diff --git a/src/tutorials/java/AffinagePleiades/Refining.java b/src/tutorials/java/AffinagePleiades/Refining.java
index 6cdd7bdbd749393e9fdb15d35686d7bd232aee00..a42928d7318e77fdaee2a6eb27b55110dfd425e9 100644
--- a/src/tutorials/java/AffinagePleiades/Refining.java
+++ b/src/tutorials/java/AffinagePleiades/Refining.java
@@ -16,16 +16,20 @@
*/
package AffinagePleiades;
-import org.hipparchus.optim.nonlinear.vector.leastsquares.LeastSquaresOptimizer.Optimum;
+import java.util.ArrayList;
import java.util.Collections;
+import java.util.List;
+import org.hipparchus.optim.nonlinear.vector.leastsquares.LeastSquaresOptimizer.Optimum;
import org.orekit.errors.OrekitException;
import org.orekit.errors.OrekitExceptionWrapper;
+import org.orekit.rugged.adjustment.AdjustmentContext;
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.Observables;
import org.orekit.rugged.refining.measures.SensorToGroundMapping;
import org.orekit.rugged.refining.measures.SensorToSensorMapping;
import org.orekit.rugged.refining.metrics.LocalisationMetrics;
@@ -42,29 +46,29 @@ import org.orekit.rugged.refining.metrics.LocalisationMetrics;
* @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
+ * @throws OrekitException
+ * @throws RuggedException
*/
- public void applyDisruptions(Rugged rugged, String sensorName,
- double rollValue, double pitchValue, double factorValue)
- throws OrekitException, RuggedException {
-
+ public void applyDisruptions(Rugged rugged, String sensorName,
+ double rollValue, double pitchValue, double factorValue)
+ throws OrekitException, RuggedException {
+
final String commonFactorName = "factor";
rugged.
@@ -78,59 +82,59 @@ public class Refining {
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
+ * @throws OrekitException
+ * @throws RuggedException
* @return ground measures generator (sensor to ground mapping)
*/
public GroundMeasureGenerator generatePoints(int lineSampling, int pixelSampling,
- Rugged rugged, String sensorName,
+ 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;
+ 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 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
+ * @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,
+ 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
@@ -139,18 +143,18 @@ public class Refining {
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;
+ return measures;
}
-
-
+
+
/** Generate noisy measurements
* @param lineSampling line sampling
* @param pixelSampling pixel sampling
@@ -158,27 +162,27 @@ public class Refining {
* @param sensorName line sensor name
* @param dimension dimension
* @param noise Noise structure to generate noisy measures
- * @throws OrekitException
- * @throws RuggedException
+ * @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,
+ 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);
-
+ 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
@@ -189,15 +193,15 @@ public class Refining {
* @param sensorNameB line sensor name B
* @param dimensionB dimension for acquisition B
* @param noise Noise structure to generate noisy measures
- * @throws OrekitException
- * @throws RuggedException
+ * @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,
+ 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
@@ -207,75 +211,75 @@ public class Refining {
outlierValue,
earthConstraintWeight);
System.out.format("\n**** Generate noisy measures **** %n");
-
+
// Generation noisy measures
- measures.createNoisyMeasure(lineSampling, pixelSampling, noise);
-
+ 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,
+
+ /** 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
+ * @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,
+
+ /** 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
+ * @throws OrekitException
+ * @throws RuggedException
*/
public void computeMetrics(SensorToSensorMapping interMapping,
- Rugged ruggedA, Rugged ruggedB,
+ 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
+ * @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")
+ filter(driver -> driver.getName().equals(sensorName+"_roll")
|| driver.getName().equals(sensorName+"_pitch")).
forEach(driver -> {
try {
@@ -297,104 +301,105 @@ public class Refining {
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 measures observables
* @param rugged Rugged instance
- * @throws OrekitException
- * @throws RuggedException
+ * @throws OrekitException
+ * @throws RuggedException
*/
public void optimization(int maxIterations, double convergenceThreshold,
- SensorToGroundMapping groundMapping,
+ Observables measures,
Rugged rugged) throws OrekitException, RuggedException {
-
-
+
+
System.out.format("Iterations max: %d\tconvergence threshold: %3.6e \n",maxIterations, convergenceThreshold);
+ List<Rugged> viewingModel = new ArrayList<Rugged>();
+ viewingModel.add(rugged);
- // Adapt parameters
- Optimum optimum = rugged.estimateFreeParameters(Collections.singletonList(groundMapping),
- maxIterations, convergenceThreshold);
-
- // Print statistics
+ AdjustmentContext adjustmentContext = new AdjustmentContext(viewingModel,measures);
+ Optimum optimum = adjustmentContext.estimateFreeParameters("Rugged",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
+ * @throws OrekitException
+ * @throws RuggedException
*/
public void optimization(int maxIterations, double convergenceThreshold,
- SensorToSensorMapping interMapping,
+ 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),
+ Optimum optimum = ruggedB.estimateFreeParams2Models(Collections.singletonList(interMapping),
maxIterations,convergenceThreshold, ruggedA);
-
- // Print statistics
+
+ // 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
+ * @throws OrekitException
+ * @throws RuggedException
*/
public void paramsEstimation(Rugged rugged, String sensorName,
- double rollValue, double pitchValue, double factorValue)
- throws OrekitException, RuggedException {
-
+ 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();
-
+ 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();
-
+ 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();
-
+ 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);
}