Merge branch 'master'

ngageoint · Dec 14, 2022 · 2d5aed0 · 2d5aed0
2 parents 3ebe7d2 + 90ff35e
commit 2d5aed0
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Showing 2 changed files with 18 additions and 9 deletions.
diff --git a/externals/coda-oss/modules/c++/avx/include/avx/extractf.h b/externals/coda-oss/modules/c++/avx/include/avx/extractf.h
@@ -24,6 +24,11 @@
 #define CODA_OSS_avx_extractf_h_INCLUDED_
 #pragma once
 
+// Not supported on GCC < 7.1; see https://gcc.gnu.org/bugzilla/show_bug.cgi?id=80322 (also 80323-80325)
+#if ((__GNUC__) && (GCC_VERSION < 70100))
+#pragma warning Disabling CODA AVX m256 support due to gcc compiler bug.
+#else
+
 #include <config/compiler_extensions.h>
 
 #ifndef CODA_OSS_mm256_extractf_DEFINED_
@@ -54,4 +59,6 @@
 
 #endif
 
+#endif  // gcc version checking
+
 #endif  // CODA_OSS_avx_extractf_h_INCLUDED_
diff --git a/six/modules/c++/scene/source/ProjectionModel.cpp b/six/modules/c++/scene/source/ProjectionModel.cpp
@@ -459,22 +459,24 @@ math::linear::MatrixMxN<2, 2> ProjectionModel::slantToImagePartials(
             mTimeCOAPoly(imageGridPoint.row, imageGridPoint.col);
     const Vector3 rARP = mARPPoly(timeCOA);
     const Vector3 vARP = mARPVelPoly(timeCOA);
-    const Vector3 imageGridPointECEF = imageGridToECEF(imageGridPoint);
-    Vector3 slantRange = imageGridPointECEF - rARP;
+    Vector3 slantRange = mSCP - rARP;
     slantRange.normalize();
-    Vector3 slantNormal = math::linear::cross(slantRange, vARP);
+    Vector3 slantNormal = math::linear::cross(vARP, slantRange) * mLookDir;
     slantNormal.normalize();
     Vector3 slantAzimuth = math::linear::cross(slantNormal, slantRange);
     slantAzimuth.normalize();
+
+    // Second, map image grid point to the slant plane and compute finite differences
+    const Vector3 refPoint = imageToScene(imageGridPoint, mSCP, slantNormal);
     const types::RowCol<double> rangePerturb =
-            sceneToImage(imageGridPointECEF + delta * slantRange);
+            sceneToImage(refPoint + delta * slantRange);
     const types::RowCol<double> azimuthPerturb =
-            sceneToImage(imageGridPointECEF + delta * slantAzimuth);
+            sceneToImage(refPoint + delta * slantAzimuth);
     math::linear::MatrixMxN<2, 2> partials(0.0);
-    partials[0][0] = (imageGridPoint.row - rangePerturb.row) / delta;
-    partials[0][1] = (imageGridPoint.row - azimuthPerturb.row) / delta;
-    partials[1][0] = (imageGridPoint.col - rangePerturb.col) / delta;
-    partials[1][1] = (imageGridPoint.col - azimuthPerturb.col) / delta;
+    partials[0][0] = (rangePerturb.row - imageGridPoint.row) / delta;
+    partials[0][1] = (azimuthPerturb.row - imageGridPoint.row) / delta;
+    partials[1][0] = (rangePerturb.col - imageGridPoint.col) / delta;
+    partials[1][1] = (azimuthPerturb.col - imageGridPoint.col) / delta;
     return partials;
 }