diff --git a/src/UsgsAstroLsSensorModel.cpp b/src/UsgsAstroLsSensorModel.cpp
index 0dfbe2961bc2dcef5f0856fe16afb1fbaa946587..604db4c47161edbd63fd0a6eb91f3ff7cd5a0452 100644
--- a/src/UsgsAstroLsSensorModel.cpp
+++ b/src/UsgsAstroLsSensorModel.cpp
@@ -24,6 +24,7 @@
#include <iostream>
#include <sstream>
#include <math.h>
+#include <float.h>
#include <sstream>
#include <Error.h>
@@ -646,7 +647,10 @@ csm::ImageCoord UsgsAstroLsSensorModel::groundToImage(
ground_pt.x, ground_pt.y, ground_pt.z, desired_precision);
// Search for the line, sample coordinate that viewed a given ground point.
// This method uses an iterative secant method to search for the image
- // line.
+ // line. Since this is looking for a zero we subtract 0.5 each time the offsets
+ // are calculated. This allows it to converge on the center of the pixel where
+ // there is only one correct answer instead of the top or bottom of the pixel
+ // where there are two correct answers.
// Convert the ground precision to pixel precision so we can
// check for convergence without re-intersecting
@@ -674,8 +678,13 @@ csm::ImageCoord UsgsAstroLsSensorModel::groundToImage(
double sampCtr = m_nSamples / 2.0;
double firstTime = getImageTime(csm::ImageCoord(0.0, sampCtr));
double lastTime = getImageTime(csm::ImageCoord(m_nLines, sampCtr));
+ // See comment above for why (- 0.5)
double firstOffset = computeViewingPixel(firstTime, ground_pt, adj, pixelPrec/2).line - 0.5;
double lastOffset = computeViewingPixel(lastTime, ground_pt, adj, pixelPrec/2).line - 0.5;
+ MESSAGE_LOG(m_logger, "groundToImage: Initial firstOffset {}, lastOffset {}", firstOffset, lastOffset)
+
+ double closestLine;
+ csm::ImageCoord detectorCoord;
// Start secant method search
for (int it = 0; it < 30; it++) {
@@ -693,13 +702,18 @@ csm::ImageCoord UsgsAstroLsSensorModel::groundToImage(
if (referenceTimeIt != m_intTimeStartTimes.begin()) {
--referenceTimeIt;
}
+
size_t referenceIndex = std::distance(m_intTimeStartTimes.begin(), referenceTimeIt);
+ MESSAGE_LOG(m_logger, "groundToImage: Find reference time, line number {}, start time {}, duration {} ",
+ m_intTimeLines[referenceIndex], m_intTimeStartTimes[referenceIndex], m_intTimes[referenceIndex])
double computedLine = (nextTime - m_intTimeStartTimes[referenceIndex]) / m_intTimes[referenceIndex]
- + m_intTimeLines[referenceIndex] - 0.5; // subtract 0.5 for ISIS -> CSM pixel conversion
- double closestLine = floor(computedLine + 0.5);
+ + m_intTimeLines[referenceIndex];
+ // Remove -0.5 once ISIS linescanrate is fixed
+ closestLine = floor(computedLine - 0.5);
nextTime = getImageTime(csm::ImageCoord(closestLine, sampCtr));
- double nextOffset = computeViewingPixel(nextTime, ground_pt, adj, pixelPrec/2).line - 0.5;
+ detectorCoord = computeViewingPixel(nextTime, ground_pt, adj, pixelPrec/2);
+ double nextOffset = detectorCoord.line - 0.5;
// remove the farthest away node
if (fabs(firstTime - nextTime) > fabs(lastTime - nextTime)) {
