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Hayabusa2 fy19 (DOI-USGS#693)
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* Preliminary camera model changes and faked distortion for Hayabusa 2

* Delete trackingAndVirtualLabels.pvl

* Modified model to use alpha cube, new distortion map, and not use a distortion when using L2c or L2d images

* Updated unittest after putting boresight into iak
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@scsides @acpaquette
scsides authored and acpaquette committed Apr 6, 2021
1 parent 2c33721 commit e3016f1
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Showing 5 changed files with 71 additions and 76 deletions.
2 changes: 1 addition & 1 deletion isis/src/hayabusa2/objs/Hyb2OncCamera/Hyb2OncCamera.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -103,7 +103,7 @@ namespace Isis {

// Setup distortion map (use default for now)
// Level L2a and L2b images have not been corrected for optical distortion (false)
// Level L2d and up images have been corrected for optical distortion (true)
// Level L2c and L2d images have been corrected for optical distortion (true)
// Create an appropriate DistortionMap based on the processing level IDed in the ingestion app
if ((!inst.hasKeyword("DistortionCorrection")) ||
(inst.hasKeyword("DistortionCorrection") && toBool(inst["DistortionCorrection"]) == false)) {
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90 changes: 45 additions & 45 deletions isis/src/hayabusa2/objs/Hyb2OncCamera/Hyb2OncCamera.truth
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Expand Up @@ -2,7 +2,7 @@ Unit Test for Hyb2OncCamera...

----------------------------------------------
Test for Telecopic Camera...
FileName: "hyb2_onc_20151204_041012_tbf_l2a.fit.cub"
FileName: "hyb2_onc_20151204_041012_tbf_l2a.cub"
CK Frame: -37100

Kernel IDs:
Expand All @@ -19,32 +19,32 @@ Instrument Name Short: "ONC-T"
Shutter open = "502474280.7291458"
Shutter close = "502474280.7291541"

For upper left corner ...
DeltaSample = -522.936
DeltaLine = -489.534
For upper left of target ...
Delta Sample less than 0.001
Delta Line less than 0.001

For upper right corner ...
DeltaSample = 500.132
DeltaLine = -489.531
For upper right of target ...
Delta Sample less than 0.001
Delta Line less than 0.001

For lower left corner ...
DeltaSample = -522.943
DeltaLine = 533.544
For lower left of target ...
Delta Sample less than 0.001
Delta Line less than 0.001

For lower right corner ...
DeltaSample = 500.138
DeltaLine = 533.54
For lower right of target ...
Delta Sample less than 0.001
Delta Line less than 0.001

For center pixel position ...
Latitude OK
Longitude OK
DeltaSample = -11.9
DeltaLine = 21.5
Delta Sample less than 0.001
Delta Line less than 0.001


----------------------------------------------
Test for W1 Camera...
FileName: "hyb2_onc_20151204_045429_w1f_l2a.fit_crop.cub"
FileName: "hyb2_onc_20151204_045429_w1f_l2a_crop.cub"
CK Frame: -37110

Kernel IDs:
Expand All @@ -61,32 +61,32 @@ Instrument Name Short: "ONC-W1"
Shutter open = "502476937.6921466"
Shutter close = "502476937.6921548"

For upper left corner ...
DeltaSample = No Intersection
DeltaLine = No Intersection
For upper left of target ...
Delta Sample less than 0.001
Delta Line less than 0.001

For upper right corner ...
DeltaSample = No Intersection
DeltaLine = No Intersection
For upper right of target ...
Delta Sample less than 0.001
Delta Line less than 0.001

For lower left corner ...
DeltaSample = No Intersection
DeltaLine = No Intersection
For lower left of target ...
Delta Sample less than 0.001
Delta Line less than 0.001

For lower right corner ...
DeltaSample = No Intersection
DeltaLine = No Intersection
For lower right of target ...
Delta Sample less than 0.001
Delta Line less than 0.001

For center pixel position ...
Latitude OK
Longitude OK
DeltaSample = 0.804601
DeltaLine = 0.683101
Delta Sample less than 0.001
Delta Line less than 0.001


----------------------------------------------
Test for W2 Camera...
FileName: "hyb2_onc_20151203_072958_w2f_l2a.fit_crop.cub"
FileName: "hyb2_onc_20151203_072958_w2f_l2a_crop.cub"
CK Frame: -37120

Kernel IDs:
Expand All @@ -103,25 +103,25 @@ Instrument Name Short: "ONC-W2"
Shutter open = "502399866.4151246"
Shutter close = "502399866.4151273"

For upper left corner ...
DeltaSample = No Intersection
DeltaLine = No Intersection
For upper left of target ...
Delta Sample less than 0.001
Delta Line less than 0.001

For upper right corner ...
DeltaSample = No Intersection
DeltaLine = No Intersection
For upper right of target ...
Delta Sample less than 0.001
Delta Line less than 0.001

For lower left corner ...
DeltaSample = No Intersection
DeltaLine = No Intersection
For lower left of target ...
Delta Sample less than 0.001
Delta Line less than 0.001

For lower right corner ...
DeltaSample = No Intersection
DeltaLine = No Intersection
For lower right of target ...
Delta Sample less than 0.001
Delta Line less than 0.001

For center pixel position ...
Latitude OK
Longitude OK
DeltaSample = 1.87917
DeltaLine = -3.92022
Delta Sample less than 0.001
Delta Line less than 0.001

