void ossimSpectraboticsRedEdgeModel::updateModel()
{
ossimGpt gpt;
ossimGpt wgs84Pt;
double metersPerDegree = wgs84Pt.metersPerDegree().x;
double degreePerMeter = 1.0/metersPerDegree;
double latShift = computeParameterOffset(1)*theMeanGSD*degreePerMeter;
double lonShift = computeParameterOffset(0)*theMeanGSD*degreePerMeter;
gpt = m_ecefPlatformPosition;
double height = gpt.height();
gpt.height(height + computeParameterOffset(5));
gpt.latd(gpt.latd() + latShift);
gpt.lond(gpt.lond() + lonShift);
m_adjEcefPlatformPosition = gpt;
ossimLsrSpace lsrSpace(m_adjEcefPlatformPosition);
NEWMAT::Matrix heading = ossimMatrix4x4::createRotationZMatrix(m_heading+computeParameterOffset(4), OSSIM_RIGHT_HANDED);
NEWMAT::Matrix roll = ossimMatrix4x4::createRotationYMatrix(m_roll+computeParameterOffset(2), OSSIM_RIGHT_HANDED);
NEWMAT::Matrix pitch = ossimMatrix4x4::createRotationXMatrix(m_pitch+computeParameterOffset(3), OSSIM_LEFT_HANDED);
ossimMatrix4x4 lsrMatrix(lsrSpace.lsrToEcefRotMatrix());
NEWMAT::Matrix orientation = heading*pitch*roll;//roll*pitch*heading;
m_compositeMatrix = (lsrMatrix.getData()*orientation);
m_compositeMatrixInverse = m_compositeMatrix.i();
theBoundGndPolygon.resize(4);
// ossim_float64 w = theImageClipRect.width()*2.0;
// ossim_float64 h = theImageClipRect.height()*2.0;
theExtrapolateImageFlag = false;
theExtrapolateGroundFlag = false;
lineSampleToWorld(theImageClipRect.ul(),gpt);//+ossimDpt(-w, -h), gpt);
theBoundGndPolygon[0] = gpt;
lineSampleToWorld(theImageClipRect.ur(),gpt);//+ossimDpt(w, -h), gpt);
theBoundGndPolygon[1] = gpt;
lineSampleToWorld(theImageClipRect.lr(),gpt);//+ossimDpt(w, h), gpt);
theBoundGndPolygon[2] = gpt;
lineSampleToWorld(theImageClipRect.ll(),gpt);//+ossimDpt(-w, h), gpt);
theBoundGndPolygon[3] = gpt;
}
void ossimBuckeyeSensor::updateModel()
{
if (traceDebug()) ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimBuckeyeSensor::updateModel: entering..." << std::endl;
ossimGpt gpt;
ossimGpt wgs84Pt;
double metersPerDegree = wgs84Pt.metersPerDegree().x;
double degreePerMeter = 1.0/metersPerDegree;
double latShift = -computeParameterOffset(1)*degreePerMeter;
double lonShift = computeParameterOffset(0)*degreePerMeter;
gpt = theEcefPlatformPosition;
double height = gpt.height();
gpt.height(height + computeParameterOffset(5));
gpt.latd(gpt.latd() + latShift);
gpt.lond(gpt.lond() + lonShift);
theAdjEcefPlatformPosition = gpt;
ossimLsrSpace lsrSpace(theAdjEcefPlatformPosition, theHeading+computeParameterOffset(4));
// make a left handed roational matrix;
ossimMatrix4x4 lsrMatrix(lsrSpace.lsrToEcefRotMatrix());
NEWMAT::Matrix orientation = (ossimMatrix4x4::createRotationXMatrix(thePitch+computeParameterOffset(3), OSSIM_LEFT_HANDED)*
ossimMatrix4x4::createRotationYMatrix(theRoll+computeParameterOffset(2), OSSIM_LEFT_HANDED));
theCompositeMatrix = (lsrMatrix.getData()*orientation);
theCompositeMatrixInverse = theCompositeMatrix.i();
theBoundGndPolygon.resize(4);
// ossim_float64 w = theImageClipRect.width()*2.0;
// ossim_float64 h = theImageClipRect.height()*2.0;
theExtrapolateImageFlag = false;
theExtrapolateGroundFlag = false;
lineSampleToWorld(theImageClipRect.ul(),gpt);//+ossimDpt(-w, -h), gpt);
