From 5691c9b3b0a8b739b1085ffdc8534099e861b75b Mon Sep 17 00:00:00 2001
From: Guylaine Prat <guylaine.prat@c-s.fr>
Date: Wed, 15 Nov 2017 12:52:04 +0100
Subject: [PATCH] Update tutorials and add Junit tests (WIP)
---
.gitignore | 9 -
...nterSensorsOptimizationProblemBuilder.java | 2 +-
.../java/org/orekit/rugged/api/Rugged.java | 2 +-
.../org/orekit/rugged/api/RuggedTest.java | 41 +-
.../org/orekit/rugged/utils/RefiningTest.java | 1245 ++++++++---------
.../refiningPleiades/GroundRefining.java | 177 ++-
.../refiningPleiades/InterRefining.java | 196 +--
.../generators/InterMeasurementGenerator.java | 46 +-
.../refiningPleiades/models/OrbitModel.java | 3 +-
9 files changed, 736 insertions(+), 985 deletions(-)
diff --git a/.gitignore b/.gitignore
index db7ba5eb..83eaec7b 100644
--- a/.gitignore
+++ b/.gitignore
@@ -4,12 +4,3 @@ bin
.settings
target
-/erreur.txt
-/erreurApresGraphivz.txt
-/erreurMvnSiteVO
-/listeWarningDeprecatedTest.txt
-/titi
-/toto
-/traceMvnFindbugs.txt
-/tutu
-/.gitignore
diff --git a/src/main/java/org/orekit/rugged/adjustment/InterSensorsOptimizationProblemBuilder.java b/src/main/java/org/orekit/rugged/adjustment/InterSensorsOptimizationProblemBuilder.java
index eccb7031..580b2fd0 100644
--- a/src/main/java/org/orekit/rugged/adjustment/InterSensorsOptimizationProblemBuilder.java
+++ b/src/main/java/org/orekit/rugged/adjustment/InterSensorsOptimizationProblemBuilder.java
@@ -225,7 +225,7 @@ public class InterSensorsOptimizationProblemBuilder extends OptimizationProblemB
final SpacecraftToObservedBody scToBodyA = ruggedA.getScToBody();
final DerivativeStructure[] ilResult =
- ruggedB.distanceBetweenLOSDerivatives(lineSensorA, dateA, pixelA, scToBodyA,
+ ruggedB.distanceBetweenLOSderivatives(lineSensorA, dateA, pixelA, scToBodyA,
lineSensorB, dateB, pixelB, this.getGenerator());
if (ilResult == null) {
diff --git a/src/main/java/org/orekit/rugged/api/Rugged.java b/src/main/java/org/orekit/rugged/api/Rugged.java
index fe1cf500..95f733ed 100644
--- a/src/main/java/org/orekit/rugged/api/Rugged.java
+++ b/src/main/java/org/orekit/rugged/api/Rugged.java
@@ -698,7 +698,7 @@ public class Rugged {
* @exception RuggedException if frames cannot be computed at date
* @see #distanceBetweenLOS(LineSensor, AbsoluteDate, double, SpacecraftToObservedBody, LineSensor, AbsoluteDate, double)
*/
- public DerivativeStructure[] distanceBetweenLOSDerivatives(
+ public DerivativeStructure[] distanceBetweenLOSderivatives(
final LineSensor sensorA, final AbsoluteDate dateA, final double pixelA,
final SpacecraftToObservedBody scToBodyA,
final LineSensor sensorB, final AbsoluteDate dateB, final double pixelB,
diff --git a/src/test/java/org/orekit/rugged/api/RuggedTest.java b/src/test/java/org/orekit/rugged/api/RuggedTest.java
index 8fb83aa0..976e54b1 100644
--- a/src/test/java/org/orekit/rugged/api/RuggedTest.java
+++ b/src/test/java/org/orekit/rugged/api/RuggedTest.java
@@ -74,7 +74,6 @@ import org.orekit.rugged.raster.TileUpdater;
import org.orekit.rugged.raster.VolcanicConeElevationUpdater;
import org.orekit.rugged.adjustment.measurements.Observables;
import org.orekit.rugged.utils.DSGenerator;
-import org.orekit.rugged.utils.RefiningLiaisonMetrics;
import org.orekit.rugged.utils.RefiningTest;
import org.orekit.time.AbsoluteDate;
import org.orekit.time.TimeScale;
@@ -1381,18 +1380,42 @@ public class RuggedTest {
RefiningTest refiningTest = new RefiningTest();
refiningTest.InitRefiningTest();
- // Compute ground truth residuals
- // ------------------------------
- System.out.format("\n**** Ground truth residuals **** %n");
+ final SensorPixel realPixelA = new SensorPixel(2005.015883575199, 18004.968656395424);
+ final SensorPixel realPixelB = new SensorPixel(4798.487736488162, 13952.2195710654);
+
+ double[] distancesBetweenLOS = refiningTest.computeDistancesBetweenLOS(realPixelA, realPixelB);
- RefiningLiaisonMetrics liaisonMetrics = refiningTest.computeLiaisonMetrics(refiningTest.getInterMapping(), refiningTest.getRuggedA(), refiningTest.getRuggedB());
+ double expectedDistanceBetweenLOS = 3.887643821673281; // 3.8880172668944164
+ double expectedDistanceToTheGround = 6368020.620436288; // 6368020.560101736
+ Assert.assertEquals(expectedDistanceBetweenLOS, distancesBetweenLOS[0], 1.e-2);
+ Assert.assertEquals(expectedDistanceToTheGround, distancesBetweenLOS[1], 5.e-1);
- System.out.format("Max: %1.4e Mean: %1.4e %n",liaisonMetrics.getMaxResidual(),liaisonMetrics.getMeanResidual());
- System.out.format("LOS distance Max: %1.4e Mean: %1.4e %n",liaisonMetrics.getLosMaxDistance(),liaisonMetrics.getLosMeanDistance());
- System.out.format("Earth distance Max: %1.4e Mean: %1.4e %n",liaisonMetrics.getEarthMaxDistance(),liaisonMetrics.getEarthMeanDistance());
-
+
+ }
+
+ @Test
+ public void testDistanceBetweenLOSDerivatives() throws RuggedException {
+
+// try {
+ RefiningTest refiningTest = new RefiningTest();
+ refiningTest.InitRefiningTest();
+
+ final SensorPixel realPixelA = new SensorPixel(2005.015883575199, 18004.968656395424);
+ final SensorPixel realPixelB = new SensorPixel(4798.487736488162, 13952.2195710654);
+ double losDistance = 3.887643821673281;
+ double earthDistance = 6368020.620436288;
+
+ // TODO GP a debugger
+// DerivativeStructure[] distancesBetweenLOSwithDS = refiningTest.computeDistancesBetweenLOSDerivatives(realPixelA, realPixelB, losDistance, earthDistance);
+
+//
+// } catch (InvocationTargetException | NoSuchMethodException |
+// SecurityException | IllegalAccessException | IllegalArgumentException e) {
+// Assert.fail(e.getLocalizedMessage());
+// }
}
+
@Before
public void setUp() throws OrekitException, URISyntaxException {
TestUtils.clearFactories();
diff --git a/src/test/java/org/orekit/rugged/utils/RefiningTest.java b/src/test/java/org/orekit/rugged/utils/RefiningTest.java
index 94bc0a5e..f90feba7 100644
--- a/src/test/java/org/orekit/rugged/utils/RefiningTest.java
+++ b/src/test/java/org/orekit/rugged/utils/RefiningTest.java
@@ -1,22 +1,17 @@
package org.orekit.rugged.utils;
import java.io.File;
+import java.lang.reflect.InvocationTargetException;
import java.net.URISyntaxException;
import java.util.ArrayList;
-import java.util.Iterator;
import java.util.List;
-import java.util.Locale;
-import java.util.Map;
-import java.util.Set;
+import org.hipparchus.analysis.differentiation.DerivativeStructure;
import org.hipparchus.geometry.euclidean.threed.Rotation;
import org.hipparchus.geometry.euclidean.threed.RotationConvention;
import org.hipparchus.geometry.euclidean.threed.RotationOrder;
import org.hipparchus.geometry.euclidean.threed.Vector3D;
import org.hipparchus.ode.nonstiff.DormandPrince853Integrator;
-import org.hipparchus.random.GaussianRandomGenerator;
-import org.hipparchus.random.UncorrelatedRandomVectorGenerator;
-import org.hipparchus.random.Well19937a;
import org.hipparchus.util.FastMath;
import org.junit.After;
import org.junit.Assert;
@@ -27,7 +22,6 @@ import org.orekit.attitudes.TabulatedLofOffset;
import org.orekit.attitudes.YawCompensation;
import org.orekit.bodies.BodyShape;
import org.orekit.bodies.CelestialBodyFactory;
-import org.orekit.bodies.GeodeticPoint;
import org.orekit.data.DataProvidersManager;
import org.orekit.data.DirectoryCrawler;
import org.orekit.errors.OrekitException;
@@ -46,6 +40,7 @@ import org.orekit.propagation.SpacecraftState;
import org.orekit.propagation.analytical.KeplerianPropagator;
import org.orekit.propagation.numerical.NumericalPropagator;
import org.orekit.rugged.TestUtils;
+import org.orekit.rugged.adjustment.InterSensorsOptimizationProblemBuilder;
import org.orekit.rugged.adjustment.measurements.Observables;
import org.orekit.rugged.adjustment.measurements.SensorToSensorMapping;
import org.orekit.rugged.api.AlgorithmId;
@@ -55,8 +50,6 @@ import org.orekit.rugged.api.InertialFrameId;
import org.orekit.rugged.api.Rugged;
import org.orekit.rugged.api.RuggedBuilder;
import org.orekit.rugged.errors.RuggedException;
-import org.orekit.rugged.errors.RuggedExceptionWrapper;
-import org.orekit.rugged.errors.RuggedMessages;
import org.orekit.rugged.linesensor.LineDatation;
import org.orekit.rugged.linesensor.LineSensor;
import org.orekit.rugged.linesensor.LinearLineDatation;
@@ -83,17 +76,11 @@ public class RefiningTest {
/** Pleiades viewing model B */
PleiadesViewingModel pleiadesViewingModelB;
- /** Orbit model corresponding to viewing model A */
- OrbitModel orbitmodelA;
-
- /** Orbit model corresponding to viewing model B */
- OrbitModel orbitmodelB;
-
- /** Sensor name A corresponding to viewing model A */
- String sensorNameA;
-
- /** Sensor name A corresponding to viewing model B */
- String sensorNameB;
+ /** Line sensor A */
+ LineSensor lineSensorA;
+
+ /** Line sensor B */
+ LineSensor lineSensorB;
/** RuggedA's instance */
Rugged ruggedA;
@@ -101,12 +88,6 @@ public class RefiningTest {
/** RuggedB's instance */
Rugged ruggedB;
- /** Inter-measurements (between both viewing models) */
- InterMeasurementGenerator measurements;
-
- /** Mapping from sensor A to sensor B. */
- private SensorToSensorMapping interMapping;
-
/** Initialize refining tests
* @throws RuggedException
@@ -119,40 +100,37 @@ public class RefiningTest {
// Initialize refining context
// ---------------------------
- this.sensorNameA = "SensorA";
+ String sensorNameA = "SensorA";
final double incidenceAngleA = -5.0;
final String dateA = "2016-01-01T11:59:50.0";
this.pleiadesViewingModelA = new PleiadesViewingModel(sensorNameA, incidenceAngleA, dateA);
- this.sensorNameB = "SensorB";
+ String sensorNameB = "SensorB";
final double incidenceAngleB = 0.0;
final String dateB = "2016-01-01T12:02:50.0";
this.pleiadesViewingModelB = new PleiadesViewingModel(sensorNameB, incidenceAngleB, dateB);
- this.orbitmodelA = new OrbitModel();
- this.orbitmodelB = new OrbitModel();
+ OrbitModel orbitmodelA = new OrbitModel();
+ OrbitModel orbitmodelB = new OrbitModel();
// Sensors's definition: creation of 2 Pleiades viewing models
// -----------------------------------------------------------
// 1/- Create First Pleiades Viewing Model A
-// PleiadesViewingModel pleiadesViewingModelA = refining.getPleiadesViewingModelA();
final AbsoluteDate minDateA = pleiadesViewingModelA.getMinDate();
final AbsoluteDate maxDateA = pleiadesViewingModelA.getMaxDate();
