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/* 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.geometry.euclidean.threed.Vector3D;
import org.hipparchus.util.FastMath;
import org.hipparchus.optim.nonlinear.vector.leastsquares.LeastSquaresOptimizer.Optimum;
import java.io.File;
import java.util.Locale;
import java.util.Collection;
import java.util.Collections;
import java.io.FileWriter;
import java.io.StringWriter;
import java.io.PrintWriter;
import java.io.IOException;
import org.orekit.bodies.BodyShape;
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;
import org.orekit.rugged.api.BodyRotatingFrameId;
import org.orekit.rugged.api.EllipsoidId;
import org.orekit.rugged.api.InertialFrameId;
import org.orekit.rugged.api.Rugged;
import org.orekit.rugged.api.RuggedBuilder;
import org.orekit.rugged.api.SensorToSensorMapping;
import org.orekit.rugged.errors.RuggedException;
import org.orekit.rugged.linesensor.LineSensor;
import org.orekit.rugged.linesensor.SensorPixel;
import org.orekit.time.AbsoluteDate;
import org.orekit.utils.AngularDerivativesFilter;
import org.orekit.utils.CartesianDerivativesFilter;
import org.orekit.utils.PVCoordinates;
/**
* Parameter refining context
* @author Jonathan Guinet
* @author Lucie LabatAllee
*/
public class AffinageRuggedLiaison {
/**
* @param args
*/
public static void main(String[] args) {
try {
// Initialize Orekit, assuming an orekit-data folder is in user home directory
File home = new File(System.getProperty("user.home"));
//File orekitData = new File(home, "workspace/data/orekit-data");
File orekitData = new File(home, "COTS/orekit-data");
DataProvidersManager.getInstance().addProvider(new DirectoryCrawler(orekitData));
//create 2 Pleiades Viewing Model
final String SensorNameA = "SensorA";
final double incidenceAngleA = -0.0;
final String dateA = "2016-01-01T11:59:50.0";
PleiadesViewingModel pleiadesViewingModelA = new PleiadesViewingModel(SensorNameA,incidenceAngleA,dateA);
final AbsoluteDate minDateA = pleiadesViewingModelA.getMinDate();
final AbsoluteDate maxDateA = pleiadesViewingModelA.getMaxDate();
final AbsoluteDate refDateA = pleiadesViewingModelA.getDatationReference();
System.out.format(Locale.US, "Viewing model A - date min: %s max: %s ref: %s %n", minDateA, maxDateA, refDateA);
//CreateOrbitA
OrbitModel orbitmodelA = new OrbitModel();
BodyShape earthA = orbitmodelA.createEarth();
NormalizedSphericalHarmonicsProvider gravityFieldA = orbitmodelA.createGravityField();
Orbit orbitA = orbitmodelA.createOrbit(gravityFieldA.getMu(), refDateA);
final double [] rollPoly = {0.0,0.0,0.0};
double[] pitchPoly = {0.0,0.0};
double[] yawPoly = {0.0,0.0,0.0};
orbitmodelA.setLOFTransform(rollPoly, pitchPoly, yawPoly, minDateA);
PVCoordinates PVA = orbitA.getPVCoordinates(earthA.getBodyFrame());
GeodeticPoint gpA = earthA.transform(PVA.getPosition(), earthA.getBodyFrame(), orbitA.getDate());
System.out.format(Locale.US, "Geodetic Point at date %s : φ = %8.10f °, λ = %8.10f %n",orbitA.getDate().toString(),
FastMath.toDegrees(gpA.getLatitude()),
FastMath.toDegrees(gpA.getLongitude()));
//create 2 Pleiades Viewing Model
final String SensorNameB = "SensorB";
final double incidenceAngleB = +0.0;
final String dateB = "2016-01-01T12:00:10.0";
