diff --git a/src/tutorials/java/AffinagePleiades/GroundRefining.java b/src/tutorials/java/AffinagePleiades/GroundRefining.java
index ad435141b4a5355f792ae425146f294bcce81f7a..d0fcf3ecd0b4c49c28575e2ea2b1b6da085101cf 100644
--- a/src/tutorials/java/AffinagePleiades/GroundRefining.java
+++ b/src/tutorials/java/AffinagePleiades/GroundRefining.java
@@ -17,12 +17,10 @@
package AffinagePleiades;
import org.hipparchus.geometry.euclidean.threed.Vector3D;
-import org.hipparchus.optim.nonlinear.vector.leastsquares.LeastSquaresOptimizer.Optimum;
import org.hipparchus.util.FastMath;
import java.io.File;
import java.util.Locale;
-import java.util.Collections;
import java.util.List;
import org.orekit.bodies.BodyShape;
@@ -30,7 +28,6 @@ import org.orekit.bodies.GeodeticPoint;
import org.orekit.data.DataProvidersManager;
import org.orekit.data.DirectoryCrawler;
import org.orekit.errors.OrekitException;
-import org.orekit.errors.OrekitExceptionWrapper;
import org.orekit.forces.gravity.potential.NormalizedSphericalHarmonicsProvider;
import org.orekit.orbits.Orbit;
import org.orekit.rugged.api.AlgorithmId;
@@ -45,7 +42,6 @@ import org.orekit.rugged.refining.generators.GroundMeasureGenerator;
import org.orekit.rugged.refining.measures.Noise;
import org.orekit.rugged.refining.measures.SensorToGroundMapping;
import org.orekit.rugged.refining.metrics.DistanceTools;
-import org.orekit.rugged.refining.metrics.LocalisationMetrics;
import org.orekit.rugged.refining.models.OrbitModel;
import org.orekit.rugged.refining.models.PleiadesViewingModel;
import org.orekit.time.AbsoluteDate;
@@ -65,7 +61,7 @@ import org.orekit.utils.TimeStampedPVCoordinates;
* @see SensorToGroundMapping
* @see GroundMeasureGenerator
*/
-public class GroundRefining {
+public class GroundRefining extends Refining {
/** Pleiades viewing model */
PleiadesViewingModel pleiadesViewingModel;
@@ -226,7 +222,7 @@ public class GroundRefining {
// Initialize physical model without disruptions
// ---------------------------------------------
System.out.format("\n**** Initialize physical model without disruptions: reset Roll/Pitch/Factor **** %n");
- refining.resetModel(refining.getRugged(), refining.getSensorName());
+ refining.resetModel(refining.getRugged(), refining.getSensorName(), true);
// Compute initial residues
@@ -341,7 +337,7 @@ public class GroundRefining {
* @param LineSensor line sensor
* @return GSD
*/
- public double[] computeGSD(LineSensor lineSensor) throws RuggedException {
+ private double[] computeGSD(final LineSensor lineSensor) throws RuggedException {
// Get position
Vector3D position = lineSensor.getPosition(); // This returns a zero vector since we set the relative position of the sensor w.r.T the satellite to 0.
@@ -376,213 +372,5 @@ public class GroundRefining {
double [] gsd = {gsdX, gsdY};
return gsd;
}
+}
-
- /** Apply disruptions
- * @param rugged Rugged instance
- * @param sensorName line sensor name
- * @param rollValue rotation on roll value
- * @param pitchValue rotation on pitch value
- * @param factorValue scale factor
- * @throws OrekitException
- * @throws RuggedException
- */
- public void applyDisruptions(Rugged rugged, String sensorName, double rollValue, double pitchValue, double factorValue) throws OrekitException, RuggedException {
-
- final String commonFactorName = "factor";
-
- rugged.
- getLineSensor(sensorName).
- getParametersDrivers().
- filter(driver -> driver.getName().equals(sensorName+"_roll")).
- findFirst().get().setValue(rollValue);
-
- rugged.
- getLineSensor(sensorName).
- getParametersDrivers().
- filter(driver -> driver.getName().equals(sensorName+"_pitch")).
- findFirst().get().setValue(pitchValue);
-
- rugged.
- getLineSensor(sensorName).
- getParametersDrivers().
- filter(driver -> driver.getName().equals(commonFactorName)).