@@ -710,32 +724,17 @@ csm::ImageCoord UsgsAstroLsSensorModel::groundToImage(
lastTime = nextTime;
lastOffset = nextOffset;
}
+ MESSAGE_LOG(m_logger, "groundToImage: Loop firstOffset {}, firstTime {}, lastOffset {}, lastTime {}, nextOffset {}, nextTime {}",
+ firstOffset, firstTime, lastOffset, lastTime, nextOffset, nextTime)
+
if (fabs(lastOffset - firstOffset) < pixelPrec) {
- break;
+ MESSAGE_LOG(m_logger, "groundToImage: Final firstOffset {}, lastOffset {}, pixelPre {}", firstOffset, lastOffset, pixelPrec)
+ break;
}
}
- // Avoid division by 0 if the first and last nodes are the same
- double computedTime = firstTime;
- if (fabs(lastOffset - firstOffset) > 10e-15) {
- computedTime = ((firstTime * lastOffset) - (lastTime * firstOffset))
- / (lastOffset - firstOffset);
- }
-
- auto referenceTimeIt = std::upper_bound(m_intTimeStartTimes.begin(),
- m_intTimeStartTimes.end(),
- computedTime);
- if (referenceTimeIt != m_intTimeStartTimes.begin()) {
- --referenceTimeIt;
- }
- size_t referenceIndex = std::distance(m_intTimeStartTimes.begin(), referenceTimeIt);
- double computedLine = (computedTime - m_intTimeStartTimes[referenceIndex]) / m_intTimes[referenceIndex]
- + m_intTimeLines[referenceIndex] - 0.5; // subtract 0.5 for ISIS -> CSM pixel conversion
- double closestLine = floor(computedLine + 0.5); // This assumes pixels are the interval [n, n+1)
- computedTime = getImageTime(csm::ImageCoord(closestLine, sampCtr));
- csm::ImageCoord calculatedPixel = computeViewingPixel(computedTime, ground_pt, adj, pixelPrec/2);
- // The computed pioxel is the detector pixel, so we need to convert that to image lines
- calculatedPixel.line += closestLine;
+ // The computed pixel is the detector pixel, so we need to convert that to image lines
+ csm::ImageCoord calculatedPixel(detectorCoord.line + closestLine, detectorCoord.samp);
// Reintersect to ensure the image point actually views the ground point.
csm::EcefCoord calculatedPoint = imageToGround(calculatedPixel, height);
@@ -750,14 +749,15 @@ csm::ImageCoord UsgsAstroLsSensorModel::groundToImage(
double preSquare = desired_precision * desired_precision;
if (warnings && (desired_precision > 0.0) && (preSquare < len)) {
- std::stringstream msg;
- msg << "Desired precision not achieved. ";
- msg << len << " " << preSquare << "\n";
- warnings->push_back(
- csm::Warning(csm::Warning::PRECISION_NOT_MET,
- msg.str().c_str(),
- "UsgsAstroLsSensorModel::groundToImage()"));
+ MESSAGE_LOG(m_logger, "groundToImage: Desired precision not achieved {}", preSquare)
+ std::stringstream msg;
+ msg << "Desired precision not achieved. ";
+ msg << len << " " << preSquare << "\n";
+ warnings->push_back(csm::Warning(csm::Warning::PRECISION_NOT_MET,
+ msg.str().c_str(),
+ "UsgsAstroLsSensorModel::groundToImage()"));
}
+ MESSAGE_LOG(m_logger, "groundToImage: Final pixel line {}, sample {}", calculatedPixel.line, calculatedPixel.samp)
return calculatedPixel;
}
@@ -1295,28 +1295,20 @@ std::string UsgsAstroLsSensorModel::getReferenceDateAndTime() const