PleiadesViewingModel pleiadesViewingModelB = new PleiadesViewingModel(SensorNameB,incidenceAngleB,dateB);
final AbsoluteDate minDateB = pleiadesViewingModelB.getMinDate();
final AbsoluteDate maxDateB = pleiadesViewingModelB.getMaxDate();
final AbsoluteDate refDateB = pleiadesViewingModelB.getDatationReference();
System.out.format(Locale.US, "Viewing model B - date min: %s max: %s ref: %s %n", minDateB, maxDateB, refDateB);
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//CreateOrbitA
OrbitModel orbitmodelB = new OrbitModel();
BodyShape earthB = orbitmodelB.createEarth();
NormalizedSphericalHarmonicsProvider gravityFieldB = orbitmodelB.createGravityField();
Orbit orbitB = orbitmodelB.createOrbit(gravityFieldB.getMu(), refDateB);
orbitmodelB.setLOFTransform(rollPoly, pitchPoly, yawPoly, minDateB);
PVCoordinates PVB = orbitB.getPVCoordinates(earthB.getBodyFrame());
GeodeticPoint gpB = earthB.transform(PVB.getPosition(), earthB.getBodyFrame(), orbitB.getDate());
System.out.format(Locale.US, "Geodetic Point at date %s : φ = %8.10f °, λ = %8.10f %n",orbitA.getDate().toString(),
FastMath.toDegrees(gpB.getLatitude()),
FastMath.toDegrees(gpB.getLongitude()));
// Build Rugged A and B
RuggedBuilder ruggedBuilderA = new RuggedBuilder();
LineSensor lineSensorA = pleiadesViewingModelA.getLineSensor();
ruggedBuilderA.addLineSensor(lineSensorA);
ruggedBuilderA.setAlgorithm(AlgorithmId.IGNORE_DEM_USE_ELLIPSOID);
ruggedBuilderA.setEllipsoid(EllipsoidId.WGS84, BodyRotatingFrameId.ITRF);
ruggedBuilderA.setTimeSpan(minDateA,maxDateA, 0.001, 5.0).
setTrajectory(InertialFrameId.EME2000,
orbitmodelA.orbitToPV(orbitA, earthA, minDateA.shiftedBy(-0.0), maxDateA.shiftedBy(+0.0), 0.25),
8, CartesianDerivativesFilter.USE_PV,
orbitmodelA.orbitToQ(orbitA, earthA, minDateA.shiftedBy(-0.0), maxDateA.shiftedBy(+0.0), 0.25),
2, AngularDerivativesFilter.USE_R);
Rugged ruggedA = ruggedBuilderA.build();
RuggedBuilder ruggedBuilderB = new RuggedBuilder();
LineSensor lineSensorB = pleiadesViewingModelB.getLineSensor();
ruggedBuilderB.addLineSensor(lineSensorB);
ruggedBuilderB.setAlgorithm(AlgorithmId.IGNORE_DEM_USE_ELLIPSOID);
ruggedBuilderB.setEllipsoid(EllipsoidId.WGS84, BodyRotatingFrameId.ITRF);
ruggedBuilderB.setTimeSpan(minDateB,maxDateB, 0.001, 5.0).
setTrajectory(InertialFrameId.EME2000,
orbitmodelB.orbitToPV(orbitB, earthB, minDateB.shiftedBy(-0.0), maxDateB.shiftedBy(+0.0), 0.25),
8, CartesianDerivativesFilter.USE_PV,
orbitmodelB.orbitToQ(orbitB, earthB, minDateB.shiftedBy(-0.0), maxDateB.shiftedBy(+0.0), 0.25),
2, AngularDerivativesFilter.USE_R);
Rugged ruggedB = ruggedBuilderB.build();
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.
AbsoluteDate lineDateA = lineSensorA.getDate(pleiadesViewingModelA.dimension/2);
Vector3D losA = lineSensorA.getLOS(lineDateA,pleiadesViewingModelA.dimension/2);
GeodeticPoint centerPointA = ruggedA.directLocation(lineDateA, positionA, losA);
System.out.format(Locale.US, "center geodetic position : φ = %8.10f °, λ = %8.10f °, h = %8.3f m%n",
FastMath.toDegrees(centerPointA.getLatitude()),
FastMath.toDegrees(centerPointA.getLongitude()),centerPointA.getAltitude());
Vector3D positionB = lineSensorB.getPosition(); // This returns a zero vector since we set the relative position of the sensor w.r.T the satellite to 0.
