From 878e8e952109ba276eeaaa124a081b31ab1f1339 Mon Sep 17 00:00:00 2001
From: Jonathan Guinet <jonathan.guinet@c-s.fr>
Date: Tue, 4 Oct 2016 03:22:33 -0400
Subject: [PATCH] localisation metrics rework
---
.../java/AffinagePleiades/DistanceTools.java | 92 ++++++
.../AffinagePleiades/LocalisationMetrics.java | 268 +++++++-----------
2 files changed, 200 insertions(+), 160 deletions(-)
create mode 100644 src/tutorials/java/AffinagePleiades/DistanceTools.java
diff --git a/src/tutorials/java/AffinagePleiades/DistanceTools.java b/src/tutorials/java/AffinagePleiades/DistanceTools.java
new file mode 100644
index 00000000..10d345bd
--- /dev/null
+++ b/src/tutorials/java/AffinagePleiades/DistanceTools.java
@@ -0,0 +1,92 @@
+package AffinagePleiades;
+
+import org.hipparchus.util.FastMath;
+import org.hipparchus.geometry.euclidean.threed.Vector3D;
+
+public class DistanceTools {
+
+ /**
+ * Earth radius in cms
+ */
+ public static final double EARTH_RADIUS = 637100000d;
+
+ public DistanceTools() {
+
+ }
+
+
+ private static boolean checkDiff(double lon1, double lat1, double lon2, double lat2)
+ {
+ if(FastMath.abs(lon1 - lon2) < 1e-15 && FastMath.abs(lat1 - lat2) < 1e-15 )
+ return false;
+ return true;
+ }
+ /**
+ * Convert the given degrees value in meters
+ *
+ * @param distanceDeg
+ * @return the given degrees value in meters
+ */
+ public static double computeDistanceDeg(double lonDeg, double latDeg, double distanceDeg) {
+ double lonDeg1 = lonDeg;
+ double latDeg1 = latDeg;
+ double lonDeg2 = lonDeg + distanceDeg;
+ double latDeg2 = latDeg;
+ return computeDistance(lonDeg1, latDeg1, lonDeg2, latDeg2);
+ }
+
+ /**
+ * Compute distance between point (lonDeg1, latDeg1) and point (lonDeg2,
+ * latDeg2) in meters
+ *
+ * @param lonDeg1
+ * @param latDeg1
+ * @param lonDeg2
+ * @param latDeg2
+ * @return distance between point (lonDeg1, latDeg1) and point (lonDeg2,
+ * latDeg2)
+ */
+ public static double computeDistance(double lonDeg1, double latDeg1, double lonDeg2, double latDeg2) {
+ double returned;
+ if(!checkDiff(lonDeg1,latDeg1,lonDeg2,latDeg2) )
+ return 0.0;
+ //System.out.format("******** %n");
+ //System.out.format("%8.14f %8.14f %n",lonDeg1,latDeg1);
+ //System.out.format("%3.14e %n",lonDeg2-lonDeg1);
+ //System.out.format("%8.14f %8.14f %n",lonDeg2,latDeg2);
+ //System.out.format("%3.14e %n",latDeg2-latDeg1);
+
+ double xRad1 = FastMath.toRadians(lonDeg1);
+ double xRad2 = FastMath.toRadians(lonDeg2);
+ double yRad1 = FastMath.toRadians(latDeg1);
+ double yRad2 = FastMath.toRadians(latDeg2);
+ returned = computeDistanceRad(xRad1, yRad1, xRad2, yRad2);
+ return returned;
+ }
+
+ /**
+ * distance in meters between point (xRad1, yRad1) and point (xRad2, yRad2)
+ *
+ * @param xRad1
+ * @param xRad2
+ * @param yRad1
+ * @param yRad2
+ * @return
+ */
+ public static double computeDistanceRad(double xRad1, double yRad1, double xRad2, double yRad2) {
+
+ // get vectors on unit sphere from angular coordinates
+ Vector3D p1 = new Vector3D(yRad1, xRad1); //
+ Vector3D p2 = new Vector3D(yRad2, xRad2);
+
+ return EARTH_RADIUS /100* Vector3D.angle(p1, p2);
+
+ }
+
+
+
+
+
+
+
+}
diff --git a/src/tutorials/java/AffinagePleiades/LocalisationMetrics.java b/src/tutorials/java/AffinagePleiades/LocalisationMetrics.java
index ae6ffff4..541c7a6f 100644
--- a/src/tutorials/java/AffinagePleiades/LocalisationMetrics.java
+++ b/src/tutorials/java/AffinagePleiades/LocalisationMetrics.java
@@ -16,8 +16,6 @@
*/
package AffinagePleiades;
-
-
import org.hipparchus.linear.ArrayRealVector;
import org.hipparchus.linear.RealVector;
@@ -27,7 +25,6 @@ import org.orekit.rugged.linesensor.LineSensor;