- findFirst().get().setValue(factorValue);
-
- }
-
-
- /** Generate points of measures
- * @param rugged Rugged instance
- * @param sensorName line sensor name
- * @param isNoise flag to known if measures are noisy or not
- * @throws OrekitException
- * @throws RuggedException
- */
- public GroundMeasureGenerator generateNoisyPoints(int lineSampling, int pixelSampling ,
- Rugged rugged, String sensorName, int dimension,
- Noise noise) throws OrekitException, RuggedException {
-
- GroundMeasureGenerator measures = new GroundMeasureGenerator(rugged, sensorName, dimension);
-
- System.out.format("\n**** Generate noisy measures **** %n");
-
- // Generation noisy measures
- measures.createNoisyMeasure(lineSampling, pixelSampling, noise);
-
- System.out.format("Number of tie points generated: %d %n", measures.getMeasureCount());
-
- return measures;
-
- }
-
-
- /** Generate points of measures
- * @param rugged Rugged instance
- * @param sensorName line sensor name
- * @param isNoise flag to known if measures are noisy or not
- * @throws OrekitException
- * @throws RuggedException
- */
- public GroundMeasureGenerator generatePoints(int lineSampling, int pixelSampling,
- Rugged rugged, String sensorName,
- int dimension) throws OrekitException, RuggedException {
-
- GroundMeasureGenerator measures = new GroundMeasureGenerator(rugged, sensorName, dimension);
-
- System.out.format("\n**** Generate measures (without noise) **** %n");
-
- // Generation measures without noise
- measures.createMeasure(lineSampling, pixelSampling);
-
- System.out.format("Number of tie points generated: %d %n", measures.getMeasureCount());
-
- return measures;
-
- }
-
- /** Compute metrics
- * @param unit
- * @throws OrekitException
- * @throws RuggedException
- */
- public void computeMetrics(SensorToGroundMapping groundMapping,
- Rugged rugged, boolean unit) throws RuggedException {
-
- String stUnit = null;
- if(unit) stUnit="degrees";
- else stUnit="meters";
-
- LocalisationMetrics residues = new LocalisationMetrics(groundMapping, rugged, unit);
- System.out.format("Max: %3.4e Mean: %3.4e %s%n",residues.getMaxResidual(),residues.getMeanResidual(), stUnit);
-
-
-
-
- }
-
-
- /** Reset a model
- * @param rugged Rugged instance
- * @param sensorName line sensor name
- * @throws OrekitException
- * @throws RuggedException
- */
- public void resetModel(Rugged rugged, String sensorName) throws OrekitException, RuggedException {
-
- final String commonFactorName = "factor";
-
- rugged.
- getLineSensor(sensorName).
- getParametersDrivers().
- filter(driver -> driver.getName().equals(sensorName+"_roll")
- || driver.getName().equals(sensorName+"_pitch")).
- forEach(driver -> {
- try {
- driver.setSelected(true);
- driver.setValue(0.0);
- } catch (OrekitException e) {
- throw new OrekitExceptionWrapper(e);
- }
- });
- rugged.
- getLineSensor(sensorName).
- getParametersDrivers().
- filter(driver -> driver.getName().equals(commonFactorName)).
- forEach(driver -> {
- try {
- driver.setSelected(true);
- driver.setValue(1.0); // default value: no Z scale factor applied
- } catch (OrekitException e) {
- throw new OrekitExceptionWrapper(e);
- }
- });
-
- }
-
-
- /** Start optimization
- * @throws OrekitException
- * @throws RuggedException
- */
- public void optimization(int maxIterations, double convergenceThreshold,
- SensorToGroundMapping groundMapping,
- Rugged rugged) throws OrekitException, RuggedException {
-
-
- System.out.format("Iterations max: %d\tconvergence threshold: %3.6e \n",maxIterations, convergenceThreshold);
-
- // Adapt parameters
- Optimum optimum = rugged.estimateFreeParameters(Collections.singletonList(groundMapping),
- maxIterations, convergenceThreshold);
-
- // Print statistics
- System.out.format("Max value: %3.6e %n",optimum.getResiduals().getMaxValue());
- System.out.format("Optimization performed in %d iterations \n",optimum.getEvaluations());
- System.out.format("RMSE: %f \n",optimum.getRMS());
-
- }
-
-
- /** Check parameters estimation
- * @param rugged Rugged instance
- * @param sensorName line sensor name
- * @param rollValue rotation on roll value
- * @param pitchValue rotation on pitch value
- * @param factorValue scale factor
- * @throws OrekitException
- * @throws RuggedException
- */
- public void paramsEstimation(Rugged rugged, String sensorName,
- double rollValue, double pitchValue, double factorValue) throws OrekitException, RuggedException {
-
- final String commonFactorName = "factor";
-
- // Estimate Roll
- double estimatedRoll = rugged.getLineSensor(sensorName).
- getParametersDrivers().
- filter(driver -> driver.getName().equals(sensorName+"_roll")).
- findFirst().get().getValue();
-
- double rollError = (estimatedRoll - rollValue);
- System.out.format("Estimated roll: %3.5f\troll error: %3.6e %n", estimatedRoll, rollError);
-
- // Estimate pitch
- double estimatedPitch = rugged.getLineSensor(sensorName).
- getParametersDrivers().
- filter(driver -> driver.getName().equals(sensorName+"_pitch")).