AbsoluteDate lineDateB = lineSensorB.getDate(pleiadesViewingModelB.dimension/2);
Vector3D losB = lineSensorB.getLOS(lineDateB,pleiadesViewingModelB.dimension/2);
GeodeticPoint centerPointB = ruggedB.directLocation(lineDateB, positionB, losB);
System.out.format(Locale.US, "center geodetic position : φ = %8.10f °, λ = %8.10f °, h = %8.3f m%n",
FastMath.toDegrees(centerPointB.getLatitude()),
FastMath.toDegrees(centerPointB.getLongitude()),centerPointB.getAltitude());
lineDateB = lineSensorB.getDate(0);
losB = lineSensorB.getLOS(lineDateB,0);
GeodeticPoint firstPointB = ruggedB.directLocation(lineDateB, positionB, losB);
System.out.format(Locale.US, "first geodetic position : φ = %8.10f °, λ = %8.10f °, h = %8.3f m%n",
FastMath.toDegrees(firstPointB.getLatitude()),
FastMath.toDegrees(firstPointB.getLongitude()),firstPointB.getAltitude());
lineDateB = lineSensorB.getDate(pleiadesViewingModelB.dimension-1);
losB = lineSensorB.getLOS(lineDateB,pleiadesViewingModelB.dimension-1);
GeodeticPoint lastPointB = ruggedB.directLocation(lineDateB, positionB, losB);
System.out.format(Locale.US, "last geodetic position : φ = %8.10f °, λ = %8.10f °, h = %8.3f m%n",
FastMath.toDegrees(lastPointB.getLatitude()),
FastMath.toDegrees(lastPointB.getLongitude()),lastPointB.getAltitude());
double distance = DistanceTools.computeDistanceRad(centerPointA.getLongitude(), centerPointA.getLatitude(),
centerPointB.getLongitude(), centerPointB.getLatitude());
System.out.format("distance %f meters %n",distance);
System.out.format(" **** Add roll / pitch / factor values **** %n");
double rollValueA = FastMath.toRadians(0.01);//0.6
double pitchValueA = FastMath.toRadians(0.0);
double factorValue = 1.00;
System.out.format("roll : %3.5f pitch : %3.5f factor : %3.5f \n",rollValueA,pitchValueA,factorValue);
ruggedA.
getLineSensor(SensorNameA).
getParametersDrivers().
filter(driver -> driver.getName().equals(SensorNameA+"_roll")).
findFirst().get().setValue(rollValueA);
ruggedA.
getLineSensor(SensorNameA).
getParametersDrivers().
filter(driver -> driver.getName().equals(SensorNameA+"_pitch")).
findFirst().get().setValue(pitchValueA);
ruggedA.
getLineSensor(SensorNameA).
getParametersDrivers().
filter(driver -> driver.getName().equals(SensorNameA+"_factor")).
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findFirst().get().setValue(factorValue);
lineDateA = lineSensorA.getDate(pleiadesViewingModelA.dimension/2);
losA = lineSensorA.getLOS(lineDateA,pleiadesViewingModelA.dimension/2);
centerPointA = ruggedA.directLocation(lineDateA, positionA, losA);
System.out.format(Locale.US, "center geodetic position : φ = %8.10f °, λ = %8.10f °, h = %8.3f m%n",
FastMath.toDegrees(centerPointA.getLatitude()),
FastMath.toDegrees(centerPointA.getLongitude()),centerPointA.getAltitude());
distance = DistanceTools.computeDistanceRad(centerPointA.getLongitude(), centerPointA.getLatitude(),
centerPointB.getLongitude(), centerPointB.getLatitude());
System.out.format("distance %f meters %n",distance);
// Search the sensor pixel seeing point
int minLine = 0;
int maxLine = pleiadesViewingModelB.dimension-1;
SensorPixel sensorPixelB = ruggedB.inverseLocation(SensorNameB, centerPointA, minLine, maxLine);
// we need to test if the sensor pixel is found in the prescribed lines otherwise the sensor pixel is null
if (sensorPixelB != null){
System.out.format(Locale.US, "Sensor Pixel found : line = %5.3f, pixel = %5.3f %n", sensorPixelB.getLineNumber(), sensorPixelB.getPixelNumber());
} else {
System.out.println("Sensor Pixel is null: point cannot be seen between the prescribed line numbers\n");
}
//add mapping
System.out.format(" **** Generate Measures **** %n");
SensorToSensorMeasureGenerator measure = new SensorToSensorMeasureGenerator(pleiadesViewingModelA,ruggedA,pleiadesViewingModelB,ruggedB);
int lineSampling = 1000;
int pixelSampling = 1000;
measure.CreateMeasure(lineSampling, pixelSampling);
System.out.format("nb TiePoints %d %n", measure.getMeasureCount());
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// initialize ruggedA without perturbation
System.out.format(" **** Reset Roll/Pitch/Factor **** %n");
ruggedA.