theBoundGndPolygon[0] = gpt;
lineSampleToWorld(theImageClipRect.ur(),gpt);//+ossimDpt(w, -h), gpt);
theBoundGndPolygon[1] = gpt;
lineSampleToWorld(theImageClipRect.lr(),gpt);//+ossimDpt(w, h), gpt);
theBoundGndPolygon[2] = gpt;
lineSampleToWorld(theImageClipRect.ll(),gpt);//+ossimDpt(-w, h), gpt);
theBoundGndPolygon[3] = gpt;
if (traceDebug()) ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimBuckeyeSensor::updateModel: returning..." << std::endl;
}
void rspfBuckeyeSensor::updateModel()
{
rspfGpt gpt;
rspfGpt wgs84Pt;
double metersPerDegree = wgs84Pt.metersPerDegree().y;
double degreePerMeter = 1.0/metersPerDegree;
double latShift = computeParameterOffset(1)*degreePerMeter;
double lonShift = computeParameterOffset(0)*degreePerMeter;
gpt = m_platformPosition;
double height = gpt.height();
gpt.height(height + computeParameterOffset(5));
gpt.latd(gpt.latd() + latShift);
gpt.lond(gpt.lond() + lonShift);
m_ecefPlatformPosition = gpt;
rspfLsrSpace lsrSpace(m_ecefPlatformPosition, m_yaw+computeParameterOffset(4));
NEWMAT::Matrix platformLsrMatrix = lsrSpace.lsrToEcefRotMatrix();
NEWMAT::Matrix orientationMatrix = (
rspfMatrix3x3::createRotationXMatrix(m_pitch+computeParameterOffset(3), RSPF_LEFT_HANDED)
*rspfMatrix3x3::createRotationYMatrix(m_roll+computeParameterOffset(2), RSPF_LEFT_HANDED)
);
m_compositeMatrix = platformLsrMatrix*orientationMatrix;
m_compositeMatrixInverse = m_compositeMatrix.i();
theBoundGndPolygon.resize(4);
rspf_float64 w = theImageClipRect.width()*2.0;
rspf_float64 h = theImageClipRect.height()*2.0;
lineSampleToWorld(theImageClipRect.ul()+rspfDpt(-w, -h), gpt);
theBoundGndPolygon[0] = gpt;
lineSampleToWorld(theImageClipRect.ur()+rspfDpt(w, -h), gpt);
theBoundGndPolygon[1] = gpt;
lineSampleToWorld(theImageClipRect.lr()+rspfDpt(w, h), gpt);
theBoundGndPolygon[2] = gpt;
lineSampleToWorld(theImageClipRect.ll()+rspfDpt(-w, h), gpt);
theBoundGndPolygon[3] = gpt;
lineSampleToWorld(theRefImgPt, theRefGndPt);
}
void rspfApplanixEcefModel::updateModel()
{
rspfGpt gpt;
rspfGpt wgs84Pt;
double metersPerDegree = wgs84Pt.metersPerDegree().x;
double degreePerMeter = 1.0/metersPerDegree;
double latShift = -computeParameterOffset(1)*theMeanGSD*degreePerMeter;
double lonShift = computeParameterOffset(0)*theMeanGSD*degreePerMeter;
gpt = theEcefPlatformPosition;
double height = gpt.height();
gpt.height(height + computeParameterOffset(5));
gpt.latd(gpt.latd() + latShift);
gpt.lond(gpt.lond() + lonShift);
theAdjEcefPlatformPosition = gpt;
rspfLsrSpace lsrSpace(theAdjEcefPlatformPosition, theHeading+computeParameterOffset(4));
// make a left handed roational matrix;
rspfMatrix4x4 lsrMatrix(lsrSpace.lsrToEcefRotMatrix());
NEWMAT::Matrix orientation = (rspfMatrix4x4::createRotationXMatrix(thePitch+computeParameterOffset(3), RSPF_LEFT_HANDED)*
rspfMatrix4x4::createRotationYMatrix(theRoll+computeParameterOffset(2), RSPF_LEFT_HANDED));
theCompositeMatrix = (lsrMatrix.getData()*orientation);
theCompositeMatrixInverse = theCompositeMatrix.i();
theBoundGndPolygon.resize(4);
// rspf_float64 w = theImageClipRect.width()*2.0;
// rspf_float64 h = theImageClipRect.height()*2.0;
theExtrapolateImageFlag = false;
theExtrapolateGroundFlag = false;