- findFirst().get().getValue();
-
- double pitchError = (estimatedPitch - pitchValue);
- System.out.format("Estimated pitch: %3.5f\tpitch error: %3.6e %n", estimatedPitch, pitchError);
-
- // Estimate factor
- double estimatedFactor = rugged.getLineSensor(sensorName).
- getParametersDrivers().
- filter(driver -> driver.getName().equals(commonFactorName)).
- findFirst().get().getValue();
-
- double factorError = (estimatedFactor - factorValue);
- System.out.format("Estimated factor: %3.5f\tfactor error: %3.6e %n", estimatedFactor, factorError);
- }
-}
diff --git a/src/tutorials/java/AffinagePleiades/InterRefining.java b/src/tutorials/java/AffinagePleiades/InterRefining.java
index 8a1e3eb0a4ab08d50e74d83e849d52c5d7cacae7..100f03640fa23154966eed4179a9dd6ce15bc5c3 100644
--- a/src/tutorials/java/AffinagePleiades/InterRefining.java
+++ b/src/tutorials/java/AffinagePleiades/InterRefining.java
@@ -19,11 +19,8 @@ package AffinagePleiades;
import org.hipparchus.util.FastMath;
import org.hipparchus.geometry.euclidean.threed.Vector3D;
-import org.hipparchus.optim.nonlinear.vector.leastsquares.LeastSquaresOptimizer.Optimum;
import java.io.File;
import java.util.Locale;
-
-import java.util.Collections;
import java.util.List;
import org.orekit.bodies.BodyShape;
@@ -31,7 +28,6 @@ import org.orekit.bodies.GeodeticPoint;
import org.orekit.data.DataProvidersManager;
import org.orekit.data.DirectoryCrawler;
import org.orekit.errors.OrekitException;
-import org.orekit.errors.OrekitExceptionWrapper;
import org.orekit.forces.gravity.potential.NormalizedSphericalHarmonicsProvider;
import org.orekit.orbits.Orbit;
@@ -48,9 +44,7 @@ import org.orekit.rugged.refining.generators.GroundMeasureGenerator;
import org.orekit.rugged.refining.generators.InterMeasureGenerator;
import org.orekit.rugged.refining.measures.Noise;
import org.orekit.rugged.refining.measures.SensorToGroundMapping;
-import org.orekit.rugged.refining.measures.SensorToSensorMapping;
import org.orekit.rugged.refining.metrics.DistanceTools;
-import org.orekit.rugged.refining.metrics.LocalisationMetrics;
import org.orekit.rugged.refining.models.OrbitModel;
import org.orekit.rugged.refining.models.PleiadesViewingModel;
import org.orekit.time.AbsoluteDate;
@@ -70,7 +64,7 @@ import org.orekit.utils.TimeStampedPVCoordinates;
* @see SensorToGroundMapping
* @see GroundMeasureGenerator
*/
-public class InterRefining {
+public class InterRefining extends Refining {
/** Pleiades viewing model A */
PleiadesViewingModel pleiadesViewingModelA;
@@ -90,7 +84,6 @@ public class InterRefining {
/** Sensor name A corresponding to viewing model B */
String sensorNameB;
-
/** RuggedA 's instance */
Rugged ruggedA;
@@ -99,6 +92,7 @@ public class InterRefining {
/** Inter-measurements (between both viewing models) */
InterMeasureGenerator measures;
+
/**
* Constructor
@@ -318,8 +312,8 @@ public class InterRefining {
// Initialize physical models without disruptions
// -----------------------------------------------
System.out.format("\n**** Initialize physical models (A,B) without disruptions: reset Roll/Pitch/Factor **** %n");
- refining.resetModel(refining.getRuggedA(), refining.getSensorNameA());
- refining.resetModel(refining.getRuggedB(), refining.getSensorNameB());
+ refining.resetModel(refining.getRuggedA(), refining.getSensorNameA(), false);
+ refining.resetModel(refining.getRuggedB(), refining.getSensorNameB(), false);
// Compute initial residues
@@ -510,7 +504,7 @@ public class InterRefining {
* @param lineSensorB line sensor B
* @return GSD
*/
- public double computeDistance(LineSensor lineSensorA, LineSensor lineSensorB) throws RuggedException {
+ private double computeDistance(final LineSensor lineSensorA, final LineSensor lineSensorB) throws RuggedException {
Vector3D positionA = lineSensorA.getPosition(); // This returns a zero vector since we set the relative position of the sensor w.r.T the satellite to 0.
@@ -553,230 +547,6 @@ public class InterRefining {
}
- /** Apply disruptions on acquisition A or B
- * @param rugged Rugged instance
- * @param sensorName line sensor name
- * @param rollValue rotation on roll value
- * @param pitchValue rotation on pitch value
- * @param factorValue scale factor
- * @throws OrekitException
- * @throws RuggedException
- */
- public void applyDisruptions(Rugged rugged, String sensorName, double rollValue, double pitchValue, double factorValue) throws OrekitException, RuggedException {
-
- final String commonFactorName = "factor";
-
- rugged.
