void grab_content(const char* file_name, std::iostream& in) {
parser p(file_name);
interpreter_DAG ipt(p.get_problem_representation(), in);
if (!in.good())
error("unexpected error");
}
int main(int argc, char* argv[])
{
ossimInit::instance()->initialize(argc, argv);
ossimString tempString;
ossimString tempString2;
osg::ArgumentParser::Parameter stringParam(tempString);
osg::ArgumentParser::Parameter stringParam2(tempString2);
osg::ArgumentParser arguments(&argc,argv);
arguments.getApplicationUsage()->addCommandLineOption("--video",
"specify the input video to process");
arguments.getApplicationUsage()->addCommandLineOption("--animation-path-out",
"specify the filename to output the animation path to");
arguments.getApplicationUsage()->addCommandLineOption("--test-sensor-projection",
"Test sensor projection from KlvInfo");
unsigned int helpType = 0;
if ((helpType = arguments.readHelpType()))
{
arguments.getApplicationUsage()->write(std::cout, helpType);
return 1;
}
while(arguments.read("--video", stringParam))
{
if(arguments.read("--test-sensor-projection"))
{
ossimRefPtr<ossimPredatorUavProjection> proj = new ossimPredatorUavProjection;
ossimRefPtr<ossimPredatorVideo> predatorVideo = new ossimPredatorVideo();
if(predatorVideo->open(ossimFilename(tempString)))
{
ossim_uint32 imageWidth = predatorVideo->imageWidth();
ossim_uint32 imageHeight = predatorVideo->imageHeight();
ossimRefPtr<ossimPredatorVideo::KlvInfo> klvinfo;
ossim_float64 prevTime = -1.0;
while(( klvinfo = predatorVideo->nextKlv()).valid())
{
ossim_float64 lat,lon,elev;
ossim_float32 hfov;
ossim_float32 vfov;
ossim_float32 h,p,r;
ossim_float32 obliquityAngle;
ossim_float32 angleToNorth;
ossim_float32 slantRange;
ossim_float32 sensorRoll = 0.0;
klvinfo->table()->print(std::cout) << std::endl;
if(klvinfo->table()->getSensorPosition(lat, lon, elev)&&
klvinfo->table()->getPlatformOrientation(h,p,r))
{
if(!klvinfo->table()->getObliquityAngle(obliquityAngle))
{
obliquityAngle = 0.0;
}
if(!klvinfo->table()->getSlantRange(slantRange))
{
slantRange = 1.0;
}
bool gotHfov = true;
if(!klvinfo->table()->getHorizontalFieldOfView(hfov))
{
hfov = 1.0;
gotHfov = false;
}
if(!klvinfo->table()->getVerticalFieldOfView(vfov))
{
vfov = hfov;
}
else if(!gotHfov)
{
hfov = vfov;
}
klvinfo->table()->getSensorRollAngle(sensorRoll);
if(!klvinfo->table()->getAngleToNorth(angleToNorth))
{
angleToNorth = 0.0;
}
ossim_float64 value = ossimGeoidManager::instance()->offsetFromEllipsoid(ossimGpt(lat, lon, elev));
if(!ossim::isnan(value))
{
elev += value;
}
proj->setParameters(imageWidth,
imageHeight,
ossimGpt(lat, lon, elev),
ossimGpt(),
h, p, sensorRoll,
hfov,
vfov,
obliquityAngle,
angleToNorth,
0.0,
0.0);
ossimDpt ipt(imageWidth*.5, imageHeight*.5);
ossimGpt centerProj;
ossimGpt ul;
ossimGpt ur;
ossimGpt lr;
ossimGpt ll;
proj->lineSampleToWorld(ipt, centerProj);
proj->lineSampleToWorld(ossimDpt(0,0), ul);
proj->lineSampleToWorld(ossimDpt(imageWidth,0), ur);
proj->lineSampleToWorld(ossimDpt(imageWidth,imageHeight), lr);
proj->lineSampleToWorld(ossimDpt(imageHeight,0), ll);
std::cout << std::setprecision(15);
std::cout << "position = " << ossimGpt(lat, lon, elev) << std::endl;
std::cout << "centerGpt = " << centerProj << std::endl;
std::cout << "ul = " << ul << std::endl;
std::cout << "ur = " << ur << std::endl;
std::cout << "lr = " << lr << std::endl;
std::cout << "ll = " << ll << std::endl;
// std::cout << "angle to north = " << angleToNorth << std::endl;
// std::cout << "ObliquityAngle = " << obliquityAngle << std::endl;
// std::cout << "hpr = " << h << ", " << p << ", " << r << std::endl;
// std::cout << "Platform = " << ossimGpt(lat, lon, elev) << std::endl;
// std::cout << "World point = " << centerProj << std::endl;
if(klvinfo->table()->getFrameCenter(lat, lon, elev))
{
std::cout << "Center frame = " << ossimGpt(lat, lon, elev) << std::endl;
}
}
}
}
}
if(arguments.read("--animation-path-out", stringParam2))
{
std::ofstream out(tempString2.c_str());
if(out.good())
{
out << "<?xml version=\"1.0\" encoding=\"UTF-8\"?>";