12 changes: 6 additions & 6 deletions isis/src/hayabusa2/objs/Hyb2OncCamera/Hyb2OncDistortionMap.cpp
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Expand Up @@ -118,11 +118,11 @@ namespace Isis {
p_undistortedFocalPlaneY = uy;

// TEMP GET IT COMPILING REMOVE BEFORE REAL WORK
if (1 == 1) {
p_focalPlaneX = ux;
p_focalPlaneY = uy;
return true;
}
// if (1 == 1) {
// p_focalPlaneX = ux;
// p_focalPlaneY = uy;
// return true;
// }

double xt = ux;
double yt = uy;
Expand Down Expand Up @@ -150,7 +150,7 @@ namespace Isis {

// Radial distortion
// dr is the radial distortion contribution
dr = p_odk[0] + p_odk[1] * rr + p_odk[2] * rrrr;
dr = (p_odk[0]-1.0) + p_odk[1] * rr + p_odk[2] * rrrr;

// Distortion at the current point location
xdistortion = xt * dr;
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1 change: 1 addition & 0 deletions isis/src/hayabusa2/objs/Hyb2OncCamera/Hyb2OncDistortionMap.h
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Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,7 @@ namespace Isis {
* @history 2018-12-11 Stuart Sides - Loop in
* SetUndistortedFocalPlane was not being exicuted.
* Modified to use both itteration and convergence.
* NOTE: A new iak was installed at the same time.
*
*/
class Hyb2OncDistortionMap : public CameraDistortionMap {
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42 changes: 18 additions & 24 deletions isis/src/hayabusa2/objs/Hyb2OncCamera/unitTest.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -61,33 +61,26 @@ int main(void) {
qDebug() << "";
qDebug() << "----------------------------------------------";
qDebug() << "Test for Telecopic Camera...";
double knownLat = -47.23506367622795;
double knownLon = 45.06713880290044;
Cube c("$hayabusa2/testData/hyb2_onc_20151204_041012_tbf_l2a.fit.cub", "r");
testCamera(c, knownLat, knownLon,
512.5, 512.5, 602.0, 334.0, 378.0, 557.0, 594.0, 580.0);
// 362.0, 352.0, 602.0, 334.0, 378.0, 557.0, 594.0, 580.0);
double knownLat = -39.18374913423203;
double knownLon = 48.06875707620756;
Cube c("$hayabusa2/testData/hyb2_onc_20151204_041012_tbf_l2a.cub", "r");
testCamera(c, knownLat, knownLon, 357.0, 359.0, 602.0, 334.0, 378.0, 557.0, 594.0, 580.0);

qDebug() << "";
qDebug() << "----------------------------------------------";
qDebug() << "Test for W1 Camera...";
knownLat = -50.66777190122887;
knownLon = 97.68522302461859;
Cube w1("$hayabusa2/testData/hyb2_onc_20151204_045429_w1f_l2a.fit_crop.cub", "r");
testCamera(w1, knownLat, knownLon,
21.0, 20.0, 31.0, 11.0, 16.0, 29.0, 32.0, 28.0);
// 16.0, 14.0, 31.0, 11.0, 16.0, 29.0, 32.0, 28.0);
knownLat = -54.25951996619505;
knownLon = 67.72017401996563;
Cube w1("$hayabusa2/testData/hyb2_onc_20151204_045429_w1f_l2a_crop.cub", "r");
testCamera(w1, knownLat, knownLon, 21.0, 20.0, 31.0, 11.0, 16.0, 29.0, 32.0, 28.0);

qDebug() << "";
qDebug() << "----------------------------------------------";
qDebug() << "Test for W2 Camera...";
// knownLat = 4.676892803564044;
// knownLon = -12.46121470106279;
knownLat = 30.06610722049293;
knownLon = 78.40416492096558;
Cube w2("$hayabusa2/testData/hyb2_onc_20151203_072958_w2f_l2a.fit_crop.cub", "r");
testCamera(w2, knownLat, knownLon,
51.0, 42.0, 173.0, 21.0, 54.0, 149.0, 174.0, 155.0);
knownLat = 29.68691258558313;
knownLon = 78.57599766268363;
Cube w2("$hayabusa2/testData/hyb2_onc_20151203_072958_w2f_l2a_crop.cub", "r");
testCamera(w2, knownLat, knownLon, 51.0, 42.0, 173.0, 21.0, 54.0, 149.0, 174.0, 155.0);

}
catch (IException &e) {
Expand All @@ -97,7 +90,8 @@ int main(void) {
}


void testCamera(Cube &c, double knownLat, double knownLon,
void testCamera(Cube &c,
double knownLat, double knownLon,
double s1, double l1,
double s2, double l2,
double s3, double l3,
Expand Down Expand Up @@ -134,16 +128,16 @@ void testCamera(Cube &c, double knownLat, double knownLon,
qDebug() << "";

// Test all four corners to make sure the conversions are right
qDebug() << "For upper left corner ...";
qDebug() << "For upper left of target ...";
testLineSamp(cam, s1, l1);

qDebug() << "For upper right corner ...";
qDebug() << "For upper right of target ...";
testLineSamp(cam, s2, l2);

qDebug() << "For lower left corner ...";
qDebug() << "For lower left of target ...";
testLineSamp(cam, s3, l3);

qDebug() << "For lower right corner ...";
qDebug() << "For lower right of target ...";
testLineSamp(cam, s4, l4);

qDebug() << "For center pixel position ...";
Expand Down

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