- getLineSensor(sensorName).
- getParametersDrivers().
- filter(driver -> driver.getName().equals(sensorName+"_roll")).
- findFirst().get().setValue(rollValue);
-
- rugged.
- getLineSensor(sensorName).
- getParametersDrivers().
- filter(driver -> driver.getName().equals(sensorName+"_pitch")).
- findFirst().get().setValue(pitchValue);
-
- rugged.
- getLineSensor(sensorName).
- getParametersDrivers().
- filter(driver -> driver.getName().equals(commonFactorName)).
- findFirst().get().setValue(factorValue);
-
- }
-
-
- /** Generate measurements without noise
- * @param ruggedA Rugged instance of acquisition A
- * @param sensorNameA line sensor name A
- * @param ruggedA Rugged instance of acquisition B
- * @param sensorNameB line sensor name B
- * @throws OrekitException
- * @throws RuggedException
- */
- public InterMeasureGenerator generatePoints(int lineSampling, int pixelSampling,
- Rugged ruggedA, String sensorNameA, int dimensionA,
- Rugged ruggedB, String sensorNameB, int dimensionB) throws OrekitException, RuggedException {
-
- final double outlierValue = 1e+2; // outliers control
- final double earthConstraintWeight = 0.1; // earth constraint weight
-
- /* Generate measures with constraints on Earth distance and outliers control */
- InterMeasureGenerator measures = new InterMeasureGenerator(ruggedA, sensorNameA, dimensionA,
- ruggedB, sensorNameB, dimensionB,
- outlierValue,
- earthConstraintWeight);
-
- System.out.format("\n**** Generate measures (without noise) **** %n");
-
- // Generation measures without noise
- measures.createMeasure(lineSampling, pixelSampling);
-
- System.out.format("Number of tie points generated: %d %n", measures.getMeasureCount());
-
- return measures;
-
- }
-
-
- /** Generate noisy measurements
- * @param ruggedA Rugged instance of acquisition A
- * @param sensorNameA line sensor name A
- * @param ruggedA Rugged instance of acquisition B
- * @param sensorNameB line sensor name B
- * @param noise Noise structure to generate noisy measures
- * @throws OrekitException
- * @throws RuggedException
- */
- public InterMeasureGenerator generateNoisyPoints(int lineSampling, int pixelSampling,
- Rugged ruggedA, String sensorNameA, int dimensionA,
- Rugged ruggedB, String sensorNameB, int dimensionB,
- Noise noise) throws OrekitException, RuggedException {
-
- final double outlierValue = 1e+2; // outliers control
- final double earthConstraintWeight = 0.1; // earth constraint weight
-
- /* Generate measures with constraints on Earth distance and outliers control */
- InterMeasureGenerator measures = new InterMeasureGenerator(ruggedA, sensorNameA, dimensionA,
- ruggedB, sensorNameB, dimensionB,
- outlierValue,
- earthConstraintWeight);
- System.out.format("\n**** Generate noisy measures **** %n");
-
- // Generation noisy measures
- measures.createNoisyMeasure(lineSampling, pixelSampling, noise);
-
- System.out.format("Number of tie points generated: %d %n", measures.getMeasureCount());
-
- return measures;
-
- }
-
- /** Compute metrics
- * @param unit
- * @throws OrekitException
- * @throws RuggedException
- */
- public void computeMetrics(SensorToSensorMapping interMapping,
- Rugged ruggedA, Rugged ruggedB,
- boolean unit) throws RuggedException {
-
- String stUnit = null;
- if(unit) stUnit="degrees";
- else stUnit="meters";
-
- LocalisationMetrics residues = new LocalisationMetrics(interMapping, ruggedA, ruggedB, unit);
- System.out.format("Max: %1.4e Mean: %1.4e %s%n",residues.getMaxResidual(),residues.getMeanResidual(), stUnit);
- System.out.format("LOS distance Max: %1.4e Mean: %1.4e %s%n",residues.getLosMaxDistance(),residues.getLosMeanDistance(), stUnit);
- System.out.format("Earth distance Max: %1.4e Mean: %1.4e %s%n",residues.getEarthMaxDistance(),residues.getEarthMeanDistance(), stUnit);
-
-
- }
-
- /** Reset a model
- * @param rugged Rugged instance
- * @param sensorName line sensor name
- * @throws OrekitException
- * @throws RuggedException
- */
- public void resetModel(Rugged rugged, String sensorName) throws OrekitException, RuggedException {
-
- final String commonFactorName = "factor";
-
- rugged.
- getLineSensor(sensorName).
- getParametersDrivers().
