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Commit 43110cae authored by Jonathan Guinet's avatar Jonathan Guinet
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src/main/java/org/orekit/rugged/refining/metrics/LocalisationMetrics.java
+ 97
− 98
View file @ 43110cae
......@@ -16,25 +16,24 @@
*/
package org.orekit.rugged.refining.metrics;
import java.util.Iterator;
import java.util.Map;
import java.util.Set;
import org.hipparchus.geometry.euclidean.threed.Vector3D;
import org.orekit.bodies.GeodeticPoint;
import org.orekit.rugged.refining.measures.SensorToGroundMapping;
import org.orekit.rugged.refining.measures.SensorToSensorMapping;
import org.orekit.rugged.utils.SpacecraftToObservedBody;
import org.orekit.rugged.api.Rugged;
import org.orekit.rugged.errors.RuggedException;
import org.orekit.rugged.linesensor.LineSensor;
import org.orekit.rugged.linesensor.SensorPixel;
import org.orekit.rugged.errors.RuggedException;
import org.orekit.rugged.refining.measures.SensorToGroundMapping;
import org.orekit.rugged.refining.measures.SensorToSensorMapping;
import org.orekit.rugged.utils.SpacecraftToObservedBody;
import org.orekit.time.AbsoluteDate;
import java.util.Map;
import java.util.Set;
import java.util.Iterator;
import org.hipparchus.geometry.euclidean.threed.Vector3D;
/**
* class for testing geometric performances in absolute location.
* Metrics are computed for two scenarios: fulcrum points and liaison points
* Metrics are computed for two scenarios: ground points and liaison points
* @author Jonathan Guinet
* @author Lucie Labat-Allee
* @see SensorToSensorMapping
......@@ -42,81 +41,81 @@ import org.hipparchus.geometry.euclidean.threed.Vector3D;
*/
public class LocalisationMetrics {
/** Maximum residue distance */
/** Maximum residue distance. */
private double resMax;
/** Mean residue distance */
/** Mean residue distance. */
private double resMean;
/** LOS distance max */
/** LOS distance max. */
private double losDistanceMax;
/** LOS distance mean */
/** LOS distance mean. */
private double losDistanceMean;
/** Earth distance max */
/** Earth distance max. */
private double earthDistanceMax;
/** Earth distance mean*/
private double earthDistanceMean;
/** Earth distance mean.*/
private double earthDistanceMean;
/** Compute metrics corresponding to the fulcrum points study.
* <p>
* @param measMapping Mapping of observations/measures = the ground truth
* @param rugged Rugged instance
* @param computeAngular Flag to known if distance is computed in meters (false) or with angular (true)
* </p>
*/
public LocalisationMetrics(SensorToGroundMapping measMapping, Rugged rugged, boolean computeAngular)
throws RuggedException {
/** Compute metrics corresponding to the ground points study.
* <p>
* @param measMapping Mapping of observations/measures = the ground truth
* @param rugged Rugged instance
* @param computeAngular Flag to known if distance is computed in meters (false) or with angular (true)
* </p>
*/
public LocalisationMetrics(final SensorToGroundMapping measMapping, final Rugged rugged, final boolean computeAngular)
{
// Initialization
// Initialization
this.resMax = 0.0;
this.resMean = 0.0;
// Compute metrics - Case of Sensor to Ground mapping (fulcrum points study)
computeMetrics(measMapping, rugged, computeAngular);
}
}
/** Compute metrics corresponding to the liaison points study.