final AbsoluteDate refDateA = pleiadesViewingModelA.getDatationReference();
- LineSensor lineSensorA = pleiadesViewingModelA.getLineSensor();
-// System.out.format(Locale.US, "Viewing model A - date min: %s max: %s ref: %s %n", minDateA, maxDateA, refDateA);
+ this.lineSensorA = pleiadesViewingModelA.getLineSensor();
// ----Satellite position, velocity and attitude: create orbit model A
-// OrbitModel orbitmodelA = refining.getOrbitmodelA();
BodyShape earthA = TestUtils.createEarth();
NormalizedSphericalHarmonicsProvider gravityFieldA = TestUtils.createGravityField();
Orbit orbitA = orbitmodelA.createOrbit(gravityFieldA.getMu(), refDateA);
// ----If no LOF Transform Attitude Provider is Nadir Pointing Yaw Compensation
final double [] rollPoly = {0.0,0.0,0.0};
- double[] pitchPoly = {0.025,0.0};
- double[] yawPoly = {0.0,0.0,0.0};
+ final double[] pitchPoly = {0.025,0.0};
+ final double[] yawPoly = {0.0,0.0,0.0};
orbitmodelA.setLOFTransform(rollPoly, pitchPoly, yawPoly, minDateA);
// ----Satellite attitude
@@ -160,18 +138,9 @@ public class RefiningTest {
int nbQPoints = 2;
// ----Position and velocities
-// PVCoordinates PVA = orbitA.getPVCoordinates(earthA.getBodyFrame());
List<TimeStampedPVCoordinates> satellitePVListA = orbitmodelA.orbitToPV(orbitA, earthA, minDateA.shiftedBy(-0.0), maxDateA.shiftedBy(+0.0), 0.25);
int nbPVPoints = 8;
- // ----Convert frame and coordinates type in one call
-// GeodeticPoint gpA = earthA.transform(PVA.getPosition(), earthA.getBodyFrame(), orbitA.getDate());
-
-// System.out.format(Locale.US, "(A) Geodetic Point at date %s : φ = %8.10f °, λ = %8.10f %n",
-// orbitA.getDate().toString(),
-// FastMath.toDegrees(gpA.getLatitude()),
-// FastMath.toDegrees(gpA.getLongitude()));
-
// Rugged A initialization
// ---------------------
RuggedBuilder ruggedBuilderA = new RuggedBuilder();
@@ -191,14 +160,11 @@ public class RefiningTest {
this.ruggedA = ruggedBuilderA.build();
-
// 2/- Create Second Pleiades Viewing Model
-// PleiadesViewingModel pleiadesViewingModelB = refining.getPleiadesViewingModelB();
final AbsoluteDate minDateB = pleiadesViewingModelB.getMinDate();
final AbsoluteDate maxDateB = pleiadesViewingModelB.getMaxDate();
final AbsoluteDate refDateB = pleiadesViewingModelB.getDatationReference();
- LineSensor lineSensorB = pleiadesViewingModelB.getLineSensor();
-// System.out.format(Locale.US, "Viewing model B - date min: %s max: %s ref: %s %n", minDateB, maxDateB, refDateB);
+ this.lineSensorB = pleiadesViewingModelB.getLineSensor();
// ----Satellite position, velocity and attitude: create orbit model B
BodyShape earthB = TestUtils.createEarth();
@@ -209,14 +175,7 @@ public class RefiningTest {
List<TimeStampedAngularCoordinates> satelliteQListB = orbitmodelB.orbitToQ(orbitB, earthB, minDateB.shiftedBy(-0.0), maxDateB.shiftedBy(+0.0), 0.25);
// ----Position and velocities
-// PVCoordinates PVB = orbitB.getPVCoordinates(earthB.getBodyFrame());
List<TimeStampedPVCoordinates> satellitePVListB = orbitmodelB.orbitToPV(orbitB, earthB, minDateB.shiftedBy(-0.0), maxDateB.shiftedBy(+0.0), 0.25);
-// GeodeticPoint gpB = earthB.transform(PVB.getPosition(), earthB.getBodyFrame(), orbitB.getDate());
-
-// System.out.format(Locale.US, "(B) Geodetic Point at date %s : φ = %8.10f °, λ = %8.10f %n",orbitA.getDate().toString(),
-// FastMath.toDegrees(gpB.getLatitude()),
-// FastMath.toDegrees(gpB.getLongitude()));
-//
// Rugged B initialization
// ---------------------
@@ -236,17 +195,9 @@ public class RefiningTest {
this.ruggedB = ruggedBuilderB.build();
- // Compute distance between LOS
- // -----------------------------
- double distance = computeDistanceBetweenLOS(lineSensorA, lineSensorB);
- System.out.format("distance %f meters %n",distance);
-
-
// Initialize disruptions:
// -----------------------
-
// Introduce rotations around instrument axes (roll and pitch translations, scale factor)
- System.out.format("\n**** Add disruptions on both acquisitions (A,B): roll and pitch rotations, scale factor **** %n");
double rollValueA = FastMath.toRadians(0.004);
double pitchValueA = FastMath.toRadians(0.0008);
double rollValueB = FastMath.toRadians(-0.004);
@@ -254,44 +205,10 @@ public class RefiningTest {
double factorValue = 1.0;
// Apply disruptions on physical model (acquisition A)
- applyDisruptions(this.ruggedA,this.sensorNameA, rollValueA, pitchValueA, factorValue);
+ applyDisruptions(this.ruggedA, sensorNameA, rollValueA, pitchValueA, factorValue);
// Apply disruptions on physical model (acquisition B)
- applyDisruptions(this.ruggedB,this.sensorNameB, rollValueB, pitchValueB, factorValue);
-
-
- // Generate measurements (observations) from physical model disrupted
- // ------------------------------------------------------------------
- int lineSampling = 1000;
- int pixelSampling = 1000;
-
- // Noise definition
- // distribution: gaussian(0), vector dimension: 2
- final Noise noise = new Noise(0,2);
- // {pixelA mean, pixelB mean}
- final double[] mean = {5.0,0.0};
- // {pixelB std, pixelB std}
- final double[] standardDeviation = {0.1,0.1};
-
- noise.setMean(mean);
- noise.setStandardDeviation(standardDeviation);
-
-// System.out.format("\tSensor A mean: %f std %f %n",mean[0],standardDeviation[0]);
-// System.out.format("\tSensor B mean: %f std %f %n",mean[1],standardDeviation[1]);
-
- InterMeasurementGenerator measurements = generateNoisyPoints(lineSampling, pixelSampling,
- ruggedA, sensorNameA,
- pleiadesViewingModelA.getDimension(),
- ruggedB, sensorNameB,
- pleiadesViewingModelB.getDimension(),
- noise);
- this.interMapping = measurements.getInterMapping();
-
-// // Compute ground truth residuals
-// // ------------------------------
-// System.out.format("\n**** Ground truth residuals **** %n");
-// computeLiaisonMetrics(this.interMapping, ruggedA, ruggedB);
-
+ applyDisruptions(this.ruggedB, sensorNameB, rollValueB, pitchValueB, factorValue);
} catch (OrekitException oe) {
Assert.fail(oe.getLocalizedMessage());
@@ -301,188 +218,188 @@ public class RefiningTest {
}
- /** Estimate distance between LOS
- * @param lineSensorA line sensor A
- * @param lineSensorB line sensor B
- * @return GSD
- */
- private double computeDistanceBetweenLOS(final LineSensor lineSensorA, final LineSensor lineSensorB) throws RuggedException {
-
-
- // Get number of line of sensors
- int dimensionA = pleiadesViewingModelA.getDimension();
- int dimensionB = pleiadesViewingModelB.getDimension();
-
-
- 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(dimensionA/2);
- Vector3D losA = lineSensorA.getLOS(lineDateA,dimensionA/2);
- GeodeticPoint centerPointA = ruggedA.directLocation(lineDateA, positionA, losA);
- System.out.format(Locale.US, "\ncenter geodetic position A : 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(dimensionB/2);
- Vector3D losB = lineSensorB.getLOS(lineDateB,dimensionB/2);
- GeodeticPoint centerPointB = ruggedB.directLocation(lineDateB, positionB, losB);
- System.out.format(Locale.US, "center geodetic position B : 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 B : φ = %8.10f °, λ = %8.10f °, h = %8.3f m%n",
- FastMath.toDegrees(firstPointB.getLatitude()),
- FastMath.toDegrees(firstPointB.getLongitude()),firstPointB.getAltitude());
-
- lineDateB = lineSensorB.getDate(dimensionB-1);
- losB = lineSensorB.getLOS(lineDateB,dimensionB-1);
- GeodeticPoint lastPointB = ruggedB.directLocation(lineDateB, positionB, losB);
- System.out.format(Locale.US, "last geodetic position B : φ = %8.10f °, λ = %8.10f °, h = %8.3f m%n",
- FastMath.toDegrees(lastPointB.getLatitude()),
- FastMath.toDegrees(lastPointB.getLongitude()),lastPointB.getAltitude());
-
-// final Vector3D p1 = new Vector3D(centerPointA.getLatitude(), centerPointA.getLongitude()); //
-// final Vector3D p2 = new Vector3D(centerPointB.getLatitude(), centerPointB.getLongitude());
-// double distance = Constants.WGS84_EARTH_EQUATORIAL_RADIUS * Vector3D.angle(p1, p2);
-
- return computeDistanceInMeter(centerPointA.getLongitude(), centerPointA.getLatitude(), centerPointB.getLongitude(), centerPointB.getLatitude());
- }
+// /** Estimate distance between LOS
+// * @param lineSensorA line sensor A
+// * @param lineSensorB line sensor B
+// * @return GSD
+// */
+// private double computeDistanceBetweenLOS(final LineSensor lineSensorA, final LineSensor lineSensorB) throws RuggedException {
+//
+//
+// // Get number of line of sensors
+// int dimensionA = pleiadesViewingModelA.getDimension();
+// int dimensionB = pleiadesViewingModelB.getDimension();
+//
+//
+// 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(dimensionA/2);
+// Vector3D losA = lineSensorA.getLOS(lineDateA,dimensionA/2);
+// GeodeticPoint centerPointA = ruggedA.directLocation(lineDateA, positionA, losA);
+// System.out.format(Locale.US, "\ncenter geodetic position A : 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(dimensionB/2);
+// Vector3D losB = lineSensorB.getLOS(lineDateB,dimensionB/2);
+// GeodeticPoint centerPointB = ruggedB.directLocation(lineDateB, positionB, losB);
+// System.out.format(Locale.US, "center geodetic position B : 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 B : φ = %8.10f °, λ = %8.10f °, h = %8.3f m%n",
+// FastMath.toDegrees(firstPointB.getLatitude()),
+// FastMath.toDegrees(firstPointB.getLongitude()),firstPointB.getAltitude());
+//
+// lineDateB = lineSensorB.getDate(dimensionB-1);
+// losB = lineSensorB.getLOS(lineDateB,dimensionB-1);
+// GeodeticPoint lastPointB = ruggedB.directLocation(lineDateB, positionB, losB);
+// System.out.format(Locale.US, "last geodetic position B : φ = %8.10f °, λ = %8.10f °, h = %8.3f m%n",
+// FastMath.toDegrees(lastPointB.getLatitude()),
+// FastMath.toDegrees(lastPointB.getLongitude()),lastPointB.getAltitude());
+//
+//// final Vector3D p1 = new Vector3D(centerPointA.getLatitude(), centerPointA.getLongitude()); //
+//// final Vector3D p2 = new Vector3D(centerPointB.getLatitude(), centerPointB.getLongitude());
+//// double distance = Constants.WGS84_EARTH_EQUATORIAL_RADIUS * Vector3D.angle(p1, p2);
+//
+// return computeDistanceInMeter(centerPointA.getLongitude(), centerPointA.getLatitude(), centerPointB.getLongitude(), centerPointB.getLatitude());
+// }
- /** Compute a geodetic distance in meters between 2 geodetic points (long1, lat1) and point (long2, lat2).
