAR(groundPt.x, 999999.67040488799, 1e-9);
+ EXPECT_NEAR(groundPt.x, 999999.67004351015, 1e-9);
EXPECT_NEAR(groundPt.y, 0.0, 1e-9);
- EXPECT_NEAR(groundPt.z, -811.90523782723039, 1e-9);
+ EXPECT_NEAR(groundPt.z, -812.35021438796923, 1e-9);
}
TEST_F(OrbitalLineScanSensorModel, Inversion) {
diff --git a/tests/data/orbitalLineScan.json b/tests/data/orbitalLineScan.json
index 4e47e9292de369a135a0ad19dc28548395da3584..5db9ab8d0a41aa4ecd85c55a125a9a4b1404f211 100644
--- a/tests/data/orbitalLineScan.json
+++ b/tests/data/orbitalLineScan.json
@@ -61,22 +61,22 @@
[1049.99892857, 0.0, -1.49999949]
],
"velocities": [
- [-0.0, 0.0, -1050.0],
- [-0.1, 0.0, -1049.99999524],
- [-0.2, 0.0, -1049.99998095],
- [-0.3, 0.0, -1049.99995714],
- [-0.39999999, 0.0 ,-1049.99992381],
- [-0.49999998, 0.0 ,-1049.99988095],
- [-0.59999997, 0.0 ,-1049.99982857],
- [-0.69999995, 0.0 ,-1049.99976667],
- [-0.79999992, 0.0 ,-1049.99969524],
- [-0.89999989, 0.0 ,-1049.99961429],
- [-0.99999985, 0.0 ,-1049.99952381],
- [-1.0999998, 0.0 ,-1049.99942381],
- [-1.19999974, 0.0 ,-1049.99931429],
- [-1.29999967, 0.0 ,-1049.99919524],
- [-1.39999959, 0.0 ,-1049.99906667],
- [-1.49999949, 0.0, -1049.99892857]
+ [-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,
@@ -225,9 +225,9 @@
],
"velocities": [
[0.125, 0.125, 0.125],
- [0.125, 0.125, 0.12],
- [0.125, 0.125, 0.12],
- [0.125, 0.125, 0.12]
+ [0.125, 0.125, 0.125],
+ [0.125, 0.125, 0.125],
+ [0.125, 0.125, 0.125]
],
"ephemeris_times": [
999.2,