USGSCSM Astro Frame Sensor Model Class

class UsgsAstroFrameSensorModel : public csm::RasterGM, public virtual csm::SettableEllipsoid

#include <UsgsAstroFrameSensorModel.h>

Public Functions

UsgsAstroFrameSensorModel()

~UsgsAstroFrameSensorModel()

bool isValidModelState(const std::string &stringState, csm::WarningList *warnings)

bool isValidIsd(const std::string &stringIsd, csm::WarningList *warnings)

virtual csm::ImageCoord groundToImage(const csm::EcefCoord &groundPt, double desiredPrecision = 0.001, double *achievedPrecision = NULL, csm::WarningList *warnings = NULL) const

UsgsAstroFrameSensorModel::groundToImage.

Parameters:

• groundPt –

• desiredPrecision –

• achievedPrecision –

• warnings –

Returns:

Returns <line, sample> coordinate in the image corresponding to the ground point without bundle adjustment correction.

std::string constructStateFromIsd(const std::string &jsonIsd, csm::WarningList *warnings)

void reset()

virtual csm::ImageCoordCovar groundToImage(const csm::EcefCoordCovar &groundPt, double desiredPrecision = 0.001, double *achievedPrecision = NULL, csm::WarningList *warnings = NULL) const

virtual csm::ImageCoord groundToImage(const csm::EcefCoord &ground_pt, const std::vector<double> &adjustments, double desired_precision = 0.001, double *achieved_precision = NULL, csm::WarningList *warnings = NULL) const

UsgsAstroFrameSensorModel::groundToImage.

Parameters:

• groundPt –

• adjustments –

• desired_precision –

• achieved_precision –

• warnings –

Returns:

Returns <line,sample> coordinate in the image corresponding to the ground point. This function applies bundle adjustments to the final value.

virtual csm::EcefCoord imageToGround(const csm::ImageCoord &imagePt, double height = 0.0, double desiredPrecision = 0.001, double *achievedPrecision = NULL, csm::WarningList *warnings = NULL) const

This function determines if a sample, line intersects the target body and if so, where this intersection occurs in body-fixed coordinates.

Parameters:

• sample – Sample of the input image.

• line – Line of the input image.

• height – ???

Returns:

vector<double> Returns the body-fixed X,Y,Z coordinates of the intersection. If no intersection, returns a 3-element vector of 0’s.

virtual csm::EcefCoordCovar imageToGround(const csm::ImageCoordCovar &imagePt, double height, double heightVariance, double desiredPrecision = 0.001, double *achievedPrecision = NULL, csm::WarningList *warnings = NULL) const

virtual csm::EcefLocus imageToProximateImagingLocus(const csm::ImageCoord &imagePt, const csm::EcefCoord &groundPt, double desiredPrecision = 0.001, double *achievedPrecision = NULL, csm::WarningList *warnings = NULL) const

virtual csm::EcefLocus imageToRemoteImagingLocus(const csm::ImageCoord &imagePt, double desiredPrecision = 0.001, double *achievedPrecision = NULL, csm::WarningList *warnings = NULL) const

virtual csm::ImageCoord getImageStart() const

virtual csm::ImageVector getImageSize() const

virtual std::pair<csm::ImageCoord, csm::ImageCoord> getValidImageRange() const

virtual std::pair<double, double> getValidHeightRange() const

virtual csm::EcefVector getIlluminationDirection(const csm::EcefCoord &groundPt) const

Calculates the illumination vector (body-fixed, meters) from the sun to the given ground point.

Parameters:

groundPt – The ground point to find the illumination vector to.

Returns:

csm::EcefVector Returns the illumination vector from the sun to the ground point.

virtual double getImageTime(const csm::ImageCoord &imagePt) const

virtual csm::EcefCoord getSensorPosition(const csm::ImageCoord &imagePt) const

Determines the body-fixed sensor position for the given image coordinate.

Parameters:

imagePt – Image coordinate to find the sensor position for.

Throws:

csm::Error::BOUNDS – “Image coordinate () out of bounds.”

Returns:

csm::EcefCoord Returns the body-fixed sensor position.

virtual csm::EcefCoord getSensorPosition(double time) const

virtual csm::EcefVector getSensorVelocity(const csm::ImageCoord &imagePt) const

Determines the velocity of the sensor for the given image coordinate (in body-fixed frame).

Parameters:

imagePt – Image coordinate to find the sensor position for.

Throws:

csm::Error::BOUNDS – “Image coordinate () out of bounds.”

Returns:

csm::EcefVector Returns the sensor velocity in body-fixed frame.

virtual csm::EcefVector getSensorVelocity(double time) const

virtual csm::RasterGM::SensorPartials computeSensorPartials(int index, const csm::EcefCoord &groundPt, double desiredPrecision = 0.001, double *achievedPrecision = NULL, csm::WarningList *warnings = NULL) const

virtual csm::RasterGM::SensorPartials computeSensorPartials(int index, const csm::ImageCoord &imagePt, const csm::EcefCoord &groundPt, double desiredPrecision = 0.001, double *achievedPrecision = NULL, csm::WarningList *warnings = NULL) const

UsgsAstroFrameSensorModel::computeSensorPartials.

Research: We should investigate using a central difference scheme to approximate the partials. It is more accurate, but it might be costlier calculation-wise.