- * @param long1 Longitude of first geodetic point (rad)
- * @param lat1 Latitude of first geodetic point (rad)
- * @param long2 Longitude of second geodetic point (rad)
- * @param lat2 Latitude of second geodetic point (rad)
- * @return distance in meters
- */
- public static double computeDistanceInMeter(final double long1, final double lat1,
- final double long2, final double lat2) {
-
- // get vectors on unit sphere from angular coordinates
- final Vector3D p1 = new Vector3D(lat1, long1); //
- final Vector3D p2 = new Vector3D(lat2, long2);
- final double distance = Constants.WGS84_EARTH_EQUATORIAL_RADIUS * Vector3D.angle(p1, p2);
- return distance;
- }
-
- /**
- * Compute metrics: case of liaison points.
- * @param measMapping Mapping of observations/measurements = 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 know if distance is computed in meters (false) or with angular (true)
- * @exception RuggedException if direct location fails
- */
- public RefiningLiaisonMetrics computeLiaisonMetrics(final SensorToSensorMapping measMapping, final Rugged ruggedA, final Rugged ruggedB)
- throws RuggedException {
-
- RefiningLiaisonMetrics liaisonMetrics = new RefiningLiaisonMetrics();
- double resMax = liaisonMetrics.getMaxResidual();
- double resMean = liaisonMetrics.getMeanResidual();
- double losDistanceMax = liaisonMetrics.getLosMaxDistance();
- double losDistanceMean = liaisonMetrics.getLosMeanDistance();
- double earthDistanceMax = liaisonMetrics.getEarthMaxDistance();
- double earthDistanceMean = liaisonMetrics.getEarthMeanDistance();
-
-
- // Mapping of observations/measurements = the ground truth
- final Set<Map.Entry<SensorPixel, SensorPixel>> measurementsMapping;
-
- final LineSensor lineSensorA; // line sensor corresponding to rugged A
- final LineSensor lineSensorB; // line sensor corresponding to rugged B
- double count = 0; // counter for computing remaining mean distance
- double losDistanceCount = 0; // counter for computing LOS distance mean
- double earthDistanceCount = 0; // counter for computing Earth distance mean
- int i = 0; // increment of measurements
-
- // Initialization
- measurementsMapping = measMapping.getMapping();
- lineSensorA = ruggedA.getLineSensor(measMapping.getSensorNameA());
- lineSensorB = ruggedB.getLineSensor(measMapping.getSensorNameB());
- int nbMeas = measurementsMapping.size(); // number of measurements
-
- // Browse map of measurements
- for (Iterator<Map.Entry<SensorPixel, SensorPixel>> gtIt = measurementsMapping.iterator();
- gtIt.hasNext();
- i++) {
-
- if (i == measurementsMapping.size()) {
- break;
- }
-
- final Map.Entry<SensorPixel, SensorPixel> gtMapping = gtIt.next();
-
- final SensorPixel spA = gtMapping.getKey();
- final SensorPixel spB = gtMapping.getValue();
-
- final AbsoluteDate dateA = lineSensorA.getDate(spA.getLineNumber());
- final AbsoluteDate dateB = lineSensorB.getDate(spB.getLineNumber());
-
- final double pixelA = spA.getPixelNumber();
- final double pixelB = spB.getPixelNumber();
-
- final Vector3D losA = lineSensorA.getLOS(dateA, pixelA);
- final Vector3D losB = lineSensorB.getLOS(dateB, pixelB);
-
- final GeodeticPoint gpA = ruggedA.directLocation(dateA, lineSensorA.getPosition(), losA);
- final 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) {
- losDistanceMax = estLosDistance;
- }
- losDistanceCount += estLosDistance;
-
- // Earth distance control
- final double estEarthDistance = distances[1]; // Earth distance estimation
- final double measEarthDistance = measMapping.getBodyDistance(i).doubleValue(); // Earth measurement distance
- final double earthDistance = FastMath.abs(estEarthDistance - measEarthDistance);
-
- if (earthDistance > earthDistanceMax) {
- earthDistanceMax = earthDistance;
-
- }
- earthDistanceCount += earthDistance;
-
- // Compute remaining distance
- double distance = RefiningTest.computeDistanceInMeter(gpB.getLongitude(), gpB.getLatitude(),
- gpA.getLongitude(), gpA.getLatitude());
- count += distance;
- if (distance > resMax) {
- resMax = distance;
- }
- }
-
- resMean = count / nbMeas;
- losDistanceMean = losDistanceCount / nbMeas;
- earthDistanceMean = earthDistanceCount / nbMeas;
-
- // Set the results
- liaisonMetrics.setMaxResidual(resMax);
- liaisonMetrics.setMeanResidual(resMean);
- liaisonMetrics.setLosMaxDistance(losDistanceMax);
- liaisonMetrics.setLosMeanDistance(losDistanceMean);
- liaisonMetrics.setEarthMaxDistance(earthDistanceMax);
- liaisonMetrics.setEarthMeanDistance(earthDistanceMean);
-
- return liaisonMetrics;
- }
+// /** Compute a geodetic distance in meters between 2 geodetic points (long1, lat1) and point (long2, lat2).
+// * @param long1 Longitude of first geodetic point (rad)
+// * @param lat1 Latitude of first geodetic point (rad)
+// * @param long2 Longitude of second geodetic point (rad)
+// * @param lat2 Latitude of second geodetic point (rad)
+// * @return distance in meters
+// */
+// public static double computeDistanceInMeter(final double long1, final double lat1,
+// final double long2, final double lat2) {
+//
+// // get vectors on unit sphere from angular coordinates
+// final Vector3D p1 = new Vector3D(lat1, long1); //
+// final Vector3D p2 = new Vector3D(lat2, long2);
+// final double distance = Constants.WGS84_EARTH_EQUATORIAL_RADIUS * Vector3D.angle(p1, p2);
+// return distance;
+// }
+
+// /**
+// * Compute metrics: case of liaison points.
+// * @param measMapping Mapping of observations/measurements = 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 know if distance is computed in meters (false) or with angular (true)
+// * @exception RuggedException if direct location fails
+// */
+// public RefiningLiaisonMetrics computeLiaisonMetrics(final SensorToSensorMapping measMapping, final Rugged ruggedA, final Rugged ruggedB)
+// throws RuggedException {
+//
+// RefiningLiaisonMetrics liaisonMetrics = new RefiningLiaisonMetrics();
+// double resMax = liaisonMetrics.getMaxResidual();
+// double resMean = liaisonMetrics.getMeanResidual();
+// double losDistanceMax = liaisonMetrics.getLosMaxDistance();
+// double losDistanceMean = liaisonMetrics.getLosMeanDistance();
+// double earthDistanceMax = liaisonMetrics.getEarthMaxDistance();
+// double earthDistanceMean = liaisonMetrics.getEarthMeanDistance();
+//
+//
+// // Mapping of observations/measurements = the ground truth
+// final Set<Map.Entry<SensorPixel, SensorPixel>> measurementsMapping;
+//
+// final LineSensor lineSensorA; // line sensor corresponding to rugged A
+// final LineSensor lineSensorB; // line sensor corresponding to rugged B
+// double count = 0; // counter for computing remaining mean distance
+// double losDistanceCount = 0; // counter for computing LOS distance mean
+// double earthDistanceCount = 0; // counter for computing Earth distance mean
+// int i = 0; // increment of measurements
+//
+// // Initialization
+// measurementsMapping = measMapping.getMapping();
+// lineSensorA = ruggedA.getLineSensor(measMapping.getSensorNameA());
+// lineSensorB = ruggedB.getLineSensor(measMapping.getSensorNameB());
+// int nbMeas = measurementsMapping.size(); // number of measurements
+//
+// // Browse map of measurements
+// for (Iterator<Map.Entry<SensorPixel, SensorPixel>> gtIt = measurementsMapping.iterator();
+// gtIt.hasNext();
+// i++) {
+//
+// if (i == measurementsMapping.size()) {
+// break;
+// }
+//
+// final Map.Entry<SensorPixel, SensorPixel> gtMapping = gtIt.next();
+//
+// final SensorPixel spA = gtMapping.getKey();
+// final SensorPixel spB = gtMapping.getValue();
+//
+// final AbsoluteDate dateA = lineSensorA.getDate(spA.getLineNumber());
+// final AbsoluteDate dateB = lineSensorB.getDate(spB.getLineNumber());
+//
+// final double pixelA = spA.getPixelNumber();
+// final double pixelB = spB.getPixelNumber();
+//
+// final Vector3D losA = lineSensorA.getLOS(dateA, pixelA);
+// final Vector3D losB = lineSensorB.getLOS(dateB, pixelB);
+//
+// final GeodeticPoint gpA = ruggedA.directLocation(dateA, lineSensorA.getPosition(), losA);
+// final 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) {
+// losDistanceMax = estLosDistance;
+// }
+// losDistanceCount += estLosDistance;
+//
+// // Earth distance control
+// final double estEarthDistance = distances[1]; // Earth distance estimation
+// final double measEarthDistance = measMapping.getBodyDistance(i).doubleValue(); // Earth measurement distance
+// final double earthDistance = FastMath.abs(estEarthDistance - measEarthDistance);
+//
+// if (earthDistance > earthDistanceMax) {
+// earthDistanceMax = earthDistance;
+//
+// }
+// earthDistanceCount += earthDistance;
+//
+// // Compute remaining distance
+// double distance = RefiningTest.computeDistanceInMeter(gpB.getLongitude(), gpB.getLatitude(),
+// gpA.getLongitude(), gpA.getLatitude());
+// count += distance;
+// if (distance > resMax) {
+// resMax = distance;
+// }
+// }
+//
+// resMean = count / nbMeas;
+// losDistanceMean = losDistanceCount / nbMeas;
+// earthDistanceMean = earthDistanceCount / nbMeas;
+//
+// // Set the results
+// liaisonMetrics.setMaxResidual(resMax);
+// liaisonMetrics.setMeanResidual(resMean);
+// liaisonMetrics.setLosMaxDistance(losDistanceMax);
+// liaisonMetrics.setLosMeanDistance(losDistanceMean);
+// liaisonMetrics.setEarthMaxDistance(earthDistanceMax);
+// liaisonMetrics.setEarthMeanDistance(earthDistanceMean);
+//
+// return liaisonMetrics;
+// }
/** Apply disruptions on acquisition for roll, pitch and scale factor
* @param rugged Rugged instance
@@ -517,65 +434,110 @@ public class RefiningTest {
findFirst().get().setValue(factorValue);
}
- /** Generate noisy measurements (sensor to sensor mapping)
- * @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 ruggedB Rugged instance of acquisition B
- * @param sensorNameB line sensor name B
- * @param dimensionB dimension for acquisition B
- * @param noise noise structure to generate noisy measurements
- * @return inter-measurements generator (sensor to sensor mapping)
+
+ /** Compute the distances between LOS of two real pixels (one from sensor A and one from sensor B)
+ * @param realPixelA real pixel from sensor A
+ * @param realPixelB real pixel from sensor B
+ * @return the distances of two real pixels computed between LOS and to the ground
* @throws RuggedException
*/
- public InterMeasurementGenerator generateNoisyPoints(final int lineSampling, final int pixelSampling,
- final Rugged ruggedA, final String sensorNameA, final int dimensionA,
- final Rugged ruggedB, final String sensorNameB, final int dimensionB,
- final Noise noise) throws RuggedException {
-
- // Outliers control
- final double outlierValue = 1.e+2;
+ public double[] computeDistancesBetweenLOS(final SensorPixel realPixelA, final SensorPixel realPixelB) throws RuggedException {
- // Earth constraint weight
- final double earthConstraintWeight = 0.1;
+ final SpacecraftToObservedBody scToBodyA = ruggedA.getScToBody();
- // Generate measurements with constraints on Earth distance and outliers control