import org.orekit.rugged.linesensor.SensorPixel;
import org.orekit.rugged.errors.RuggedException;
import org.orekit.time.AbsoluteDate;
-import org.s2geolib.utils.S2GeolibConstants;
import java.util.Collections;
import java.util.Collection;
@@ -39,166 +36,117 @@ import java.util.Locale;
import org.hipparchus.util.FastMath;
import org.orekit.bodies.GeodeticPoint;
-/** class for measure generation
+/**
+ * class for measure generation
+ *
* @author Jonathan Guinet
*/
public class LocalisationMetrics {
+ /** mapping */
+ private Set<Map.Entry<SensorPixel, GeodeticPoint>> groundTruthMappings;
- /** mapping */
- private Set <Map.Entry<SensorPixel, GeodeticPoint>> groundTruthMappings;
-
- private Set <Map.Entry<SensorPixel, GeodeticPoint>> estimationMappings;
-
- private Rugged rugged;
-
- private LineSensor sensor;
-
- private PleiadesViewingModel viewingModel;
-
- private int measureCount;
-
- private final double EARTH_RADIUS = 637100000d;
-
- private boolean computeInDeg;
-
- /* max residual distance */
- private double resMax;
-
-
- /* mean residual distance */
- private double resMean;
-
-
- /** Simple constructor.
- * <p>
- *
- * </p>
- */
- public LocalisationMetrics(SensorToGroundMapping groundTruthMapping, Rugged rugged, boolean computeInDeg) throws RuggedException
- {
-
-
- groundTruthMappings = groundTruthMapping.getMappings();
- this.rugged = rugged;
- this.sensor = rugged.getLineSensor(groundTruthMapping.getSensorName());
- this.computeInDeg = computeInDeg;
- this.computeMetrics();
- }
-
-
- /** Get the maximum residual;
- * @return max residual
- */
- public double getMaxResidual() {
- return resMax;
- }
-
-
-
- /** Get the mean residual;
- * @return mean residual
- */
- public double getMeanResidual() {
- return resMean;
- }
-
-
- /**
- * Compute distance between point (lonDeg1, latDeg1) and point (lonDeg2, latDeg2) in meters
- * @param lonDeg1
- * @param latDeg1
- * @param lonDeg2
- * @param latDeg2
- * @return distance between point (lonDeg1, latDeg1) and point (lonDeg2, latDeg2)
- */
- private double computeDistance(double lonDeg1, double latDeg1, double lonDeg2, double latDeg2) {
- double returned;
- double xRad1 = FastMath.toRadians(lonDeg1);
- double xRad2 = FastMath.toRadians(lonDeg2);
- double yRad1 = FastMath.toRadians(latDeg1);
- double yRad2 = FastMath.toRadians(latDeg2);
- returned = computeDistanceRad(xRad1, yRad1, xRad2, yRad2);
- return returned;
- }
-
- /**
- * distance in meters between point (xRad1, yRad1) and point (xRad2, yRad2)
- * @param xRad1
- * @param xRad2
- * @param yRad1
- * @param yRad2
- * @return
- */
- private double computeDistanceRad(double xRad1, double yRad1, double xRad2, double yRad2) {
- double returned;
- double sinValue = FastMath.sin(xRad1) * FastMath.sin(xRad2);
- double deltaLambda = FastMath.abs(yRad1 - yRad2);
- double cosValue = FastMath.cos(xRad1) * FastMath.cos(xRad2) * FastMath.cos(deltaLambda);
- double deltaPhy = FastMath.acos(sinValue + cosValue);
- if (Double.isNaN(deltaPhy)) {
- deltaPhy = 0d;
- }
- returned = EARTH_RADIUS / 100 * deltaPhy;
- return returned;
- }
-
-
-
-
- public void computeMetrics() throws RuggedException {
-
- //final RealVector longDiffVector;
- //final RealVector latDiffVector;
- //final RealVector altDiffVector;
- RealVector distanceVector = new ArrayRealVector();
- double count=0;
- resMax = 0;
- int k = groundTruthMappings.size();
- Iterator<Map.Entry<SensorPixel, GeodeticPoint>> gtIt = groundTruthMappings.iterator();
-
-
- while (gtIt.hasNext()) {
- Map.Entry<SensorPixel, GeodeticPoint> gtMapping =gtIt.next();
-
-
- final SensorPixel gtSP = gtMapping.getKey();