- filter(driver -> driver.getName().equals(sensorName+"_roll")
- || driver.getName().equals(sensorName+"_pitch")).
- forEach(driver -> {
- try {
- driver.setSelected(true);
- driver.setValue(0.0);
- } catch (OrekitException e) {
- throw new OrekitExceptionWrapper(e);
- }
- });
- rugged.
- getLineSensor(sensorName).
- getParametersDrivers().
- filter(driver -> driver.getName().equals(commonFactorName)).
- forEach(driver -> {
- try {
- driver.setSelected(false);
- driver.setValue(1.0); // default value: no Z scale factor applied
- } catch (OrekitException e) {
- throw new OrekitExceptionWrapper(e);
- }
- });
- }
-
-
- /** Start optimization
- * @throws OrekitException
- * @throws RuggedException
- */
- public void optimization(int maxIterations, double convergenceThreshold,
- SensorToSensorMapping interMapping,
- Rugged ruggedA, Rugged ruggedB) throws OrekitException, RuggedException {
-
-
- System.out.format("Iterations max: %d\tconvergence threshold: %3.6e \n",maxIterations, convergenceThreshold);
-
- // Note: estimateFreeParams2Models() is supposed to be applying on ruggedB, not on ruggedA (to be compliant with notations)
-
- // Adapt parameters
- Optimum optimum = ruggedB.estimateFreeParams2Models(Collections.singletonList(interMapping),
- maxIterations,convergenceThreshold, ruggedA);
-
- // Print statistics
- System.out.format("Max value: %3.6e %n",optimum.getResiduals().getMaxValue());
- System.out.format("Optimization performed in %d iterations \n",optimum.getEvaluations());
- System.out.format("RMSE: %f \n",optimum.getRMS());
- }
-
-
- /** Check parameters estimation
- * @param rugged Rugged instance
- * @param sensorName line sensor name
- * @param rollValue rotation on roll value
- * @param pitchValue rotation on pitch value
- * @param factorValue scale factor
- * @throws OrekitException
- * @throws RuggedException
- */
- public void paramsEstimation(Rugged rugged, String sensorName,
- double rollValue, double pitchValue, double factorValue) throws OrekitException, RuggedException {
-
- final String commonFactorName = "factor";
-
- // Estimate Roll
- double estimatedRoll = rugged.getLineSensor(sensorName).
- getParametersDrivers().
- filter(driver -> driver.getName().equals(sensorName+"_roll")).
- findFirst().get().getValue();
-
- double rollError = (estimatedRoll - rollValue);
- System.out.format("Estimated roll: %3.5f\troll error: %3.6e %n", estimatedRoll, rollError);
-
- // Estimate pitch
- double estimatedPitch = rugged.getLineSensor(sensorName).
- getParametersDrivers().
- filter(driver -> driver.getName().equals(sensorName+"_pitch")).
- findFirst().get().getValue();
-
- double pitchError = (estimatedPitch - pitchValue);
- System.out.format("Estimated pitch: %3.5f\tpitch error: %3.6e %n", estimatedPitch, pitchError);
-
- // Estimate factor
- double estimatedFactor = rugged.getLineSensor(sensorName).
- getParametersDrivers().
- filter(driver -> driver.getName().equals(commonFactorName)).
- findFirst().get().getValue();
-
- double factorError = (estimatedFactor - factorValue);
- System.out.format("Estimated factor: %3.5f\tfactor error: %3.6e %n", estimatedFactor, factorError);
- }
}
diff --git a/src/tutorials/java/AffinagePleiades/Refining.java b/src/tutorials/java/AffinagePleiades/Refining.java
new file mode 100644
index 0000000000000000000000000000000000000000..6cdd7bdbd749393e9fdb15d35686d7bd232aee00
--- /dev/null
+++ b/src/tutorials/java/AffinagePleiades/Refining.java
@@ -0,0 +1,401 @@
+/* Copyright 2013-2016 CS Systèmes d'Information
+ * Licensed to CS Systèmes d'Information (CS) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * CS licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package AffinagePleiades;
+
+import org.hipparchus.optim.nonlinear.vector.leastsquares.LeastSquaresOptimizer.Optimum;
+import java.util.Collections;
+
+import org.orekit.errors.OrekitException;
+import org.orekit.errors.OrekitExceptionWrapper;
+import org.orekit.rugged.api.Rugged;
+import org.orekit.rugged.errors.RuggedException;
+import org.orekit.rugged.refining.generators.GroundMeasureGenerator;
+import org.orekit.rugged.refining.generators.InterMeasureGenerator;
+import org.orekit.rugged.refining.measures.Noise;
+import org.orekit.rugged.refining.measures.SensorToGroundMapping;
+import org.orekit.rugged.refining.measures.SensorToSensorMapping;
+import org.orekit.rugged.refining.metrics.LocalisationMetrics;
+
+
+
+/**
+ * Class for refining
+ * @author Jonathan Guinet
+ * @author Lucie Labat-Allee
+ * @see SensorToGroundMapping
+ * @see SensorToSensorMapping
+ * @see GroundMeasureGenerator
+ * @see InterMeasureGenerator
+ */
+public class Refining {
+
+
+ /**
+ * Constructor
+ */
+ public Refining() throws RuggedException, OrekitException {
+
+ }
+
+
+ /** Apply disruptions on acquisition
+ * @param rugged Rugged instance
+ * @param sensorName line sensor name
+ * @param rollValue rotation on roll value
+ * @param pitchValue rotation on pitch value
+ * @param factorValue scale factor
+ * @throws OrekitException
+ * @throws RuggedException
+ */
+ public void applyDisruptions(Rugged rugged, String sensorName,
+ double rollValue, double pitchValue, double factorValue)
+ throws OrekitException, RuggedException {
+
+ final String commonFactorName = "factor";
+
+ rugged.