- InterMeasurementGenerator measurements = new InterMeasurementGenerator(ruggedA, sensorNameA, dimensionA,
- ruggedB, sensorNameB, dimensionB,
- outlierValue,
- earthConstraintWeight);
- System.out.format("\n**** Generate noisy measurements (sensor to sensor mapping) **** %n");
-
- // Generation noisy measurements
- measurements.createNoisyMeasurement(lineSampling, pixelSampling, noise);
-
- System.out.format("Number of tie points generated: %d %n", measurements.getMeasurementCount());
-
- return measurements;
+ final AbsoluteDate realDateA = this.lineSensorA.getDate(realPixelA.getLineNumber());
+ final AbsoluteDate realDateB = this.lineSensorB.getDate(realPixelB.getLineNumber());
+
+ final double[] distanceLOSB = this.ruggedB.distanceBetweenLOS(
+ this.lineSensorA, realDateA, realPixelA.getPixelNumber(),
+ scToBodyA,
+ this.lineSensorB, realDateB, realPixelB.getPixelNumber());
+
+ return distanceLOSB;
}
-
- public Rugged getRuggedA() {
- return ruggedA;
- }
+ /** Compute the distances with derivatives between LOS of two real pixels (one from sensor A and one from sensor B)
+ * @param realPixelA real pixel from sensor A
+ * @param realPixelB real pixel from sensor B
+ * @return the distances of two real pixels computed between LOS and to the ground
+ * @throws RuggedException
+ * @throws SecurityException
+ * @throws NoSuchMethodException
+ * @throws InvocationTargetException
+ * @throws IllegalArgumentException
+ * @throws IllegalAccessException
+ */
+ public DerivativeStructure[] computeDistancesBetweenLOSDerivatives(final SensorPixel realPixelA, final SensorPixel realPixelB,
+ double losDistance, double earthDistance)
+ throws RuggedException, NoSuchMethodException, SecurityException, IllegalAccessException, IllegalArgumentException, InvocationTargetException {
+
+ final SpacecraftToObservedBody scToBodyA = this.ruggedA.getScToBody();
+ final AbsoluteDate realDateA = this.lineSensorA.getDate(realPixelA.getLineNumber());
+ final AbsoluteDate realDateB = this.lineSensorB.getDate(realPixelB.getLineNumber());
+
+ final List<LineSensor> sensors = new ArrayList<LineSensor>();
+ sensors.addAll(this.ruggedA.getLineSensors());
+ sensors.addAll(this.ruggedB.getLineSensors());
+
+ final List<Rugged> ruggedList = new ArrayList<Rugged>();
+ ruggedList.add(this.ruggedA);
+ ruggedList.add(this.ruggedB);
+
+// // we want to adjust sensor roll and pitch angles
+// ParameterDriver rollDriverA =
+// this.lineSensorA.getParametersDrivers().
+// filter(driver -> driver.getName().equals("roll")).findFirst().get();
+// rollDriverA.setSelected(true);
+// ParameterDriver pitchDriverA =
+// this.lineSensorA.getParametersDrivers().
+// filter(driver -> driver.getName().equals("pitch")).findFirst().get();
+// pitchDriverA.setSelected(true);
- public Rugged getRuggedB() {
- return ruggedB;
- }
-
- public SensorToSensorMapping getInterMapping() {
- return interMapping;
- }
+
+// rugged.
+// getLineSensor(sensorName).
+// getParametersDrivers().
+// filter(driver -> driver.getName().equals(sensorName+"_roll") || driver.getName().equals(sensorName+"_pitch")).
+// forEach(driver -> {
+// try {
+// driver.setSelected(true);
+// driver.setValue(0.0);
+// } catch (OrekitException e) {
+// throw new OrekitExceptionWrapper(e);
+// }
+// });
+
+
+ // prepare generator
+ final Observables measurements = new Observables(2);
+ SensorToSensorMapping interMapping = new SensorToSensorMapping(this.lineSensorA.getName(), ruggedA.getName(), this.lineSensorB.getName(), ruggedB.getName());
+ interMapping.addMapping(realPixelA, realPixelB, losDistance, earthDistance);
+ measurements.addInterMapping(interMapping);
+
+
+ InterSensorsOptimizationProblemBuilder optimizationPbBuilder = new InterSensorsOptimizationProblemBuilder(sensors, measurements, ruggedList);
+
+ java.lang.reflect.Method createGenerator = InterSensorsOptimizationProblemBuilder.class.getSuperclass().getDeclaredMethod("createGenerator");
+ createGenerator.setAccessible(true);
+ DSGenerator generator = (DSGenerator) createGenerator.invoke(optimizationPbBuilder);
+
+ final DerivativeStructure[] distanceLOSwithDS = this.ruggedB.distanceBetweenLOSderivatives(
+ this.lineSensorA, realDateA, realPixelA.getPixelNumber(),
+ scToBodyA,
+ this.lineSensorB, realDateB, realPixelB.getPixelNumber(),
+ generator);
+
+ return distanceLOSwithDS;
+ }
@After
public void tearDown() {
}
}
+
class OrbitModel {
/** Flag to change Attitude Law (by default Nadir Pointing Yaw Compensation). */
@@ -781,290 +743,207 @@ class OrbitModel {
}
}
-/**
- * Inter-measurements generator (sensor to sensor mapping).
- */
-class InterMeasurementGenerator {
-
- /** Mapping from sensor A to sensor B. */
- private SensorToSensorMapping interMappingGenerated;
-
- /** Observables which contains sensor to sensor mapping.*/
- private Observables observables;
-
- /** Rugged instance corresponding to the viewing model A */
- private Rugged ruggedA;
-
- /** Rugged instance corresponding to the viewing model B */
- private Rugged ruggedB;
-
- /** Sensor A */
- private LineSensor sensorA;
-
- /** Sensor B */
- private LineSensor sensorB;
-
- /** Number of measurements */
- private int measurementCount;
-
-
- /** Sensor name B */
- private String sensorNameB;
-
- /** Number of line for acquisition A */
- private int dimensionA;
-
- /** Number of line for acquisition B */
- private int dimensionB;
-
- /** Limit value for outlier points */
- private double outlier;
-
-
- /** Default constructor: measurements generation without outlier points control
- * and without Earth distance constraint.
- */
- public InterMeasurementGenerator(final Rugged ruggedA, final String sensorNameA, final int dimensionA,
- final Rugged ruggedB, final String sensorNameB, final int dimensionB)
- throws RuggedException {
-
- // Initialize parameters
- initParams(ruggedA, sensorNameA, dimensionA, ruggedB, sensorNameB, dimensionB);
-
- // Generate reference mapping, without Earth distance constraint
- interMappingGenerated = new SensorToSensorMapping(sensorNameA, sensorNameB);
-
- // Create observables for two models
- observables = new Observables(2);
- }
-
-
- /** Constructor for measurements generation taking into account outlier points control,
- * without Earth distance constraint.
- */
- public InterMeasurementGenerator(final Rugged ruggedA, final String sensorNameA, final int dimensionA,
- final Rugged ruggedB, final String sensorNameB, final int dimensionB,
- final double outlier)
- throws RuggedException {
-
- this(ruggedA, sensorNameA, dimensionA, ruggedB, sensorNameB, dimensionB);
- this.outlier = outlier;
- }
-
- /** Constructor for measurements generation taking into account outlier points control,
- * and Earth distance constraint.
- */
- public InterMeasurementGenerator(final Rugged ruggedA, final String sensorNameA, final int dimensionA,
- final Rugged ruggedB, final String sensorNameB, final int dimensionB,
- final double outlier, final double earthConstraintWeight)
- throws RuggedException {
-
- // Initialize parameters
- initParams(ruggedA, sensorNameA, dimensionA, ruggedB, sensorNameB, dimensionB);
-
- // Generate reference mapping, with Earth distance constraints.
- // Weighting will be applied as follow :
- // (1-earthConstraintWeight) for losDistance weighting
- // earthConstraintWeight for earthDistance weighting
- interMappingGenerated = new SensorToSensorMapping(sensorNameA, ruggedA.getName(), sensorNameB, ruggedB.getName(), earthConstraintWeight);
-
- // Outlier points control
- this.outlier = outlier;
-
- // Observables which contains sensor to sensor mapping
- this.observables = new Observables(2);
- }
-
- /** Get the mapping from sensor A to sensor B
- * @return the mapping from sensor A to sensor B
- */
- public SensorToSensorMapping getInterMapping() {
- return interMappingGenerated;
- }
-
- /** Get the observables which contains sensor to sensor mapping
- * @return the observables which contains sensor to sensor mapping
- */
- public Observables getObservables() {
- return observables;
- }
-
- public int getMeasurementCount() {
- return measurementCount;
- }
-
- public void createMeasurement(final int lineSampling, final int pixelSampling) throws RuggedException {
-
- // Search the sensor pixel seeing point
- final int minLine = 0;
- final int maxLine = dimensionB - 1;
-
- for (double line = 0; line < dimensionA; line += lineSampling) {
-
- final AbsoluteDate dateA = sensorA.getDate(line);
-
- for (double pixelA = 0; pixelA < sensorA.getNbPixels(); pixelA += pixelSampling) {
-
- final GeodeticPoint gpA = ruggedA.directLocation(dateA, sensorA.getPosition(),
- sensorA.getLOS(dateA, pixelA));
-
- final SensorPixel sensorPixelB = ruggedB.inverseLocation(sensorNameB, gpA, 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) {
-
- final AbsoluteDate dateB = sensorB.getDate(sensorPixelB.getLineNumber());
- final double pixelB = sensorPixelB.getPixelNumber();
- final SpacecraftToObservedBody scToBodyA = ruggedA.getScToBody();
-
- final GeodeticPoint gpB = ruggedB.directLocation(dateB, sensorB.getPosition(),
- sensorB.getLOS(dateB, pixelB));
-
- final double GEOdistance = RefiningTest.computeDistanceInMeter(gpA.getLongitude(), gpA.getLatitude(),
- gpB.getLongitude(), gpB.getLatitude());
-
- if (GEOdistance < this.outlier) {
-
- final SensorPixel RealPixelA = new SensorPixel(line, pixelA);
- final SensorPixel RealPixelB = new SensorPixel(sensorPixelB.getLineNumber(), sensorPixelB.getPixelNumber());
-
- final AbsoluteDate RealDateA = sensorA.getDate(RealPixelA.getLineNumber());
- final AbsoluteDate RealDateB = sensorB.getDate(RealPixelB.getLineNumber());
- final double[] distanceLOSB = ruggedB.distanceBetweenLOS(sensorA, RealDateA, RealPixelA.getPixelNumber(), scToBodyA,
- sensorB, RealDateB, RealPixelB.getPixelNumber());
-
- final double losDistance = 0.0;
- final double earthDistance = distanceLOSB[1];
-
- interMappingGenerated.addMapping(RealPixelA, RealPixelB, losDistance, earthDistance);
-
- // increment the number of measurements
- this.measurementCount++;
- }
- }
- }
- }
-
- this.observables.addInterMapping(interMappingGenerated);
- }
-
-
- /** Tie point creation from direct 1ocation with Rugged A and inverse location with Rugged B
- * @param lineSampling sampling along lines
- * @param pixelSampling sampling along columns
- * @param noise errors to apply to measure for pixel A and pixel B
- * @throws RuggedException
- */
- public void createNoisyMeasurement(final int lineSampling, final int pixelSampling, final Noise noise)
- throws RuggedException {
-
- // Get noise features (errors)
- // [pixelA, pixelB] mean
- final double[] mean = noise.getMean();
- // [pixelA, pixelB] standard deviation
- final double[] std = noise.getStandardDeviation();
-
- // Search the sensor pixel seeing point
- final int minLine = 0;
- final int maxLine = dimensionB - 1;
-
- final double meanA[] = { mean[0], mean[0] };
- final double stdA[] = { std[0], std[0] };
- final double meanB[] = { mean[1], mean[1] };
- final double stdB[] = { std[1], std[1] };
-
- // TODO GP explanation about seed ???