lineSampleToWorld(theImageClipRect.ul(),gpt);//+rspfDpt(-w, -h), gpt);
theBoundGndPolygon[0] = gpt;
lineSampleToWorld(theImageClipRect.ur(),gpt);//+rspfDpt(w, -h), gpt);
theBoundGndPolygon[1] = gpt;
lineSampleToWorld(theImageClipRect.lr(),gpt);//+rspfDpt(w, h), gpt);
theBoundGndPolygon[2] = gpt;
lineSampleToWorld(theImageClipRect.ll(),gpt);//+rspfDpt(-w, h), gpt);
theBoundGndPolygon[3] = gpt;
}
void ossimApplanixUtmModel::updateModel()
{
ossimGpt wgs84Pt;
double metersPerDegree = wgs84Pt.metersPerDegree().x;
double degreePerMeter = 1.0/metersPerDegree;
double latShift = -computeParameterOffset(1)*theMeanGSD*degreePerMeter;
double lonShift = computeParameterOffset(0)*theMeanGSD*degreePerMeter;
ossimGpt gpt = thePlatformPosition;
// gpt.height(0.0);
double height = gpt.height();
gpt.height(height + computeParameterOffset(5));
gpt.latd(gpt.latd() + latShift);
gpt.lond(gpt.lond() + lonShift);
theAdjEcefPlatformPosition = gpt;
ossimLsrSpace lsrSpace(theAdjEcefPlatformPosition);
// ORIENT TO A UTM AXIS
//
NEWMAT::ColumnVector v(3);
v[0] = 0.0;
v[1] = 0.0;
v[2] = 1.0;
NEWMAT::ColumnVector v2 = lsrSpace.lsrToEcefRotMatrix()*v;
ossimEcefVector zVector(v2[0], v2[1], v2[2]);
zVector.normalize();
// now lets create a UTM axis by creating a derivative at the center
// by shift over a few pixels and subtracting
//
ossimUtmProjection utmProj;
utmProj.setZone(theUtmZone);
utmProj.setZone(theUtmHemisphere);
utmProj.setMetersPerPixel(ossimDpt(1.0,1.0));
ossimDpt midPt = utmProj.forward(theAdjEcefPlatformPosition);
ossimDpt rPt = midPt + ossimDpt(10, 0.0);
ossimDpt uPt = midPt + ossimDpt(0.0, 10.0);
ossimGpt wMidPt = utmProj.inverse(midPt);
ossimGpt wRPt = utmProj.inverse(rPt);
ossimGpt wUPt = utmProj.inverse(uPt);
ossimEcefPoint ecefMidPt = wMidPt;
ossimEcefPoint ecefRPt = wRPt;
ossimEcefPoint ecefUPt = wUPt;
ossimEcefVector east = ecefRPt-ecefMidPt;
ossimEcefVector north = ecefUPt-ecefMidPt;
east.normalize();
north.normalize();
// now use the lsr space constructors to construct an orthogonal set of axes
//
lsrSpace = ossimLsrSpace(thePlatformPosition,
0,
north,
east.cross(north));
// lsrSpace = ossimLsrSpace(thePlatformPosition);
// DONE ORIENT TO UTM AXIS
NEWMAT::Matrix platformLsrMatrix = lsrSpace.lsrToEcefRotMatrix();
NEWMAT::Matrix orientationMatrix = (ossimMatrix3x3::createRotationXMatrix(theOmega+computeParameterOffset(2), OSSIM_LEFT_HANDED)*
ossimMatrix3x3::createRotationYMatrix(thePhi+computeParameterOffset(3), OSSIM_LEFT_HANDED)*
ossimMatrix3x3::createRotationZMatrix(theKappa+computeParameterOffset(4), OSSIM_LEFT_HANDED));
theCompositeMatrix = platformLsrMatrix*orientationMatrix;
theCompositeMatrixInverse = theCompositeMatrix.i();
// theAdjEcefPlatformPosition = theEcefPlatformPosition;
theBoundGndPolygon.resize(4);
ossim_float64 w = theImageClipRect.width()*2.0;
ossim_float64 h = theImageClipRect.height()*2.0;
lineSampleToWorld(theImageClipRect.ul()+ossimDpt(-w, -h), gpt);
theBoundGndPolygon[0] = gpt;
lineSampleToWorld(theImageClipRect.ur()+ossimDpt(w, -h), gpt);
theBoundGndPolygon[1] = gpt;
lineSampleToWorld(theImageClipRect.lr()+ossimDpt(w, h), gpt);
theBoundGndPolygon[2] = gpt;
lineSampleToWorld(theImageClipRect.ll()+ossimDpt(-w, h), gpt);
theBoundGndPolygon[3] = gpt;
}