* <p>
* @param measMapping Mapping of observations/measures = the ground truth
* @param ruggedA Rugged instance corresponding to viewing model A
* @param ruggedB Rugged instance corresponding to viewing model B
* @param computeAngular Flag to known if distance is computed in meters (false) or with angular (true)
* @param computeAngular Flag to known if distance is computed in meters (false) or with angular (true)
* </p>
*/
public LocalisationMetrics(SensorToSensorMapping measMapping, Rugged ruggedA, Rugged ruggedB , boolean computeAngular)
throws RuggedException {
throws RuggedException {
// Initialization
this.resMax=0.0;
this.resMean=0.0;
this.losDistanceMax=0.0;
this.losDistanceMean=0.0;
this.earthDistanceMax=0.0;
this.earthDistanceMean=0.0;
this.resMax = 0.0;
this.resMean = 0.0;
this.losDistanceMax = 0.0;
this.losDistanceMean = 0.0;
this.earthDistanceMax = 0.0;
this.earthDistanceMean = 0.0;
// Compute metrics - Case of Sensor to Sensor mapping (liaison points study)
computeLiaisonMetrics(measMapping, ruggedA, ruggedB, computeAngular);
}
/**
* Compute metrics: case of fulcrum points
/**
* Compute metrics: case of ground control points.
* <p>
* @param measMapping Mapping of observations/measures = the ground truth
* @param rugged Rugged instance
* @param computeAngular Flag to known if distance is computed in meters (false) or with angular (true)
* @param computeAngular Flag to known if distance is computed in meters (false) or with angular (true)
* </p>
*/
public void computeMetrics(SensorToGroundMapping measMapping, Rugged rugged, boolean computeAngular) throws RuggedException {
/* Mapping of observations/measures = the ground truth */
final Set<Map.Entry<SensorPixel, GeodeticPoint>> measuresMapping;
final Set<Map.Entry<SensorPixel, GeodeticPoint>> measuresMapping;
final LineSensor lineSensor;
double count = 0; /* counter for compute mean distance */
int nbMeas = 0; /* number of measures */
......@@ -125,53 +124,53 @@ public class LocalisationMetrics {
/* Initialization */
measuresMapping = measMapping.getMapping();
lineSensor = rugged.getLineSensor(measMapping.getSensorName());
nbMeas = measuresMapping.size();
Iterator<Map.Entry<SensorPixel, GeodeticPoint>> gtIt = measuresMapping.iterator();
nbMeas = measuresMapping.size();
Iterator<Map.Entry<SensorPixel, GeodeticPoint>> gtIt = measuresMapping.iterator();
/* Browse map of measures */
while (gtIt.hasNext()) {
distance = 0;
/* Browse map of measures */
while (gtIt.hasNext()) {
distance = 0;
Map.Entry<SensorPixel, GeodeticPoint> gtMeas = gtIt.next();
Map.Entry<SensorPixel, GeodeticPoint> gtMeas = gtIt.next();
final SensorPixel gtSP = gtMeas.getKey();
final GeodeticPoint gtGP = gtMeas.getValue();
final SensorPixel gtSP = gtMeas.getKey();
final GeodeticPoint gtGP = gtMeas.getValue();
AbsoluteDate date = lineSensor.getDate(gtSP.getLineNumber());
AbsoluteDate date = lineSensor.getDate(gtSP.getLineNumber());
GeodeticPoint esGP = rugged.directLocation(date, lineSensor.getPosition(),
lineSensor.getLOS(date,
(int) gtSP.getPixelNumber()));
// Compute distance
GeodeticPoint esGP = rugged.directLocation(date, lineSensor.getPosition(),
lineSensor.getLOS(date,
(int) gtSP.getPixelNumber()));
// Compute distance
distance = DistanceTools.computeDistance(esGP.getLongitude(), esGP.getLatitude(),
gtGP.getLongitude(), gtGP.getLatitude(),
computeAngular);
count += distance;
if (distance > resMax) {
resMax = distance;
}
}
// Mean of residues
resMean = count / nbMeas;
}
count += distance;
if (distance > resMax) {
resMax = distance;
}
}
// Mean of residues
resMean = count / nbMeas;
}
/**
* Compute metrics: case of liaison points
* Compute metrics: case of liaison points.