- final GaussianRandomGenerator rngA = new GaussianRandomGenerator(new Well19937a(0xefac03d9be4d24b9l));
- final UncorrelatedRandomVectorGenerator rvgA = new UncorrelatedRandomVectorGenerator(meanA, stdA, rngA);
-
- // TODO GP explanation about seed ???
- final GaussianRandomGenerator rngB = new GaussianRandomGenerator(new Well19937a(0xdf1c03d9be0b34b9l));
- final UncorrelatedRandomVectorGenerator rvgB = new UncorrelatedRandomVectorGenerator(meanB, stdB, rngB);
-
- for (double line = 0; line < dimensionA; line += lineSampling) {
-
- final AbsoluteDate dateA = sensorA.getDate(line);
- for (double pixelA = 0; pixelA < sensorA.getNbPixels(); pixelA += pixelSampling) {
-
- final GeodeticPoint gpA = ruggedA.directLocation(dateA, sensorA.getPosition(),
- sensorA.getLOS(dateA, pixelA));
- final SensorPixel sensorPixelB = ruggedB.inverseLocation(sensorNameB, gpA, 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) {
-
- final AbsoluteDate dateB = sensorB.getDate(sensorPixelB.getLineNumber());
- final double pixelB = sensorPixelB.getPixelNumber();
-
- // Get spacecraft to body transform of Rugged instance A
- final SpacecraftToObservedBody scToBodyA = ruggedA.getScToBody();
-
- final GeodeticPoint gpB = ruggedB.directLocation(dateB, sensorB.getPosition(),
- sensorB.getLOS(dateB, pixelB));
- final double GEOdistance = RefiningTest.computeDistanceInMeter(gpA.getLongitude(), gpA.getLatitude(),
- gpB.getLongitude(), gpB.getLatitude());
- // TODO GP explanation about computation here
- if (GEOdistance < outlier) {
-
- final double[] vecRandomA = rvgA.nextVector();
- final double[] vecRandomB = rvgB.nextVector();
-
- final SensorPixel RealPixelA = new SensorPixel(line + vecRandomA[0], pixelA + vecRandomA[1]);
- final SensorPixel RealPixelB = new SensorPixel(sensorPixelB.getLineNumber() + vecRandomB[0],
- sensorPixelB.getPixelNumber() + vecRandomB[1]);
- final AbsoluteDate RealDateA = sensorA.getDate(RealPixelA.getLineNumber());
- final AbsoluteDate RealDateB = sensorB.getDate(RealPixelB.getLineNumber());
- final double[] distanceLOSB = ruggedB.distanceBetweenLOS(sensorA, RealDateA, RealPixelA.getPixelNumber(), scToBodyA,
- sensorB, RealDateB, RealPixelB.getPixelNumber());
- final Double losDistance = 0.0;
- final Double earthDistance = distanceLOSB[1];
-
- interMappingGenerated.addMapping(RealPixelA, RealPixelB, losDistance, earthDistance);
-
- // increment the number of measurements
- this.measurementCount++;
- }
- }
- }
- }
-
- this.observables.addInterMapping(interMappingGenerated);
- }
-
- /** Default constructor: measurements generation without outlier points control
- * and Earth distances constraint.
- * @param rA Rugged instance A
- * @param sNameA sensor name A
- * @param dimA dimension for acquisition A
- * @param rB Rugged instance B
- * @param sNameB sensor name B
- * @param dimB dimension for acquisition B
- * @throws RuggedException
- */
- private void initParams(final Rugged rA, final String sNameA, final int dimA,
- final Rugged rB, final String sNameB, final int dimB)
- throws RuggedException {
-
- this.sensorNameB = sNameB;
- // Check that sensors's name is different
- if (sNameA.contains(sNameB)) {
- throw new RuggedExceptionWrapper(new RuggedException(RuggedMessages.DUPLICATED_PARAMETER_NAME, sNameA));
- }
-
- this.ruggedA = rA;
- this.ruggedB = rB;
-
- this.sensorA = rA.getLineSensor(sNameA);
- this.sensorB = rB.getLineSensor(sNameB);
-
- this.dimensionA = dimA;
- this.dimensionB = dimB;
-
- this.measurementCount = 0;
- }
-}
+///**
+// * Inter-measurements generator (sensor to sensor mapping).
+// */
+//class InterMeasurementGenerator {
+//
+// /** Mapping from sensor A to sensor B. */
+// private SensorToSensorMapping interMappingGenerated;
+//
+// /** Observables which contains sensor to sensor mapping.*/
+// private Observables observables;
+//
+// /** Rugged instance corresponding to the viewing model A */
+// private Rugged ruggedA;
+//
+// /** Rugged instance corresponding to the viewing model B */
+// private Rugged ruggedB;
+//
+// /** Sensor A */
+// private LineSensor sensorA;
+//
+// /** Sensor B */
+// private LineSensor sensorB;
+//
+// /** Number of measurements */
+// private int measurementCount;
+//
+//
+// /** Sensor name B */
+// private String sensorNameB;
+//
+// /** Number of line for acquisition A */
+// private int dimensionA;
+//
+// /** Number of line for acquisition B */
+// private int dimensionB;
+//
+// /** Limit value for outlier points */
+// private double outlier;
+//
+//
+// /** Default constructor: measurements generation without outlier points control
+// * and without Earth distance constraint.
+// */
+// public InterMeasurementGenerator(final Rugged ruggedA, final String sensorNameA, final int dimensionA,
+// final Rugged ruggedB, final String sensorNameB, final int dimensionB)
+// throws RuggedException {
+//
+// // Initialize parameters
+// initParams(ruggedA, sensorNameA, dimensionA, ruggedB, sensorNameB, dimensionB);
+//
+// // Generate reference mapping, without Earth distance constraint
+// interMappingGenerated = new SensorToSensorMapping(sensorNameA, sensorNameB);
+//
+// // Create observables for two models
+// observables = new Observables(2);
+// }
+//
+//
+// /** Constructor for measurements generation taking into account outlier points control,
+// * without Earth distance constraint.
+// */
+// public InterMeasurementGenerator(final Rugged ruggedA, final String sensorNameA, final int dimensionA,
+// final Rugged ruggedB, final String sensorNameB, final int dimensionB,
+// final double outlier)
+// throws RuggedException {
+//
+// this(ruggedA, sensorNameA, dimensionA, ruggedB, sensorNameB, dimensionB);
+// this.outlier = outlier;
+// }
+//
+// /** Constructor for measurements generation taking into account outlier points control,
+// * and Earth distance constraint.
+// */
+// public InterMeasurementGenerator(final Rugged ruggedA, final String sensorNameA, final int dimensionA,
+// final Rugged ruggedB, final String sensorNameB, final int dimensionB,
+// final double outlier, final double earthConstraintWeight)
+// throws RuggedException {
+//
+// // Initialize parameters
+// initParams(ruggedA, sensorNameA, dimensionA, ruggedB, sensorNameB, dimensionB);
+//
+// // Generate reference mapping, with Earth distance constraints.
+// // Weighting will be applied as follow :
+// // (1-earthConstraintWeight) for losDistance weighting
+// // earthConstraintWeight for earthDistance weighting
+// interMappingGenerated = new SensorToSensorMapping(sensorNameA, ruggedA.getName(), sensorNameB, ruggedB.getName(), earthConstraintWeight);
+//
+// // Outlier points control
+// this.outlier = outlier;
+//
+// // Observables which contains sensor to sensor mapping
+// this.observables = new Observables(2);
+// }
+//
+// /** Get the mapping from sensor A to sensor B
+// * @return the mapping from sensor A to sensor B
+// */
+// public SensorToSensorMapping getInterMapping() {
+// return interMappingGenerated;
+// }
+//
+// /** Get the observables which contains sensor to sensor mapping
+// * @return the observables which contains sensor to sensor mapping
+// */
+// public Observables getObservables() {
+// return observables;
+// }
+//
+// public int getMeasurementCount() {
+// return measurementCount;
+// }
+//
+// public void createMeasurement(final int lineSampling, final int pixelSampling) throws RuggedException {
+//
+// // Search the sensor pixel seeing point
+// final int minLine = 0;
+// final int maxLine = dimensionB - 1;
+//
+// for (double line = 0; line < dimensionA; line += lineSampling) {
+//
+// final AbsoluteDate dateA = sensorA.getDate(line);
+//
+// for (double pixelA = 0; pixelA < sensorA.getNbPixels(); pixelA += pixelSampling) {
+//
+// final GeodeticPoint gpA = ruggedA.directLocation(dateA, sensorA.getPosition(),
+// sensorA.getLOS(dateA, pixelA));
+//
+// final SensorPixel sensorPixelB = ruggedB.inverseLocation(sensorNameB, gpA, 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) {
+//
+// final AbsoluteDate dateB = sensorB.getDate(sensorPixelB.getLineNumber());
+// final double pixelB = sensorPixelB.getPixelNumber();
+// final SpacecraftToObservedBody scToBodyA = ruggedA.getScToBody();
+//
+// final GeodeticPoint gpB = ruggedB.directLocation(dateB, sensorB.getPosition(),
+// sensorB.getLOS(dateB, pixelB));
+//
+// final double GEOdistance = RefiningTest.computeDistanceInMeter(gpA.getLongitude(), gpA.getLatitude(),
+// gpB.getLongitude(), gpB.getLatitude());
+//
+// if (GEOdistance < this.outlier) {
+//
+// final SensorPixel RealPixelA = new SensorPixel(line, pixelA);
+// final SensorPixel RealPixelB = new SensorPixel(sensorPixelB.getLineNumber(), sensorPixelB.getPixelNumber());
+//
+// final AbsoluteDate RealDateA = sensorA.getDate(RealPixelA.getLineNumber());
+// final AbsoluteDate RealDateB = sensorB.getDate(RealPixelB.getLineNumber());
+// final double[] distanceLOSB = ruggedB.distanceBetweenLOS(sensorA, RealDateA, RealPixelA.getPixelNumber(), scToBodyA,
+// sensorB, RealDateB, RealPixelB.getPixelNumber());
+//
+// final double losDistance = 0.0;
+// final double earthDistance = distanceLOSB[1];
+//
+// interMappingGenerated.addMapping(RealPixelA, RealPixelB, losDistance, earthDistance);
+//
+// // increment the number of measurements
+// this.measurementCount++;
+// }
+// }
+// }
+// }
+//
+// this.observables.addInterMapping(interMappingGenerated);
+// }
+//
+//
+// /** Default constructor: measurements generation without outlier points control
+// * and Earth distances constraint.
