From f29f716c26bcf924b572448120c52b482cb9e7b7 Mon Sep 17 00:00:00 2001
From: LabatAllee Lucie <lucie.labat-allee@c-s.fr>
Date: Fri, 23 Sep 2016 10:45:50 +0200
Subject: [PATCH] Add noisy measures
---
.../java/AffinagePleiades/AffinageRugged.java | 3 +-
.../AffinagePleiades/MeasureGenerator.java | 75 +++++++++++++++++--
2 files changed, 69 insertions(+), 9 deletions(-)
diff --git a/src/tutorials/java/AffinagePleiades/AffinageRugged.java b/src/tutorials/java/AffinagePleiades/AffinageRugged.java
index ae2e7272..78b452b8 100644
--- a/src/tutorials/java/AffinagePleiades/AffinageRugged.java
+++ b/src/tutorials/java/AffinagePleiades/AffinageRugged.java
@@ -171,7 +171,8 @@ public class AffinageRugged {
MeasureGenerator measure = new MeasureGenerator(pleiadesViewingModel,rugged);
int lineSampling = 1000;
int pixelSampling = 1000;
- measure.CreateMeasure(lineSampling, pixelSampling);
+ //measure.CreateMeasure(lineSampling, pixelSampling);
+ measure.CreateNoisyMeasure(lineSampling, pixelSampling); // Test with noisy measures
System.out.format("nb TiePoints %d %n", measure.getMeasureCount());
System.out.format(" **** Reset Roll/Pitch/Factor **** %n");
diff --git a/src/tutorials/java/AffinagePleiades/MeasureGenerator.java b/src/tutorials/java/AffinagePleiades/MeasureGenerator.java
index a2e70ee2..aee2486e 100644
--- a/src/tutorials/java/AffinagePleiades/MeasureGenerator.java
+++ b/src/tutorials/java/AffinagePleiades/MeasureGenerator.java
@@ -23,6 +23,11 @@ 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.hipparchus.geometry.euclidean.threed.Vector3D;
+import org.hipparchus.random.UncorrelatedRandomVectorGenerator;
+import org.hipparchus.random.UniformRandomGenerator;
+import org.hipparchus.random.Well19937a;
+import org.hipparchus.util.FastMath;
import org.orekit.bodies.GeodeticPoint;
/** class for measure generation
@@ -72,19 +77,73 @@ public class MeasureGenerator {
public void CreateMeasure(final int lineSampling,final int pixelSampling) throws RuggedException
{
-
- for (double line = 0; line < viewingModel.dimension; line += lineSampling) {
+ for (double line = 0; line < viewingModel.dimension; line += lineSampling) {
+
+ AbsoluteDate date = sensor.getDate(line);
+ for (int pixel = 0; pixel < sensor.getNbPixels(); pixel += pixelSampling) {
+
+ GeodeticPoint gp2 = rugged.directLocation(date, sensor.getPosition(),
+ sensor.getLOS(date, pixel));
+
+ mapping.addMapping(new SensorPixel(line, pixel), gp2);
+ measureCount++;
+ }
+ }
+ }
+ public void CreateNoisyMeasure(final int lineSampling,final int pixelSampling) throws RuggedException
+ {
+ Vector3D latLongError = estimateLatLongError();
- AbsoluteDate date = sensor.getDate(line);
- for (int pixel = 0; pixel < sensor.getNbPixels(); pixel += pixelSampling) {
- GeodeticPoint gp2 = rugged.directLocation(date, sensor.getPosition(),
+ double latError = FastMath.toRadians(latLongError.getX()); // in line: -0.000002 deg
+ double lonError = FastMath.toRadians(latLongError.getY()); // in line: 0.000012 deg
+ System.out.format("Corresponding error estimation on ground: {lat: %1.10f deg, lon: %1.10f deg} %n", latLongError.getX(), latLongError.getY());
+
+ // Gaussian random generator
+ // Build a null mean random uncorrelated vector generator with standard deviation corresponding to the estimated error on ground
+ double mean[] = {0.0,0.0,0.0};
+ double std[] = {latError,lonError,0.0};
+ UniformRandomGenerator rng = new UniformRandomGenerator(new Well19937a(0xefac03d9be4d24b9l));
+ UncorrelatedRandomVectorGenerator rvg = new UncorrelatedRandomVectorGenerator(mean, std, rng);
+
+ System.out.format("Add a gaussian noise to measures without biais (null mean) and standard deviation corresponding to the estimated error on ground.%n");
+ for (double line = 0; line < viewingModel.dimension; line += lineSampling) {
+
+ AbsoluteDate date = sensor.getDate(line);
+ for (int pixel = 0; pixel < sensor.getNbPixels(); pixel += pixelSampling) {
+
+ // Components of generated vector follow (independent) Gaussian distribution
+ Vector3D vecRandom = new Vector3D(rvg.nextVector());
+
+ GeodeticPoint gp2 = rugged.directLocation(date, sensor.getPosition(),
sensor.getLOS(date, pixel));
- mapping.addMapping(new SensorPixel(line, pixel), gp2);
- measureCount++;
+
+ GeodeticPoint gpNoisy = new GeodeticPoint(gp2.getLatitude()+vecRandom.getX(),
+ gp2.getLongitude()+vecRandom.getY(),
+ gp2.getAltitude()); // no altitude error introducing
+
+ /*if(line == 0) {
+ System.out.format("Init gp: (%f,%d): %s %n",line,pixel,gp2.toString());
+ System.out.format("Random: (%f,%d): %s %n",line,pixel,vecRandom.toString());
+ System.out.format("Final gp: (%f,%d): %s %n",line,pixel,gpNoisy.toString());
+ }*/
+
+ mapping.addMapping(new SensorPixel(line, pixel), gpNoisy);
+ measureCount++;
+ }
}
}
+ private Vector3D estimateLatLongError() throws RuggedException {
+
+ System.out.format("Uncertainty in pixel (in line) for a real geometric refining: 1 pixel (assumption)%n");
+ double line=0;
+ AbsoluteDate date = sensor.getDate(line);
+ GeodeticPoint gp_pix0 = rugged.directLocation(date, sensor.getPosition(), sensor.getLOS(date, 0));
+ GeodeticPoint gp_pix1 = rugged.directLocation(date, sensor.getPosition(), sensor.getLOS(date, 1));
+ double latErr=FastMath.toDegrees(gp_pix0.getLatitude()-gp_pix1.getLatitude());
+ double lonErr=FastMath.toDegrees(gp_pix0.getLongitude()-gp_pix1.getLongitude());
+
+ return new Vector3D(latErr,lonErr,0.0);
}
-
}
--
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