- final GeodeticPoint gtGP = gtMapping.getValue();
-
- AbsoluteDate date = sensor.getDate(gtSP.getLineNumber());
-
- GeodeticPoint esGP = rugged.directLocation(date, sensor.getPosition(),
- sensor.getLOS(date, (int) gtSP.getPixelNumber()));
-
- double distance = 0;
-
- if(this.computeInDeg == true)
- {
- double lonDiff = esGP.getLongitude() - gtGP.getLongitude();
- double latDiff = esGP.getLatitude() - gtGP.getLatitude();
- double altDiff = esGP.getAltitude() - gtGP.getAltitude();
- distance = Math.sqrt( lonDiff * lonDiff + latDiff * latDiff + altDiff * altDiff );
- }
- else
- distance = computeDistance(esGP.getLongitude(), esGP.getLatitude(),gtGP.getLongitude() , gtGP.getLatitude());
- count += distance;
- if (distance > resMax)
- {
- resMax = distance;
- }
- //distanceVector.append(distance);
-
- }
-
- //resMax = distanceVector.getMaxValue();
- //System.out.format(Locale.US, "max: %3.6e %n ",distanceVector.getMaxValue() )
-
- resMean = count / k ;
- //System.out.format("number of points %d %n", k);
- }
-
-
-
-
-}
+ private Set<Map.Entry<SensorPixel, GeodeticPoint>> estimationMappings;
+
+ private Rugged rugged;
+
+ private LineSensor sensor;
+
+ private PleiadesViewingModel viewingModel;
+
+ private int measureCount;
+
+ private boolean computeInDeg;
+
+ /* max residual distance */
+ private double resMax;
+
+ /* mean residual distance */
+ private double resMean;
+
+ /**
+ * Simple constructor.
+ * <p>
+ *
+ * </p>
+ */
+ public LocalisationMetrics(SensorToGroundMapping groundTruthMapping, Rugged rugged, boolean computeInDeg)
+ throws RuggedException {
+
+ groundTruthMappings = groundTruthMapping.getMappings();
+ this.rugged = rugged;
+ this.sensor = rugged.getLineSensor(groundTruthMapping.getSensorName());
+ this.computeInDeg = computeInDeg;
+ this.computeMetrics();
+ }
+
+ /**
+ * Get the maximum residual;
+ *
+ * @return max residual
+ */
+ public double getMaxResidual() {
+ return resMax;
+ }
+
+ /**
+ * Get the mean residual;
+ *
+ * @return mean residual
+ */
+ public double getMeanResidual() {
+ return resMean;
+ }
+
+ public void computeMetrics() throws RuggedException {
+ // final RealVector longDiffVector;
+ // final RealVector latDiffVector;
+ // final RealVector altDiffVector;
+
+ double count = 0;
+ resMax = 0;
+ int k = groundTruthMappings.size();
+ Iterator<Map.Entry<SensorPixel, GeodeticPoint>> gtIt = groundTruthMappings.iterator();
+
+ while (gtIt.hasNext()) {
+ Map.Entry<SensorPixel, GeodeticPoint> gtMapping = gtIt.next();
+
+ final SensorPixel gtSP = gtMapping.getKey();
+ final GeodeticPoint gtGP = gtMapping.getValue();
+
+ AbsoluteDate date = sensor.getDate(gtSP.getLineNumber());
+
+ GeodeticPoint esGP = rugged.directLocation(date, sensor.getPosition(),
+ sensor.getLOS(date, (int) gtSP.getPixelNumber()));
+
+ double distance = 0;
+
+ if (this.computeInDeg == true) {
+ double lonDiff = esGP.getLongitude() - gtGP.getLongitude();
+ double latDiff = esGP.getLatitude() - gtGP.getLatitude();
+ double altDiff = esGP.getAltitude() - gtGP.getAltitude();
+ distance = Math.sqrt(lonDiff * lonDiff + latDiff * latDiff);
+ } else {
+
+ distance = DistanceTools.computeDistanceRad(esGP.getLongitude(), esGP.getLatitude(),
+ gtGP.getLongitude(), gtGP.getLatitude());
+ }
+ count += distance;
+ if (distance > resMax) {
+ resMax = distance;
+
+ }
+ // distanceVector.append(distance);
+
+ }
+
+ // resMax = distanceVector.getMaxValue();
+ // System.out.format(Locale.US, "max: %3.6e %n
+ // ",distanceVector.getMaxValue() )
+
+ resMean = count / k;
+ // System.out.format("number of points %d %n", k);
+ }
+
+}
--
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