+// * @param rA Rugged instance A
+// * @param sNameA sensor name A
+// * @param dimA dimension for acquisition A
+// * @param rB Rugged instance B
+// * @param sNameB sensor name B
+// * @param dimB dimension for acquisition B
+// * @throws RuggedException
+// */
+// private void initParams(final Rugged rA, final String sNameA, final int dimA,
+// final Rugged rB, final String sNameB, final int dimB)
+// throws RuggedException {
+//
+// this.sensorNameB = sNameB;
+// // Check that sensors's name is different
+// if (sNameA.contains(sNameB)) {
+// throw new RuggedExceptionWrapper(new RuggedException(RuggedMessages.DUPLICATED_PARAMETER_NAME, sNameA));
+// }
+//
+// this.ruggedA = rA;
+// this.ruggedB = rB;
+//
+// this.sensorA = rA.getLineSensor(sNameA);
+// this.sensorB = rB.getLineSensor(sNameB);
+//
+// this.dimensionA = dimA;
+// this.dimensionB = dimB;
+//
+// this.measurementCount = 0;
+// }
+//}
/**
@@ -1208,76 +1087,76 @@ public int getDimension() {
}
}
-/** Class for adding a noise to measurements.
- */
-class Noise {
-
- /** Type of distribution. */
- private static final int GAUSSIAN = 0;
-
- /** Dimension. */
- private int dimension;
-
- /** Mean. */
- private double[] mean;
-
- /** Standard deviation. */
- private double[] standardDeviation;
-
- /** Distribution. */
- private int distribution = GAUSSIAN;
-
- /** Build a new instance.
- * @param distribution noise type
- * @param dimension noise dimension
- */
- public Noise(final int distribution, final int dimension) {
-
- this.mean = new double[dimension];
- this.standardDeviation = new double[dimension];
- this.dimension = dimension;
- this.distribution = distribution;
- }
-
- /** Get the mean.
- * @return the mean
- */
- public double[] getMean() {
- return mean.clone();
- }
-
- /** Set the mean.
- * @param meanValue the mean to set
- */
- public void setMean(final double[] meanValue) {
- this.mean = meanValue.clone();
- }
-
- /** Get the standard deviation.
- * @return the standard deviation
- */
- public double[] getStandardDeviation() {
- return standardDeviation.clone();
- }
-
- /** Set the standard deviation.
- * @param standardDeviationValue the standard deviation to set
- */
- public void setStandardDeviation(final double[] standardDeviationValue) {
- this.standardDeviation = standardDeviationValue.clone();
- }
-
- /** Get the distribution.
- * @return the distribution
- */
- public int getDistribution() {
- return distribution;
- }
-
- /** Get the dimension.
- * @return the dimension
- */
- public int getDimension() {
- return dimension;
- }
-}
+///** Class for adding a noise to measurements.
+// */
+//class Noise {
+//
+// /** Type of distribution. */
+// private static final int GAUSSIAN = 0;
+//
+// /** Dimension. */
+// private int dimension;
+//
+// /** Mean. */
+// private double[] mean;
+//
+// /** Standard deviation. */
+// private double[] standardDeviation;
+//
+// /** Distribution. */
+// private int distribution = GAUSSIAN;
+//
+// /** Build a new instance.
+// * @param distribution noise type
+// * @param dimension noise dimension
+// */
+// public Noise(final int distribution, final int dimension) {
+//
+// this.mean = new double[dimension];
+// this.standardDeviation = new double[dimension];
+// this.dimension = dimension;
+// this.distribution = distribution;
+// }
+//
+// /** Get the mean.
+// * @return the mean
+// */
+// public double[] getMean() {
+// return mean.clone();
+// }
+//
+// /** Set the mean.
+// * @param meanValue the mean to set
+// */
+// public void setMean(final double[] meanValue) {
+// this.mean = meanValue.clone();
+// }
+//
+// /** Get the standard deviation.
+// * @return the standard deviation
+// */
+// public double[] getStandardDeviation() {
+// return standardDeviation.clone();
+// }
+//
+// /** Set the standard deviation.
+// * @param standardDeviationValue the standard deviation to set
+// */
+// public void setStandardDeviation(final double[] standardDeviationValue) {
+// this.standardDeviation = standardDeviationValue.clone();
+// }
+//
+// /** Get the distribution.
+// * @return the distribution
+// */
+// public int getDistribution() {
+// return distribution;
+// }
+//
+// /** Get the dimension.
+// * @return the dimension
+// */
+// public int getDimension() {
+// return dimension;
+// }
+//}
diff --git a/src/tutorials/java/fr/cs/examples/refiningPleiades/GroundRefining.java b/src/tutorials/java/fr/cs/examples/refiningPleiades/GroundRefining.java
index 433ad512..278cd311 100644
--- a/src/tutorials/java/fr/cs/examples/refiningPleiades/GroundRefining.java
+++ b/src/tutorials/java/fr/cs/examples/refiningPleiades/GroundRefining.java
@@ -64,26 +64,20 @@ import fr.cs.examples.refiningPleiades.models.PleiadesViewingModel;
public class GroundRefining extends Refining {
/** Pleiades viewing model */
- PleiadesViewingModel pleiadesViewingModel;
-
- /** Orbit model */
- OrbitModel orbitmodel;
+ private static PleiadesViewingModel pleiadesViewingModel;
/** Sensor name */
- String sensorName;
+ private static String sensorName;
/** Rugged instance */
- Rugged rugged;
-
- /** Ground measurements */
- GroundMeasurementGenerator measurements;
+ private static Rugged rugged;
+
/** Main function
*/
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"));
@@ -97,7 +91,6 @@ public class GroundRefining extends Refining {
// Sensor's definition: create Pleiades viewing model
// --------------------------------------------------
System.out.format("**** Build Pleiades viewing model and orbit definition **** %n");
- PleiadesViewingModel pleiadesViewingModel = refining.getPleiadesViewingModel();
AbsoluteDate minDate = pleiadesViewingModel.getMinDate();
AbsoluteDate maxDate = pleiadesViewingModel.getMaxDate();
AbsoluteDate refDate = pleiadesViewingModel.getDatationReference();
@@ -105,7 +98,7 @@ public class GroundRefining extends Refining {
// Satellite position, velocity and attitude: create an orbit model
// ----------------------------------------------------------------
- OrbitModel orbitmodel = refining.getOrbitmodel();
+ OrbitModel orbitmodel = new OrbitModel();
BodyShape earth = orbitmodel.createEarth();
NormalizedSphericalHarmonicsProvider gravityField = orbitmodel.createGravityField();
Orbit orbit = orbitmodel.createOrbit(gravityField.getMu(), refDate);
@@ -150,8 +143,9 @@ public class GroundRefining extends Refining {
ruggedBuilder.setName("Rugged_refining");
- refining.setRugged(ruggedBuilder.build());
+ rugged = ruggedBuilder.build();
+
// Compute ground sample distance (GSD)
// ------------------------------------
double [] gsd = refining.computeGSD(lineSensor);
@@ -167,8 +161,7 @@ public class GroundRefining extends Refining {
System.out.format("roll: %3.5f \tpitch: %3.5f \tfactor: %3.5f \n",rollValue, pitchValue, factorValue);
// Apply disruptions on physical model
- refining.applyDisruptions(refining.getRugged(), refining.getSensorName(),
- rollValue, pitchValue, factorValue);
+ refining.applyDisruptions(rugged, sensorName, rollValue, pitchValue, factorValue);
// Generate measurements (observations) from physical model disrupted
// ------------------------------------------------------------------
@@ -176,32 +169,37 @@ public class GroundRefining extends Refining {
int pixelSampling = 1000;
// Noise definition
- final Noise noise = new Noise(0,3); /* distribution: gaussian(0), vector dimension:3 */
- final double[] mean = {0.0,0.0,0.0}; /* {lat mean, long mean, alt mean} */
- final double[] standardDeviation = {0.0,0.0,0.0}; /* {lat std, long std, alt std} */
+ // distribution: gaussian(0), vector dimension:3
+ final Noise noise = new Noise(0,3);
+
+ // lat mean, long mean, alt mean
+ final double[] mean = {0.0,0.0,0.0};
+ // lat std, long std, alt std}
+ final double[] standardDeviation = {0.0,0.0,0.0};
+
noise.setMean(mean);
noise.setStandardDeviation(standardDeviation);
+ // Ground measurements
GroundMeasurementGenerator measurements = refining.generateNoisyPoints(lineSampling, pixelSampling,
- refining.getRugged(), refining.getSensorName(),
- refining.getPleiadesViewingModel().getDimension(),
- noise);
- refining.setMeasurements(measurements);
+ rugged, sensorName,
+ pleiadesViewingModel.getDimension(),
+ noise);
// Compute ground truth residuals
// ------------------------------
System.out.format("\n**** Ground truth residuals **** %n");
- refining.computeMetrics(measurements.getGroundMapping(), refining.getRugged(), false);
+ refining.computeMetrics(measurements.getGroundMapping(), rugged, false);
// Initialize physical model without disruptions
// ---------------------------------------------
System.out.format("\n**** Initialize physical model without disruptions: reset Roll/Pitch/Factor **** %n");
- refining.resetModel(refining.getRugged(), refining.getSensorName(), true);
+ refining.resetModel(rugged, sensorName, true);
// Compute initial residuals
// -------------------------
System.out.format("\n**** Initial Residuals **** %n");
- refining.computeMetrics(measurements.getGroundMapping(), refining.getRugged(), false);
+ refining.computeMetrics(measurements.getGroundMapping(), rugged, false);
// Start optimization
// ------------------
@@ -210,23 +208,22 @@ public class GroundRefining extends Refining {
int maxIterations = 100;
double convergenceThreshold = 1.e-11;
- refining.optimization(maxIterations, convergenceThreshold, measurements.getObservables(), refining.getRugged());
+ refining.optimization(maxIterations, convergenceThreshold, measurements.getObservables(), rugged);
// Check estimated values
// ----------------------
System.out.format("\n**** Check parameters ajustement **** %n");
- refining.paramsEstimation(refining.getRugged(), refining.getSensorName(),
- rollValue, pitchValue, factorValue);
+ refining.paramsEstimation(rugged, sensorName, rollValue, pitchValue, factorValue);
// Compute statistics
// ------------------
System.out.format("\n**** Compute Statistics **** %n");
// Residuals computed in meters
- refining.computeMetrics(measurements.getGroundMapping(), refining.getRugged(), false);
+ refining.computeMetrics(measurements.getGroundMapping(), rugged, false);
// Residuals computed in degrees
- refining.computeMetrics(measurements.getGroundMapping(), refining.getRugged(), true);
+ refining.computeMetrics(measurements.getGroundMapping(), rugged, true);
} catch (OrekitException oe) {
System.err.println(oe.getLocalizedMessage());
@@ -242,7 +239,7 @@ public class GroundRefining extends Refining {
sensorName = "line";
pleiadesViewingModel = new PleiadesViewingModel(sensorName);
- orbitmodel = new OrbitModel();
+
}
/** Estimate ground sample distance (GSD)
@@ -286,68 +283,60 @@ public class GroundRefining extends Refining {
return gsd;
}
- /**
- * Get the Pleiades viewing model
- * @return the Pleiades viewing model
- */
- public PleiadesViewingModel getPleiadesViewingModel() {
- return pleiadesViewingModel;
- }
-
- /**
- * Set the Pleiades viewing model
- * @param pleiadesViewingModel Pleiades viewing model to set
- */
- public void setPleiadesViewingModel(final PleiadesViewingModel pleiadesViewingModel) {
- this.pleiadesViewingModel = pleiadesViewingModel;
- }
-
- /**
- * Get the orbit model
- * @return the orbit model
- */
- public OrbitModel getOrbitmodel() {
- return orbitmodel;
- }
-
- /**
- * Set the orbit model
- * @param orbitmodel the orbit model to set
- */
- public void setOrbitmodel(final OrbitModel orbitmodel) {
- this.orbitmodel = orbitmodel;
- }
-
- /**
- * Get the sensor name
- * @return the sensor name
- */
- public String getSensorName() {