+ getLineSensor(sensorName).
+ getParametersDrivers().
+ filter(driver -> driver.getName().equals(sensorName+"_roll")).
+ findFirst().get().setValue(rollValue);
+
+ rugged.
+ getLineSensor(sensorName).
+ getParametersDrivers().
+ filter(driver -> driver.getName().equals(sensorName+"_pitch")).
+ findFirst().get().setValue(pitchValue);
+
+ rugged.
+ getLineSensor(sensorName).
+ getParametersDrivers().
+ filter(driver -> driver.getName().equals(commonFactorName)).
+ findFirst().get().setValue(factorValue);
+ }
+
+
+ /** Generate measurements without noise
+ * @param lineSampling line sampling
+ * @param pixelSampling pixel sampling
+ * @param rugged Rugged instance
+ * @param sensorName line sensor name
+ * @param dimension dimension
+ * @throws OrekitException
+ * @throws RuggedException
+ * @return ground measures generator (sensor to ground mapping)
+ */
+ public GroundMeasureGenerator generatePoints(int lineSampling, int pixelSampling,
+ Rugged rugged, String sensorName,
+ int dimension) throws OrekitException, RuggedException {
+
+ GroundMeasureGenerator measures = new GroundMeasureGenerator(rugged, sensorName, dimension);
+
+ System.out.format("\n**** Generate measures (without noise) **** %n");
+
+ // Generation measures without noise
+ measures.createMeasure(lineSampling, pixelSampling);
+
+ System.out.format("Number of tie points generated: %d %n", measures.getMeasureCount());
+
+ return measures;
+ }
+
+
+ /** Generate measurements without noise
+ * @param lineSampling line sampling
+ * @param pixelSampling pixel sampling
+ * @param ruggedA Rugged instance of acquisition A
+ * @param sensorNameA line sensor name A
+ * @param dimensionA dimension for acquisition A
+ * @param ruggedB Rugged instance of acquisition B
+ * @param sensorNameB line sensor name B
+ * @param dimensionB dimension for acquisition B
+ * @throws OrekitException
+ * @throws RuggedException
+ * @return inter measures generator (sensor to sensor mapping)
+ */
+ public InterMeasureGenerator generatePoints(int lineSampling, int pixelSampling,
+ Rugged ruggedA, String sensorNameA, int dimensionA,
+ Rugged ruggedB, String sensorNameB, int dimensionB) throws OrekitException, RuggedException {
+
+ final double outlierValue = 1e+2; // outliers control
+ final double earthConstraintWeight = 0.1; // earth constraint weight
+
+ /* Generate measures with constraints on Earth distance and outliers control */
+ InterMeasureGenerator measures = new InterMeasureGenerator(ruggedA, sensorNameA, dimensionA,
+ ruggedB, sensorNameB, dimensionB,
+ outlierValue,
+ earthConstraintWeight);
+
+ System.out.format("\n**** Generate measures (without noise) **** %n");
+
+ // Generation measures without noise
+ measures.createMeasure(lineSampling, pixelSampling);
+
+ System.out.format("Number of tie points generated: %d %n", measures.getMeasureCount());
+
+ return measures;
+ }
+
+
+ /** Generate noisy measurements
+ * @param lineSampling line sampling
+ * @param pixelSampling pixel sampling
+ * @param rugged Rugged instance
+ * @param sensorName line sensor name
+ * @param dimension dimension
+ * @param noise Noise structure to generate noisy measures
+ * @throws OrekitException
+ * @throws RuggedException
+ * @return ground measures generator (sensor to ground mapping)
+ */
+ public GroundMeasureGenerator generateNoisyPoints(int lineSampling, int pixelSampling,
+ Rugged rugged, String sensorName, int dimension,
+ Noise noise) throws OrekitException, RuggedException {
+
+ GroundMeasureGenerator measures = new GroundMeasureGenerator(rugged, sensorName, dimension);
+
+ System.out.format("\n**** Generate noisy measures **** %n");
+
+ // Generation noisy measures
+ measures.createNoisyMeasure(lineSampling, pixelSampling, noise);
+
+ System.out.format("Number of tie points generated: %d %n", measures.getMeasureCount());
+