Parameters:

• index –

• imagePt –

• groundPt –

• desiredPrecision –

• achievedPrecision –

• warnings –

Returns:

The partial derivatives in the line,sample directions.

virtual std::vector<csm::RasterGM::SensorPartials> computeAllSensorPartials(const csm::EcefCoord &groundPt, csm::param::Set pSet = csm::param::VALID, double desiredPrecision = 0.001, double *achievedPrecision = NULL, csm::WarningList *warnings = NULL) const

virtual std::vector<csm::RasterGM::SensorPartials> computeAllSensorPartials(const csm::ImageCoord &imagePt, const csm::EcefCoord &groundPt, csm::param::Set pSet = csm::param::VALID, double desiredPrecision = 0.001, double *achievedPrecision = NULL, csm::WarningList *warnings = NULL) const

virtual std::vector<double> computeGroundPartials(const csm::EcefCoord &groundPt) const

virtual const csm::CorrelationModel &getCorrelationModel() const

virtual std::vector<double> getUnmodeledCrossCovariance(const csm::ImageCoord &pt1, const csm::ImageCoord &pt2) const

virtual csm::Version getVersion() const

virtual std::string getModelName() const

virtual std::string getPedigree() const

virtual std::string getImageIdentifier() const

virtual void setImageIdentifier(const std::string &imageId, csm::WarningList *warnings = NULL)

virtual std::string getSensorIdentifier() const

virtual std::string getPlatformIdentifier() const

virtual std::string getCollectionIdentifier() const

virtual std::string getTrajectoryIdentifier() const

virtual std::string getSensorType() const

virtual std::string getSensorMode() const

virtual std::string getReferenceDateAndTime() const

virtual std::string getModelState() const

virtual void replaceModelState(const std::string &argState)

virtual csm::Ellipsoid getEllipsoid() const

virtual void setEllipsoid(const csm::Ellipsoid &ellipsoid)

virtual csm::EcefCoord getReferencePoint() const

virtual void setReferencePoint(const csm::EcefCoord &groundPt)

virtual int getNumParameters() const

virtual std::string getParameterName(int index) const

virtual std::string getParameterUnits(int index) const

virtual bool hasShareableParameters() const

virtual bool isParameterShareable(int index) const

virtual csm::SharingCriteria getParameterSharingCriteria(int index) const

virtual double getParameterValue(int index) const

virtual void setParameterValue(int index, double value)

virtual csm::param::Type getParameterType(int index) const

virtual void setParameterType(int index, csm::param::Type pType)

virtual double getParameterCovariance(int index1, int index2) const

virtual void setParameterCovariance(int index1, int index2, double covariance)

virtual int getNumGeometricCorrectionSwitches() const

virtual std::string getGeometricCorrectionName(int index) const

virtual void setGeometricCorrectionSwitch(int index, bool value, csm::param::Type pType)

virtual bool getGeometricCorrectionSwitch(int index) const

virtual std::vector<double> getCrossCovarianceMatrix(const GeometricModel &comparisonModel, csm::param::Set pSet = csm::param::VALID, const GeometricModelList &otherModels = GeometricModelList()) const

virtual std::shared_ptr<spdlog::logger> getLogger()

virtual void setLogger(std::string logName)

double getValue(int index, const std::vector<double> &adjustments) const

void calcRotationMatrix(double m[3][3]) const

void calcRotationMatrix(double m[3][3], const std::vector<double> &adjustments) const

void losEllipsoidIntersect(double height, double xc, double yc, double zc, double xl, double yl, double zl, double &x, double &y, double &z, csm::WarningList *warnings = NULL) const

Public Members

std::vector<double> m_currentParameterValue

std::vector<double> m_currentParameterCovariance

std::vector<csm::param::Type> m_parameterType

std::vector<double> m_noAdjustments

DistortionType m_distortionType

std::vector<double> m_opticalDistCoeffs

std::vector<double> m_transX

std::vector<double> m_transY

std::vector<double> m_spacecraftVelocity

std::vector<double> m_sunPosition

std::vector<double> m_ccdCenter

std::vector<double> m_iTransS

std::vector<double> m_iTransL

std::vector<double> m_boresight

std::vector<double> m_lineJitter

std::vector<double> m_sampleJitter

std::vector<double> m_lineTimes

double m_majorAxis

double m_minorAxis

double m_focalLength

double m_minElevation

double m_maxElevation

double m_startingDetectorSample

double m_startingDetectorLine

double m_detectorSampleSumming

double m_detectorLineSumming

std::string m_targetName

std::string m_modelName

std::string m_sensorName

std::string m_platformName

std::string m_imageIdentifier

std::string m_collectionIdentifier

double m_ifov

std::string m_instrumentID

double m_focalLengthEpsilon

double m_originalHalfLines

std::string m_spacecraftName

double m_pixelPitch

double m_ephemerisTime

double m_originalHalfSamples

int m_nLines

int m_nSamples

int m_nParameters

csm::EcefCoord m_referencePointXyz

Public Static Functions

static std::string getModelNameFromModelState(const std::string &model_state)

static void applyTransformToState(ale::Rotation const &r, ale::Vec3d const &t, std::string &stateString)

Public Static Attributes

static const std::string _SENSOR_MODEL_NAME = "USGS_ASTRO_FRAME_SENSOR_MODEL"

static const int m_numParameters

static const std::string m_parameterName[] = {"X Sensor Position (m)", "Y Sensor Position (m)", "Z Sensor Position (m)", "w", "v1", "v2", "v3"}

Private Members

std::shared_ptr<spdlog::logger> m_logger = spdlog::get("usgscsm_logger")

nlohmann::json _state

csm::NoCorrelationModel _no_corr_model

Private Static Attributes

static const int _NUM_STATE_KEYWORDS

static const int NUM_PARAMETERS = 7

static const std::string _STATE_KEYWORD[]

Friends

friend class UsgsAstroFramePlugin