- return sensorName;
- }
-
- /**
- * Get the Rugged instance
- * @return the rugged instance
- */
- public Rugged getRugged() {
- return rugged;
- }
-
- /**
- * Set the Rugged instance
- * @param rugged the Rugged instance to set
- */
- public void setRugged(final Rugged rugged) {
- this.rugged = rugged;
- }
-
- /**
- * Set the measurements
- * @param measurements the measurements to set
- */
- public void setMeasurements(final GroundMeasurementGenerator measurements) {
- this.measurements = measurements;
- }
+// /**
+// * Get the Pleiades viewing model
+// * @return the Pleiades viewing model
+// */
+// public PleiadesViewingModel getPleiadesViewingModel() {
+// return pleiadesViewingModel;
+// }
+//
+// /**
+// * Set the Pleiades viewing model
+// * @param pleiadesViewingModel Pleiades viewing model to set
+// */
+// public void setPleiadesViewingModel(final PleiadesViewingModel pleiadesViewingModel) {
+// this.pleiadesViewingModel = pleiadesViewingModel;
+// }
+//
+// /**
+// * Get the orbit model
+// * @return the orbit model
+// */
+// public OrbitModel getOrbitmodel() {
+// return orbitmodel;
+// }
+//
+// /**
+// * Set the orbit model
+// * @param orbitmodel the orbit model to set
+// */
+// public void setOrbitmodel(final OrbitModel orbitmodel) {
+// this.orbitmodel = orbitmodel;
+// }
+//
+// /**
+// * Get the sensor name
+// * @return the sensor name
+// */
+// public String getSensorName() {
+// return sensorName;
+// }
+//
+// /**
+// * Get the Rugged instance
+// * @return the rugged instance
+// */
+// public Rugged getRugged() {
+// return rugged;
+// }
+//
+// /**
+// * Set the Rugged instance
+// * @param rugged the Rugged instance to set
+// */
+// public void setRugged(final Rugged rugged) {
+// this.rugged = rugged;
+// }
}
diff --git a/src/tutorials/java/fr/cs/examples/refiningPleiades/InterRefining.java b/src/tutorials/java/fr/cs/examples/refiningPleiades/InterRefining.java
index 3fd6d61c..d970859e 100644
--- a/src/tutorials/java/fr/cs/examples/refiningPleiades/InterRefining.java
+++ b/src/tutorials/java/fr/cs/examples/refiningPleiades/InterRefining.java
@@ -67,31 +67,22 @@ import fr.cs.examples.refiningPleiades.models.PleiadesViewingModel;
public class InterRefining extends Refining {
/** Pleiades viewing model A */
- PleiadesViewingModel pleiadesViewingModelA;
+ private static PleiadesViewingModel pleiadesViewingModelA;
/** Pleiades viewing model B */
- PleiadesViewingModel pleiadesViewingModelB;
-
- /** Orbit model corresponding to viewing model A */
- OrbitModel orbitmodelA;
-
- /** Orbit model corresponding to viewing model B */
- OrbitModel orbitmodelB;
+ private static PleiadesViewingModel pleiadesViewingModelB;
/** Sensor name A corresponding to viewing model A */
- String sensorNameA;
+ private static String sensorNameA;
/** Sensor name A corresponding to viewing model B */
- String sensorNameB;
+ private static String sensorNameB;
/** RuggedA's instance */
- Rugged ruggedA;
+ private static Rugged ruggedA;
/** RuggedB's instance */
- Rugged ruggedB;
-
- /** Inter-measurements (between both viewing models) */
- InterMeasurementGenerator measurements;
+ private static Rugged ruggedB;
/** Main function
@@ -99,7 +90,6 @@ public class InterRefining extends Refining {
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"));
@@ -116,7 +106,6 @@ public class InterRefining extends Refining {
System.out.format("**** Build Pleiades viewing model A and its orbit definition **** %n");
// 1/- Create First Pleiades Viewing Model
- PleiadesViewingModel pleiadesViewingModelA = refining.getPleiadesViewingModelA();
final AbsoluteDate minDateA = pleiadesViewingModelA.getMinDate();
final AbsoluteDate maxDateA = pleiadesViewingModelA.getMaxDate();
final AbsoluteDate refDateA = pleiadesViewingModelA.getDatationReference();
@@ -124,7 +113,7 @@ public class InterRefining extends Refining {
System.out.format(Locale.US, "Viewing model A - date min: %s max: %s ref: %s %n", minDateA, maxDateA, refDateA);
// ----Satellite position, velocity and attitude: create orbit model A
- OrbitModel orbitmodelA = refining.getOrbitmodelA();
+ OrbitModel orbitmodelA = new OrbitModel();
BodyShape earthA = orbitmodelA.createEarth();
NormalizedSphericalHarmonicsProvider gravityFieldA = orbitmodelA.createGravityField();
Orbit orbitA = orbitmodelA.createOrbit(gravityFieldA.getMu(), refDateA);
@@ -169,13 +158,12 @@ public class InterRefining extends Refining {
ruggedBuilderA.setName("RuggedA");
- refining.setRuggedA(ruggedBuilderA.build());
+ ruggedA = ruggedBuilderA.build();
System.out.format("\n**** Build Pleiades viewing model B and its orbit definition **** %n");
// 2/- Create Second Pleiades Viewing Model
- PleiadesViewingModel pleiadesViewingModelB = refining.getPleiadesViewingModelB();
final AbsoluteDate minDateB = pleiadesViewingModelB.getMinDate();
final AbsoluteDate maxDateB = pleiadesViewingModelB.getMaxDate();
final AbsoluteDate refDateB = pleiadesViewingModelB.getDatationReference();
@@ -183,7 +171,7 @@ public class InterRefining extends Refining {
System.out.format(Locale.US, "Viewing model B - date min: %s max: %s ref: %s %n", minDateB, maxDateB, refDateB);
// ----Satellite position, velocity and attitude: create orbit model B
- OrbitModel orbitmodelB = refining.getOrbitmodelB();
+ OrbitModel orbitmodelB = new OrbitModel();
BodyShape earthB = orbitmodelB.createEarth();
NormalizedSphericalHarmonicsProvider gravityFieldB = orbitmodelB.createGravityField();
Orbit orbitB = orbitmodelB.createOrbit(gravityFieldB.getMu(), refDateB);
@@ -218,7 +206,7 @@ public class InterRefining extends Refining {
ruggedBuilderB.setName("RuggedB");
- refining.setRuggedB(ruggedBuilderB.build());
+ ruggedB = ruggedBuilderB.build();
// Compute distance between LOS
// -----------------------------
@@ -240,12 +228,10 @@ public class InterRefining extends Refining {
System.out.format("Acquisition B roll: %3.5f \tpitch: %3.5f \tfactor: %3.5f \n",rollValueB,pitchValueB,factorValue);
// Apply disruptions on physical model (acquisition A)
- refining.applyDisruptions(refining.getRuggedA(),refining.getSensorNameA(),
- rollValueA, pitchValueA, factorValue);
+ refining.applyDisruptions(ruggedA, sensorNameA, rollValueA, pitchValueA, factorValue);
// Apply disruptions on physical model (acquisition B)
- refining.applyDisruptions(refining.getRuggedB(),refining.getSensorNameB(),
- rollValueB, pitchValueB, factorValue);
+ refining.applyDisruptions(ruggedB, sensorNameB, rollValueB, pitchValueB, factorValue);
// Generate measurements (observations) from physical model disrupted
@@ -267,57 +253,51 @@ public class InterRefining extends Refining {
System.out.format("\tSensor A mean: %f std %f %n",mean[0],standardDeviation[0]);
System.out.format("\tSensor B mean: %f std %f %n",mean[1],standardDeviation[1]);
+ // Inter-measurements (between both viewing models)
InterMeasurementGenerator measurements = refining.generateNoisyPoints(lineSampling, pixelSampling,
- refining.getRuggedA(), refining.getSensorNameA(),
- refining.getPleiadesViewingModelA().getDimension(),
- refining.getRuggedB(), refining.getSensorNameB(),
- refining.getPleiadesViewingModelB().getDimension(),
+ ruggedA, sensorNameA,
+ pleiadesViewingModelA.getDimension(),
+ ruggedB, sensorNameB,
+ pleiadesViewingModelB.getDimension(),
noise);
- refining.setMeasurements(measurements);
// Compute ground truth residuals
// ------------------------------
System.out.format("\n**** Ground truth residuals **** %n");
- refining.computeMetrics(measurements.getInterMapping(), refining.getRuggedA(), refining.getRuggedB(), false);
+ refining.computeMetrics(measurements.getInterMapping(), ruggedA, ruggedB, false);
// Initialize physical models without disruptions
// -----------------------------------------------
System.out.format("\n**** Initialize physical models (A,B) without disruptions: reset Roll/Pitch/Factor **** %n");
- refining.resetModel(refining.getRuggedA(), refining.getSensorNameA(), false);
- refining.resetModel(refining.getRuggedB(), refining.getSensorNameB(), false);
+ refining.resetModel(ruggedA, sensorNameA, false);
+ refining.resetModel(ruggedB, sensorNameB, false);
// Compute initial residuals
// -------------------------
System.out.format("\n**** Initial Residuals **** %n");
- refining.computeMetrics(measurements.getInterMapping(), refining.getRuggedA(), refining.getRuggedB(), false);
+ refining.computeMetrics(measurements.getInterMapping(), ruggedA, ruggedB, false);
// Start optimization
// ------------------
System.out.format("\n**** Start optimization **** %n");
-
- int maxIterations = 100;
- double convergenceThreshold = 1.e-7;
+ final int maxIterations = 100;
+ final double convergenceThreshold = 1.e-7;
refining.optimization(maxIterations, convergenceThreshold,
- measurements.getObservables(),
- refining.getRuggeds());
+ measurements.getObservables(), refining.getRuggeds());
// Check estimated values
// ----------------------
System.out.format("\n**** Check parameters ajustement **** %n");
System.out.format("Acquisition A:%n");
- refining.paramsEstimation(refining.getRuggedA(), refining.getSensorNameA(),
- rollValueA, pitchValueA, factorValue);
+ refining.paramsEstimation(ruggedA, sensorNameA, rollValueA, pitchValueA, factorValue);
System.out.format("Acquisition B:%n");
- refining.paramsEstimation(refining.getRuggedB(), refining.getSensorNameB(),
- rollValueB, pitchValueB, factorValue);
- //refining.paramsEstimation(rollValueA, pitchValueA, factorValue, rollValueB, pitchValueB);
-
+ refining.paramsEstimation(ruggedB, sensorNameB, rollValueB, pitchValueB, factorValue);
// Compute statistics
// ------------------
System.out.format("\n**** Compute Statistics **** %n");
- refining.computeMetrics(measurements.getInterMapping(), refining.getRuggedA(), refining.getRuggedB(), false);
+ refining.computeMetrics(measurements.getInterMapping(), ruggedA, ruggedB, false);
} catch (OrekitException oe) {
System.err.println(oe.getLocalizedMessage());
@@ -331,20 +311,18 @@ public class InterRefining extends Refining {
/** Constructor */
public InterRefining() throws RuggedException, OrekitException {
- this.sensorNameA = "SensorA";
+ sensorNameA = "SensorA";
final double incidenceAngleA = -5.0;
final String dateA = "2016-01-01T11:59:50.0";
- this.pleiadesViewingModelA = new PleiadesViewingModel(sensorNameA, incidenceAngleA, dateA);
+ pleiadesViewingModelA = new PleiadesViewingModel(sensorNameA, incidenceAngleA, dateA);
- this.sensorNameB = "SensorB";
+ sensorNameB = "SensorB";
final double incidenceAngleB = 0.0;
final String dateB = "2016-01-01T12:02:50.0";
- this.pleiadesViewingModelB = new PleiadesViewingModel(sensorNameB, incidenceAngleB, dateB);
+ pleiadesViewingModelB = new PleiadesViewingModel(sensorNameB, incidenceAngleB, dateB);
- this.orbitmodelA = new OrbitModel();
- this.orbitmodelB = new OrbitModel();
}
/** Estimate distance between LOS
@@ -354,16 +332,13 @@ public class InterRefining extends Refining {
*/
private double computeDistanceBetweenLOS(final LineSensor lineSensorA, final LineSensor lineSensorB) throws RuggedException {
-
// Get number of line of sensors
int dimensionA = pleiadesViewingModelA.getDimension();
int dimensionB = pleiadesViewingModelB.getDimension();
-
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(dimensionA/2);
Vector3D losA = lineSensorA.getLOS(lineDateA,dimensionA/2);
GeodeticPoint centerPointA = ruggedA.directLocation(lineDateA, positionA, losA);
@@ -371,7 +346,6 @@ public class InterRefining extends Refining {
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.