+ return measures;
+ }
+
+
+ /** Generate noisy measurements
+ * @param lineSampling line sampling
+ * @param pixelSampling pixel sampling
+ * @param ruggedA Rugged instance of acquisition A
+ * @param sensorNameA line sensor name A
+ * @param dimensionA dimension for acquisition A
+ * @param ruggedB Rugged instance of acquisition B
+ * @param sensorNameB line sensor name B
+ * @param dimensionB dimension for acquisition B
+ * @param noise Noise structure to generate noisy measures
+ * @throws OrekitException
+ * @throws RuggedException
+ * @return inter measures generator (sensor to sensor mapping)
+ */
+ public InterMeasureGenerator generateNoisyPoints(int lineSampling, int pixelSampling,
+ Rugged ruggedA, String sensorNameA, int dimensionA,
+ Rugged ruggedB, String sensorNameB, int dimensionB,
+ Noise noise) throws OrekitException, RuggedException {
+
+ final double outlierValue = 1e+2; // outliers control
+ final double earthConstraintWeight = 0.1; // earth constraint weight
+
+ /* Generate measures with constraints on Earth distance and outliers control */
+ InterMeasureGenerator measures = new InterMeasureGenerator(ruggedA, sensorNameA, dimensionA,
+ ruggedB, sensorNameB, dimensionB,
+ outlierValue,
+ earthConstraintWeight);
+ System.out.format("\n**** Generate noisy measures **** %n");
+
+ // Generation noisy measures
+ measures.createNoisyMeasure(lineSampling, pixelSampling, noise);
+
+ System.out.format("Number of tie points generated: %d %n", measures.getMeasureCount());
+
+ return measures;
+ }
+
+
+ /** Compute metrics to evaluate geometric performances in location,
+ * for fulcrum points study.
+ * @param groundMapping sensor to ground mapping
+ * @param rugged Rugged instance
+ * @param unit flag to known distance's unit
+ * @throws OrekitException
+ * @throws RuggedException
+ */
+ public void computeMetrics(SensorToGroundMapping groundMapping,
+ Rugged rugged, boolean unit) throws RuggedException {
+
+ String stUnit = null;
+ if(unit) stUnit="degrees";
+ else stUnit="meters";
+
+ LocalisationMetrics residues = new LocalisationMetrics(groundMapping, rugged, unit);
+ System.out.format("Max: %3.4e Mean: %3.4e %s%n",residues.getMaxResidual(),residues.getMeanResidual(), stUnit);
+ }
+
+
+ /** Compute metrics to evaluate geometric performances in location,
+ * for liaison points study.
+ * @param interMapping sensor to sensor mapping
+ * @param ruggedA Rugged instance A
+ * @param ruggedB Rugged instance B
+ * @param unit flag to known distance's unit
+ * @throws OrekitException
+ * @throws RuggedException
+ */
+ public void computeMetrics(SensorToSensorMapping interMapping,
+ Rugged ruggedA, Rugged ruggedB,
+ boolean unit) throws RuggedException {
+
+ String stUnit = null;
+ if(unit) stUnit="degrees";
+ else stUnit="meters";
+
+ LocalisationMetrics residues = new LocalisationMetrics(interMapping, ruggedA, ruggedB, unit);
+ System.out.format("Max: %1.4e Mean: %1.4e %s%n",residues.getMaxResidual(),residues.getMeanResidual(), stUnit);
+ System.out.format("LOS distance Max: %1.4e Mean: %1.4e %s%n",residues.getLosMaxDistance(),residues.getLosMeanDistance(), stUnit);
+ System.out.format("Earth distance Max: %1.4e Mean: %1.4e %s%n",residues.getEarthMaxDistance(),residues.getEarthMeanDistance(), stUnit);
+ }
+
+
+ /** Reset a model
+ * @param rugged Rugged instance
+ * @param sensorName line sensor name
+ * @param isSelected flag to known if factor parameter is selected or not
+ * @throws OrekitException
+ * @throws RuggedException
+ */
+ public void resetModel(Rugged rugged, String sensorName, boolean isSelected) throws OrekitException, RuggedException {
+
+ final String commonFactorName = "factor";
+
+ rugged.
+ getLineSensor(sensorName).
+ getParametersDrivers().
+ filter(driver -> driver.getName().equals(sensorName+"_roll")
+ || driver.getName().equals(sensorName+"_pitch")).