out << "<AnimationPath>";
out << "<GeospatialPath timeUnit='seconds' positionType='latlonhgt' orientationType='lsrhpr'>";
out << "<description>Cool path</description>";
out << "<coordinates>";
ossimRefPtr<ossimPredatorVideo> predatorVideo = new ossimPredatorVideo();
if(predatorVideo->open(ossimFilename(tempString)))
{
ossim_float32 srange;
ossimRefPtr<ossimPredatorVideo::KlvInfo> klvinfo;
ossim_float64 prevTime = -1.0;
while(( klvinfo = predatorVideo->nextKlv()).valid())
{
klvinfo->table()->getSlantRange(srange);
//std::cout << "range === " << srange << std::endl;
if(!ossim::almostEqual(klvinfo->time(), prevTime, 1e-10))
{
prevTime = klvinfo->time();
ossimString sensorLat, sensorLon, sensorAlt, h,p,r;
if(klvinfo->table()->valueAsString(sensorLat, KLV_KEY_SENSOR_LATITUDE)&&
klvinfo->table()->valueAsString(sensorLon, KLV_KEY_SENSOR_LONGITUDE)&&
klvinfo->table()->valueAsString(sensorAlt, KLV_KEY_SENSOR_TRUE_ALTITUDE))
{
klvinfo->table()->valueAsString(h,KLV_KEY_PLATFORM_HEADING_ANGLE);
klvinfo->table()->valueAsString(p,KLV_KEY_PLATFORM_PITCH_ANGLE);
klvinfo->table()->valueAsString(r,KLV_KEY_PLATFORM_ROLL_ANGLE);
double headingAdjust = h.toDouble();
if(headingAdjust > 180.0) headingAdjust -= 360.0;
out << klvinfo->time() << ","
<< sensorLat <<"," << sensorLon << "," <<sensorAlt.toDouble()*0.304801 << ","
<< headingAdjust << "," << p.toDouble() << "," << r.toDouble() <<std::endl;
}
}
}
}
out << "</coordinates></GeospatialPath></AnimationPath>";
}
}
}
}
void RadialProcessor::doRadial(ossimViewshedUtil* vsUtil,
ossim_uint32 sector,
ossim_uint32 radial)
{
double v;
ossimDpt pt_i;
double elev_i, elev;
double r2_max = vsUtil->m_halfWindow*vsUtil->m_halfWindow;
// Walk along the radial using the appropriate coordinate abscissa for that sector and
// compute ordinate using the radials azimuth:
for (double u=1.0; u <= (double) vsUtil->m_halfWindow; u += 1.0)
{
// Compute ordinate from abscissa and slope of this radial:
v = vsUtil->m_radials[sector][radial].azimuth*(u);
switch (sector)
{
case 0: // N-NE, (u, v) = (-y, x)
pt_i.y = -u;
pt_i.x = v;
break;
case 1: // NE-E, (u, v) = (x, -y)
pt_i.x = u;
pt_i.y = -v;
break;
case 2: // E-SE, (u, v) = (x, y)
pt_i.x = u;
pt_i.y = v;
break;
case 3: // SE-S, (u, v) = (y, x)
pt_i.y = u;
pt_i.x = v;
break;
case 4: // S-SW, (u, v) = (y, -x)
pt_i.y = u;
pt_i.x = -v;
break;
case 5: // SW-W, (u, v) = (-x, y)
pt_i.x = -u;
pt_i.y = v;
break;
case 6: // W-NW, (u, v) = (-x, -y)
pt_i.x = -u;
pt_i.y = -v;
break;
case 7: // NW-N, (u, v) = (-y, -x)
pt_i.y = -u;
pt_i.x = -v;
break;
default:
break;
}
ossimIpt ipt (ossim::round<ossim_int32,double>(pt_i.x),
ossim::round<ossim_int32,double>(pt_i.y));
// Check if we passed beyong the visibilty radius, and exit loop if so:
if ((vsUtil->m_visRadius > 0) && ((u*u + v*v) >= r2_max))
{
OpenThreads::ScopedWriteLock lock (m_bufMutex);
vsUtil->m_outBuffer->setValue(ipt.x, ipt.y, vsUtil->m_observerValue);
break;
}
// Fetch the pixel value as the elevation value and compute elevation angle from
// the observer pt as dz/dx
ossimGpt gpt_i;
vsUtil->m_geometry->localToWorld(pt_i, gpt_i);
if (vsUtil->m_simulation && ossim::isnan(gpt_i.hgt))
gpt_i.hgt = vsUtil->m_observerGpt.hgt-vsUtil->m_obsHgtAbvTer; // ground level
else if (!gpt_i.hasNans())
{
// Compare elev angle to max angle latched so far along this radial:
elev_i = (gpt_i.hgt - vsUtil->m_observerGpt.hgt) / u;
elev = vsUtil->m_radials[sector][radial].elevation;
if (elev_i > elev)
{
// point is visible, latch this line-of-sight as the new max elevation angle for this
// radial, and mark the output pixel as visible:
// m_outBuffer->setValue(ossim::round<ossim_int32,double>(pt_i.x),
// ossim::round<ossim_int32,double>(pt_i.y), m_visibleValue);
//OpenThreads::ScopedWriteLock lock (m_radMutex);
vsUtil->m_radials[sector][radial].elevation = elev_i;
}
else
{
OpenThreads::ScopedWriteLock lock (m_bufMutex);
vsUtil->m_outBuffer->setValue(ipt.x, ipt.y, vsUtil->m_hiddenValue);
}
}
} // end loop over radial's abscissas
}