getLineSensor(pleiadesViewingModelA.getSensorName()).
getParametersDrivers().
filter(driver -> driver.getName().equals(SensorNameA+"_roll") || driver.getName().equals(SensorNameA+"_pitch")).
forEach(driver -> {
try {
driver.setSelected(true);
driver.setValue(0.0);
} catch (OrekitException e) {
throw new OrekitExceptionWrapper(e);
}
});
ruggedA.
getLineSensor(pleiadesViewingModelA.getSensorName()).
getParametersDrivers().
filter(driver -> driver.getName().equals(SensorNameA+"_factor")).
forEach(driver -> {
try {
driver.setSelected(true);
driver.setValue(1.0); // default value: no Z scale factor applied
} catch (OrekitException e) {
throw new OrekitExceptionWrapper(e);
}
});
System.out.format(" **** Start optimization **** %n");
// perform parameters estimation
int maxIterations = 100;
double convergenceThreshold = 1e-14;
System.out.format("iterations max %d convergence threshold %3.6e \n",maxIterations, convergenceThreshold);
// Note: estimateFreeParams2Models() is supposed to be applying on ruggedB, not on ruggedA (to be compliant with notations)
// TODO: apply perturbations on ruggedB, not on ruggedA
Optimum optimum = ruggedB.estimateFreeParams2Models(Collections.singletonList(measure.getMapping()), maxIterations,convergenceThreshold, ruggedA);
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());
System.out.format(" **** Check estimated values **** %n");
// check estimated values
// Viewing model A
double estRollA = ruggedA.getLineSensor(pleiadesViewingModelA.getSensorName()).
getParametersDrivers().
filter(driver -> driver.getName().equals(SensorNameA+"_roll")).
findFirst().get().getValue();
double rollErrorA = (estRollA - rollValueA);
System.out.format("Estimated roll A %3.5f, roll error %3.6e %n", estRollA, rollErrorA);
double estPitchA = ruggedA.getLineSensor(pleiadesViewingModelA.getSensorName()).
getParametersDrivers().
filter(driver -> driver.getName().equals(SensorNameA+"_pitch")).
findFirst().get().getValue();
double pitchErrorA = (estPitchA - pitchValueA);
System.out.format("Estimated pitch A %3.5f, pitch error %3.6e %n ", estPitchA, pitchErrorA);
double estFactorA = ruggedA.getLineSensor(pleiadesViewingModelA.getSensorName()).
getParametersDrivers().
filter(driver -> driver.getName().equals(SensorNameA+"_factor")).
findFirst().get().getValue();
double factorError = (estFactorA - factorValue);
System.out.format("Estimated factor A %3.5f, factor error %3.6e %n ", estFactorA, factorError);
// Viewing model B
double rollValueB = FastMath.toRadians(0.0);
double pitchValueB = FastMath.toRadians(0.0);
double estRollB = ruggedB.getLineSensor(pleiadesViewingModelB.getSensorName()).
getParametersDrivers().
filter(driver -> driver.getName().equals(SensorNameB+"_roll")).
findFirst().get().getValue();
double rollErrorB = (estRollB - rollValueB);
System.out.format("Estimated roll B %3.5f, roll error %3.6e %n", estRollB, rollErrorB);
double estPitchB = ruggedB.getLineSensor(pleiadesViewingModelB.getSensorName()).
getParametersDrivers().
filter(driver -> driver.getName().equals(SensorNameB+"_pitch")).
findFirst().get().getValue();
double pitchErrorB = (estPitchB - pitchValueB);
System.out.format("Estimated pitch B %3.5f, pitch error %3.6e %n ", estPitchB, pitchErrorB);
double estFactorB = ruggedB.getLineSensor(pleiadesViewingModelB.getSensorName()).
getParametersDrivers().
filter(driver -> driver.getName().equals(SensorNameB+"_factor")).
findFirst().get().getValue();
double factorErrorB = (estFactorB - factorValue);
System.out.format("Estimated factor %3.5f factor error %3.6e %n ", estFactorB, factorError);