+ forEach(driver -> {
+ try {
+ driver.setSelected(true);
+ driver.setValue(0.0);
+ } catch (OrekitException e) {
+ throw new OrekitExceptionWrapper(e);
+ }
+ });
+ rugged.
+ getLineSensor(sensorName).
+ getParametersDrivers().
+ filter(driver -> driver.getName().equals(commonFactorName)).
+ forEach(driver -> {
+ try {
+ driver.setSelected(isSelected);
+ driver.setValue(1.0); // default value: no Z scale factor applied
+ } catch (OrekitException e) {
+ throw new OrekitExceptionWrapper(e);
+ }
+ });
+
+ }
+
+
+ /** Start optimization to adjust parameters (fulcrum points study).
+ * @param maxIterations iterations max
+ * @param convergenceThreshold threshold of convergence
+ * @param groundMapping sensor to ground mapping
+ * @param rugged Rugged instance
+ * @throws OrekitException
+ * @throws RuggedException
+ */
+ public void optimization(int maxIterations, double convergenceThreshold,
+ SensorToGroundMapping groundMapping,
+ Rugged rugged) throws OrekitException, RuggedException {
+
+
+ System.out.format("Iterations max: %d\tconvergence threshold: %3.6e \n",maxIterations, convergenceThreshold);
+
+ // Adapt parameters
+ Optimum optimum = rugged.estimateFreeParameters(Collections.singletonList(groundMapping),
+ maxIterations, convergenceThreshold);
+
+ // Print statistics
+ System.out.format("Max value: %3.6e %n",optimum.getResiduals().getMaxValue());
+ System.out.format("Optimization performed in %d iterations \n",optimum.getEvaluations());
+ System.out.format("RMSE: %f \n",optimum.getRMS());
+ }
+
+
+ /** Start optimization to adjust parameters (liaison points study).
+ * @param maxIterations iterations max
+ * @param convergenceThreshold threshold of convergence
+ * @param interMapping sensor to sensor mapping
+ * @param ruggedA Rugged instance A
+ * @param ruggedB Rugged instance B
+ * @throws OrekitException
+ * @throws RuggedException
+ */
+ public void optimization(int maxIterations, double convergenceThreshold,
+ SensorToSensorMapping interMapping,
+ Rugged ruggedA, Rugged ruggedB) throws OrekitException, RuggedException {
+
+
+ System.out.format("Iterations max: %d\tconvergence threshold: %3.6e \n",maxIterations, convergenceThreshold);
+
+ // Note: estimateFreeParams2Models() is supposed to be applying on ruggedB, not on ruggedA (to be compliant with notations)
+
+ // Adapt parameters
+ Optimum optimum = ruggedB.estimateFreeParams2Models(Collections.singletonList(interMapping),
+ maxIterations,convergenceThreshold, ruggedA);
+
+ // Print statistics
+ System.out.format("Max value: %3.6e %n",optimum.getResiduals().getMaxValue());
+ System.out.format("Optimization performed in %d iterations \n",optimum.getEvaluations());
+ System.out.format("RMSE: %f \n",optimum.getRMS());
+ }
+
+
+ /** Check adjusted parameters of an acquisition
+ * @param rugged Rugged instance
+ * @param sensorName line sensor name
+ * @param rollValue rotation on roll value
+ * @param pitchValue rotation on pitch value
+ * @param factorValue scale factor
+ * @throws OrekitException
+ * @throws RuggedException
+ */
+ public void paramsEstimation(Rugged rugged, String sensorName,
+ double rollValue, double pitchValue, double factorValue)
+ throws OrekitException, RuggedException {
+
+ final String commonFactorName = "factor";
+
+ // Estimate Roll
+ double estimatedRoll = rugged.getLineSensor(sensorName).
+ getParametersDrivers().
+ filter(driver -> driver.getName().equals(sensorName+"_roll")).
+ findFirst().get().getValue();
+
+ double rollError = (estimatedRoll - rollValue);
+ System.out.format("Estimated roll: %3.5f\troll error: %3.6e %n", estimatedRoll, rollError);
+
+ // Estimate pitch
+ double estimatedPitch = rugged.getLineSensor(sensorName).
+ getParametersDrivers().
+ filter(driver -> driver.getName().equals(sensorName+"_pitch")).
+ findFirst().get().getValue();
+
+ double pitchError = (estimatedPitch - pitchValue);
+ System.out.format("Estimated pitch: %3.5f\tpitch error: %3.6e %n", estimatedPitch, pitchError);
+
+ // Estimate factor
+ double estimatedFactor = rugged.getLineSensor(sensorName).
+ getParametersDrivers().
+ filter(driver -> driver.getName().equals(commonFactorName)).
+ findFirst().get().getValue();
+
+ double factorError = (estimatedFactor - factorValue);
+ System.out.format("Estimated factor: %3.5f\tfactor error: %3.6e %n", estimatedFactor, factorError);
+ }
+}