double UsgsAstroLsSensorModel::getImageTime(
const csm::ImageCoord& image_pt) const
{
+ // Remove 0.5 after ISIS dependency in the linescanrate is gone
+ double lineFull = floor(image_pt.line) + 0.5;
- // Flip image taken backwards
- double line1 = image_pt.line;
-
- // CSM image convention: UL pixel center == (0.5, 0.5)
- // USGS image convention: UL pixel center == (1.0, 1.0)
-
- double lineCSMFull = line1;
- double lineUSGSFull = floor(lineCSMFull) + 0.5;
-
- // These calculation assumes that the values in the integration time
- // vectors are in terms of ISIS' pixels
auto referenceLineIt = std::upper_bound(m_intTimeLines.begin(),
m_intTimeLines.end(),
- lineUSGSFull);
+ lineFull);
if (referenceLineIt != m_intTimeLines.begin()) {
--referenceLineIt;
}
size_t referenceIndex = std::distance(m_intTimeLines.begin(), referenceLineIt);
+ // Adding 0.5 to the line results in center exposure time for a given line
double time = m_intTimeStartTimes[referenceIndex]
- + m_intTimes[referenceIndex] * (lineUSGSFull - m_intTimeLines[referenceIndex]);
+ + m_intTimes[referenceIndex] * (lineFull - m_intTimeLines[referenceIndex] + 0.5);
MESSAGE_LOG(m_logger, "getImageTime for image line {} is {}",
image_pt.line, time)
@@ -1622,7 +1614,7 @@ UsgsAstroLsSensorModel::getValidImageRange() const
{
return std::pair<csm::ImageCoord, csm::ImageCoord>(
csm::ImageCoord(0.0, 0.0),
- csm::ImageCoord(m_nLines, m_nSamples));
+ csm::ImageCoord(m_nLines, m_nSamples)); // Technically nl and ns are outside the image in a zero based system.
}
//***************************************************************************
@@ -1884,7 +1876,7 @@ void UsgsAstroLsSensorModel::calculateAttitudeCorrection(
//***************************************************************************
void UsgsAstroLsSensorModel::losToEcf(
const double& line, // CSM image convention
- const double& sample, // UL pixel center == (0.5, 0.5)
+ const double& sample, // UL pixel center == (0.5, 0.5)
const std::vector<double>& adj, // Parameter Adjustments for partials
double& xc, // output sensor x coordinate
double& yc, // output sensor y coordinate
@@ -2122,7 +2114,7 @@ void UsgsAstroLsSensorModel::losEllipsoidIntersect(
double& achieved_precision,
const double& desired_precision) const
{
- MESSAGE_LOG(m_logger, "Computing losEllipsoidIntersect for camera position"
+ MESSAGE_LOG(m_logger, "Computing losEllipsoidIntersect for camera position "
"{} {} {} looking {} {} {} with desired precision"
"{}",
xc, yc, zc, xl, yl, zl, desired_precision)
diff --git a/tests/LineScanCameraTests.cpp b/tests/LineScanCameraTests.cpp
index 6ecfed3408e209a15c61265cf30e7b5d379573c0..a795816b0800a52152003c7e5076664daa1f6016 100644
--- a/tests/LineScanCameraTests.cpp
+++ b/tests/LineScanCameraTests.cpp
@@ -28,9 +28,9 @@ TEST_F(ConstVelocityLineScanSensorModel, State) {
TEST_F(ConstVelocityLineScanSensorModel, Center) {
csm::ImageCoord imagePt(8.5, 8.0);
csm::EcefCoord groundPt = sensorModel->imageToGround(imagePt, 0.0);