@@ -382,7 +356,6 @@ public class InterRefining extends Refining {
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);
@@ -403,116 +376,11 @@ public class InterRefining extends Refining {
return distance;
}
- /**
- * @return the pleiadesViewingModelA
- */
- public PleiadesViewingModel getPleiadesViewingModelA() {
- return pleiadesViewingModelA;
- }
-
- /**
- * @param pleiadesViewingModelA the pleiadesViewingModelA to set
- */
- public void setPleiadesViewingModelA(final PleiadesViewingModel pleiadesViewingModelA) {
- this.pleiadesViewingModelA = pleiadesViewingModelA;
- }
-
- /**
- * @return the pleiadesViewingModelB
- */
- public PleiadesViewingModel getPleiadesViewingModelB() {
- return pleiadesViewingModelB;
- }
-
- /**
- * @param pleiadesViewingModelB the pleiadesViewingModelB to set
- */
- public void setPleiadesViewingModelB(final PleiadesViewingModel pleiadesViewingModelB) {
- this.pleiadesViewingModelB = pleiadesViewingModelB;
- }
-
- /**
- * @return the orbitmodelA
- */
- public OrbitModel getOrbitmodelA() {
- return orbitmodelA;
- }
-
- /**
- * @param orbitmodelA the orbitmodelA to set
- */
- public void setOrbitmodelA(final OrbitModel orbitmodelA) {
- this.orbitmodelA = orbitmodelA;
- }
-
- /**
- * @return the orbitmodelB
- */
- public OrbitModel getOrbitmodelB() {
- return orbitmodelB;
- }
-
- /**
- * @param orbitmodelB the orbitmodelB to set
- */
- public void setOrbitmodelB(final OrbitModel orbitmodelB) {
- this.orbitmodelB = orbitmodelB;
- }
-
- /**
- * @return the sensorNameA
- */
- public String getSensorNameA() {
- return sensorNameA;
- }
-
- /**
- * @return the sensorNameB
- */
- public String getSensorNameB() {
- return sensorNameB;
- }
-
- /**
- * @return the ruggedA
- */
- public Rugged getRuggedA() {
- return ruggedA;
- }
-
- /**
- * @param ruggedA the ruggedA to set
- */
- public void setRuggedA(final Rugged ruggedA) {
- this.ruggedA = ruggedA;
- }
-
- /**
- * @return the ruggedB
- */
- public Rugged getRuggedB() {
- return ruggedB;
- }
-
/**
* @return the ruggedList
*/
public Collection<Rugged> getRuggeds() {
- List<Rugged> ruggedList = Arrays.asList(this.ruggedA, this.ruggedB);
+ List<Rugged> ruggedList = Arrays.asList(ruggedA, ruggedB);
return ruggedList;
}
-
- /**
- * @param ruggedB the ruggedB to set
- */
- public void setRuggedB(final Rugged ruggedB) {
- this.ruggedB = ruggedB;
- }
-
- /**
- * @param measurements the measurements to set
- */
- public void setMeasurements(final InterMeasurementGenerator measurements) {
- this.measurements = measurements;
- }
}
diff --git a/src/tutorials/java/fr/cs/examples/refiningPleiades/generators/InterMeasurementGenerator.java b/src/tutorials/java/fr/cs/examples/refiningPleiades/generators/InterMeasurementGenerator.java
index fbe74b50..3c67f6db 100644
--- a/src/tutorials/java/fr/cs/examples/refiningPleiades/generators/InterMeasurementGenerator.java
+++ b/src/tutorials/java/fr/cs/examples/refiningPleiades/generators/InterMeasurementGenerator.java
@@ -203,25 +203,25 @@ public class InterMeasurementGenerator implements Measurable {
final GeodeticPoint gpB = ruggedB.directLocation(dateB, sensorB.getPosition(),
sensorB.getLOS(dateB, pixelB));
- final double GEOdistance = DistanceTools.computeDistanceInMeter(gpA.getLongitude(), gpA.getLatitude(),
+ final double geoDistance = DistanceTools.computeDistanceInMeter(gpA.getLongitude(), gpA.getLatitude(),
gpB.getLongitude(), gpB.getLatitude());
- if (GEOdistance < this.outlier) {
+ if (geoDistance < this.outlier) {
- final SensorPixel RealPixelA = new SensorPixel(line, pixelA);
- final SensorPixel RealPixelB = new SensorPixel(sensorPixelB.getLineNumber(), sensorPixelB.getPixelNumber());
+ final SensorPixel realPixelA = new SensorPixel(line, pixelA);
+ final SensorPixel realPixelB = new SensorPixel(sensorPixelB.getLineNumber(), sensorPixelB.getPixelNumber());
- final AbsoluteDate RealDateA = sensorA.getDate(RealPixelA.getLineNumber());
- final AbsoluteDate RealDateB = sensorB.getDate(RealPixelB.getLineNumber());
- final double[] distanceLOSB = ruggedB.distanceBetweenLOS(sensorA, RealDateA, RealPixelA.getPixelNumber(), scToBodyA,
- sensorB, RealDateB, RealPixelB.getPixelNumber());
+ final AbsoluteDate realDateA = sensorA.getDate(realPixelA.getLineNumber());
+ final AbsoluteDate realDateB = sensorB.getDate(realPixelB.getLineNumber());
+ final double[] distanceLOSB = ruggedB.distanceBetweenLOS(sensorA, realDateA, realPixelA.getPixelNumber(), scToBodyA,
+ sensorB, realDateB, realPixelB.getPixelNumber());
final double losDistance = 0.0;
final double earthDistance = distanceLOSB[1];
- interMapping.addMapping(RealPixelA, RealPixelB, losDistance, earthDistance);
+ interMapping.addMapping(realPixelA, realPixelB, losDistance, earthDistance);
- // increment the number of measurements
+ // Increment the number of measurements
this.measurementCount++;
}
}
@@ -256,11 +256,11 @@ public class InterMeasurementGenerator implements Measurable {
final double meanB[] = { mean[1], mean[1] };
final double stdB[] = { std[1], std[1] };
- // seed has been fixed for tests purpose
+ // Seed has been fixed for tests purpose
final GaussianRandomGenerator rngA = new GaussianRandomGenerator(new Well19937a(0xefac03d9be4d24b9l));
final UncorrelatedRandomVectorGenerator rvgA = new UncorrelatedRandomVectorGenerator(meanA, stdA, rngA);
- // seed has been fixed for tests purpose
+ // Seed has been fixed for tests purpose
final GaussianRandomGenerator rngB = new GaussianRandomGenerator(new Well19937a(0xdf1c03d9be0b34b9l));
final UncorrelatedRandomVectorGenerator rvgB = new UncorrelatedRandomVectorGenerator(meanB, stdB, rngB);
@@ -285,27 +285,27 @@ public class InterMeasurementGenerator implements Measurable {
final GeodeticPoint gpB = ruggedB.directLocation(dateB, sensorB.getPosition(),
sensorB.getLOS(dateB, pixelB));
- final double GEOdistance = DistanceTools.computeDistanceInMeter(gpA.getLongitude(), gpA.getLatitude(),
+ final double geoDistance = DistanceTools.computeDistanceInMeter(gpA.getLongitude(), gpA.getLatitude(),
gpB.getLongitude(), gpB.getLatitude());
- // create the inter mapping if distance is below outlier value
- if (GEOdistance < outlier) {
+ // Create the inter mapping if distance is below outlier value
+ if (geoDistance < outlier) {
final double[] vecRandomA = rvgA.nextVector();
final double[] vecRandomB = rvgB.nextVector();
- final SensorPixel RealPixelA = new SensorPixel(line + vecRandomA[0], pixelA + vecRandomA[1]);
- final SensorPixel RealPixelB = new SensorPixel(sensorPixelB.getLineNumber() + vecRandomB[0],
+ final SensorPixel realPixelA = new SensorPixel(line + vecRandomA[0], pixelA + vecRandomA[1]);
+ final SensorPixel realPixelB = new SensorPixel(sensorPixelB.getLineNumber() + vecRandomB[0],
sensorPixelB.getPixelNumber() + vecRandomB[1]);
- final AbsoluteDate RealDateA = sensorA.getDate(RealPixelA.getLineNumber());
- final AbsoluteDate RealDateB = sensorB.getDate(RealPixelB.getLineNumber());
- final double[] distanceLOSB = ruggedB.distanceBetweenLOS(sensorA, RealDateA, RealPixelA.getPixelNumber(), scToBodyA,
- sensorB, RealDateB, RealPixelB.getPixelNumber());
+ final AbsoluteDate realDateA = sensorA.getDate(realPixelA.getLineNumber());
+ final AbsoluteDate realDateB = sensorB.getDate(realPixelB.getLineNumber());
+ final double[] distanceLOSB = ruggedB.distanceBetweenLOS(sensorA, realDateA, realPixelA.getPixelNumber(), scToBodyA,
+ sensorB, realDateB, realPixelB.getPixelNumber());
final Double losDistance = 0.0;
final Double earthDistance = distanceLOSB[1];
- interMapping.addMapping(RealPixelA, RealPixelB, losDistance, earthDistance);
+ interMapping.addMapping(realPixelA, realPixelB, losDistance, earthDistance);
- // increment the number of measurements
+ // Increment the number of measurements
this.measurementCount++;
}
}
diff --git a/src/tutorials/java/fr/cs/examples/refiningPleiades/models/OrbitModel.java b/src/tutorials/java/fr/cs/examples/refiningPleiades/models/OrbitModel.java
index c75ff025..fc9a3d23 100644
--- a/src/tutorials/java/fr/cs/examples/refiningPleiades/models/OrbitModel.java
+++ b/src/tutorials/java/fr/cs/examples/refiningPleiades/models/OrbitModel.java
@@ -66,7 +66,8 @@ import org.orekit.utils.AngularDerivativesFilter;
* </p>
* @author Jonathan Guinet
* @author Guylaine Prat
- * @since 2.0 */
+ * @since 2.0
+ */
public class OrbitModel {
--
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