* <p>
* @param measMapping Mapping of observations/measures = the ground truth
* @param ruggedA Rugged instance corresponding to viewing model A
* @param ruggedB Rugged instance corresponding to viewing model B
* @param computeAngular Flag to known if distance is computed in meters (false) or with angular (true)
* @param computeAngular Flag to known if distance is computed in meters (false) or with angular (true)
* </p>
*/
public void computeLiaisonMetrics(SensorToSensorMapping measMapping, Rugged ruggedA, Rugged ruggedB , boolean computeAngular) throws RuggedException {
/* Mapping of observations/measures = the ground truth */
final Set<Map.Entry<SensorPixel, SensorPixel>> measuresMapping;
final Set<Map.Entry<SensorPixel, SensorPixel>> measuresMapping;
final LineSensor lineSensorA; /* line sensor corresponding to rugged A */
final LineSensor lineSensorB; /* line sensor corresponding to rugged B */
......@@ -181,44 +180,44 @@ public class LocalisationMetrics {
int nbMeas = 0; /* number of measures */
double distance = 0; /* remaining distance */
int i=0; /* increment of measures */
/* Initialization */
measuresMapping = measMapping.getMapping();
lineSensorA = ruggedA.getLineSensor(measMapping.getSensorNameA());
lineSensorB = ruggedB.getLineSensor(measMapping.getSensorNameB());
nbMeas = measuresMapping.size();
/* Browse map of measures */
for(Iterator<Map.Entry<SensorPixel, SensorPixel>> gtIt = measuresMapping.iterator();
gtIt.hasNext();i++){
gtIt.hasNext();i++){
if(i==measuresMapping.size()) break;
distance = 0;
Map.Entry<SensorPixel, SensorPixel> gtMapping = gtIt.next();
final SensorPixel spA = gtMapping.getKey();
final SensorPixel spB = gtMapping.getValue();
AbsoluteDate dateA = lineSensorA.getDate(spA.getLineNumber());
AbsoluteDate dateB = lineSensorB.getDate(spB.getLineNumber());
final double pixelA = spA.getPixelNumber();
final double pixelB = spB.getPixelNumber();
Vector3D losA = lineSensorA.getLOS(dateA, pixelA);
Vector3D losB = lineSensorB.getLOS(dateB, pixelB);
GeodeticPoint gpA = ruggedA.directLocation(dateA, lineSensorA.getPosition(),losA);
GeodeticPoint gpB = ruggedB.directLocation(dateB, lineSensorB.getPosition(),losB);
final SpacecraftToObservedBody scToBodyA = ruggedA.getScToBody();
// Estimated distances (LOS / Earth)
final double[] distances = ruggedB.distanceBetweenLOS(lineSensorA,dateA, pixelA, scToBodyA, lineSensorB ,dateB, pixelB);
// LOS distance control
final double estLosDistance = distances[0]; // LOS distance estimation
if (estLosDistance > losDistanceMax) {
......@@ -236,7 +235,7 @@ public class LocalisationMetrics {
}
earthDistanceCount += earthDistance;
// Compute remaining distance
distance = DistanceTools.computeDistance(gpB.getLongitude(), gpB.getLatitude(),
gpA.getLongitude(), gpA.getLatitude(),
......@@ -252,7 +251,7 @@ public class LocalisationMetrics {
earthDistanceMean = earthDistanceCount / nbMeas;
}
/** Get the residue Max
* @return maximum of residues
*/
......@@ -260,7 +259,7 @@ public class LocalisationMetrics {
return resMax;
}
/** Get the mean of residues
* @return mean of residues
*/
......@@ -268,7 +267,7 @@ public class LocalisationMetrics {
return resMean;
}
/** Get the LOS maximum residue
* @return max residue
*/
......@@ -276,7 +275,7 @@ public class LocalisationMetrics {
return losDistanceMax;
}
/** Get the LOS mean residue;
* @return mean residue
*/
......@@ -284,7 +283,7 @@ public class LocalisationMetrics {
return losDistanceMean;
}
/** Get the earth distance maximum residue;
* @return max residue
*/
......@@ -292,13 +291,13 @@ public class LocalisationMetrics {
return earthDistanceMax;
}
/** Get the earth distance mean residue;
* @return mean residue
*/
public double getEarthMeanDistance() {
return earthDistanceMean;
}
}
}
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