- EXPECT_DOUBLE_EQ(groundPt.x, 10.0);
- EXPECT_DOUBLE_EQ(groundPt.y, 0.0);
- EXPECT_DOUBLE_EQ(groundPt.z, 0.0);
+ EXPECT_NEAR(groundPt.x, 10.0, 1e-12);
+ EXPECT_NEAR(groundPt.y, 0.0, 1e-12);
+ EXPECT_NEAR(groundPt.z, 0.0, 1e-12);
}
TEST_F(ConstVelocityLineScanSensorModel, Inversion) {
@@ -54,23 +54,23 @@ TEST_F(ConstVelocityLineScanSensorModel, ProximateImageLocus) {
csm::ImageCoord imagePt(8.5, 8.0);
csm::EcefCoord groundPt(5, 5, 5);
csm::EcefLocus locus = sensorModel->imageToProximateImagingLocus(imagePt, groundPt);
- 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, 5.0);
- EXPECT_DOUBLE_EQ(locus.point.y, 0.0);
- EXPECT_DOUBLE_EQ(locus.point.z, 0.0);
+ EXPECT_NEAR(locus.direction.x, -1.0, 1e-12);
+ EXPECT_NEAR(locus.direction.y, 0.0, 1e-12);
+ EXPECT_NEAR(locus.direction.z, 0.0, 1e-12);
+ EXPECT_NEAR(locus.point.x, 5.0, 1e-12);
+ EXPECT_NEAR(locus.point.y, 0.0, 1e-12);
+ EXPECT_NEAR(locus.point.z, 0.0, 1e-12);
}
TEST_F(ConstVelocityLineScanSensorModel, RemoteImageLocus) {
csm::ImageCoord imagePt(8.5, 8.0);
csm::EcefLocus locus = sensorModel->imageToRemoteImagingLocus(imagePt);
- 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, 1000.0);
- EXPECT_DOUBLE_EQ(locus.point.y, 0.0);
- EXPECT_DOUBLE_EQ(locus.point.z, 0.0);
+ EXPECT_NEAR(locus.direction.x, -1.0, 1e-12);
+ EXPECT_NEAR(locus.direction.y, 0.0, 1e-12);
+ EXPECT_NEAR(locus.direction.z, 0.0, 1e-12);
+ EXPECT_NEAR(locus.point.x, 1000.0, 1e-12);
+ EXPECT_NEAR(locus.point.y, 0.0, 1e-12);
+ EXPECT_NEAR(locus.point.z, 0.0, 1e-12);
}
// Pan tests
diff --git a/tests/data/constAngularVelocityLineScan.json b/tests/data/constAngularVelocityLineScan.json
index c5c991c5c013d32f346880108080fc9eca149854..69cb6b7716407f9933f2b1192545c132a1fd5aa1 100644
--- a/tests/data/constAngularVelocityLineScan.json
+++ b/tests/data/constAngularVelocityLineScan.json
@@ -5,7 +5,7 @@
"center_ephemeris_time": 1000.0,
"starting_ephemeris_time": 999.2,
"line_scan_rate": [
- [0.5, -0.8, 0.1]
+ [0.5, -0.85, 0.1]
],
"detector_sample_summing": 1,
"detector_line_summing": 1,
diff --git a/tests/data/constVelocityLineScan.json b/tests/data/constVelocityLineScan.json
index fbb055331ed034ad4af9eb04c70d1038bdd73828..89b187bd2532b6eaed703f97a33ec8eeb233540b 100644
--- a/tests/data/constVelocityLineScan.json
+++ b/tests/data/constVelocityLineScan.json
@@ -5,7 +5,7 @@
"center_ephemeris_time": 1000.0,
"starting_ephemeris_time": 999.2,
"line_scan_rate": [
- [0.5, -0.8, 0.1]
+ [0.5, -0.85, 0.1]
],
"detector_sample_summing": 1,
"detector_line_summing": 1,
diff --git a/tests/data/orbitalLineScan.json b/tests/data/orbitalLineScan.json
index ba680890f4d0dcb1fea7451f14a4a49f143ade46..ba6455a8f2e3c937019af2ac619a687ab76a0203 100644
--- a/tests/data/orbitalLineScan.json
+++ b/tests/data/orbitalLineScan.json
@@ -5,7 +5,7 @@
"center_ephemeris_time": 1000.0,
"starting_ephemeris_time": 999.2,
"line_scan_rate": [
- [0.5, -0.8, 0.1]
+ [0.5, -0.85, 0.1]
],
"detector_sample_summing": 1,
"detector_line_summing": 1,