void ossimSpectraboticsRedEdgeModel::imagingRay(const ossimDpt& image_point,
ossimEcefRay& image_ray) const
{
if(traceDebug())
{
ossimNotify(ossimNotifyLevel_DEBUG) << "ossimSpectraboticsRedEdgeModel::imagingRay: ..... entered" << std::endl;
}
ossimDpt film (image_point.x-m_calibratedCenter.x,
m_calibratedCenter.y - image_point.y); //- theRefImgPt);
// ossimDpt film (image_point-m_calibratedCenter); //- theRefImgPt);
if(m_lensDistortion.valid())
{
ossimDpt tempFilm(film.x/m_norm, film.y/m_norm);
ossimDpt filmOut;
m_lensDistortion->undistort(tempFilm, filmOut);
film.x = filmOut.x*m_norm;
film.y = filmOut.y*m_norm;
}
film.x *= m_pixelSize.x; // pixel size on the film
film.y *= m_pixelSize.y; // pixel size on the film
ossimColumnVector3d cam_ray_dir (film.x,
film.y,
-m_focalLength);
ossimEcefVector ecf_ray_dir (m_compositeMatrix*cam_ray_dir);
ecf_ray_dir = ecf_ray_dir*(1.0/ecf_ray_dir.magnitude());
image_ray.setOrigin(m_adjEcefPlatformPosition);
image_ray.setDirection(ecf_ray_dir);
}
void ossimBuckeyeSensor::imagingRay(const ossimDpt& image_point,
ossimEcefRay& image_ray) const
{
if(traceDebug()) ossimNotify(ossimNotifyLevel_DEBUG) << "ossimBuckeyeSensor::imagingRay: ..... entered" << std::endl;
ossimDpt f1 ((image_point) - theRefImgPt);
f1.x *= thePixelSize.x;
f1.y *= -thePixelSize.y;
ossimDpt film (f1 - thePrincipalPoint);
if(traceDebug())
{
ossimNotify(ossimNotifyLevel_DEBUG) << "pixel size = " << thePixelSize << std::endl;
ossimNotify(ossimNotifyLevel_DEBUG) << "principal pt = " << thePrincipalPoint << std::endl;
ossimNotify(ossimNotifyLevel_DEBUG) << "film pt = " << film << std::endl;
}
if (theLensDistortion.valid())
{
ossimDpt filmOut;
theLensDistortion->undistort(film, filmOut);
film = filmOut;
}
ossimColumnVector3d cam_ray_dir (film.x,
film.y,
-theFocalLength);
ossimEcefVector ecf_ray_dir (theCompositeMatrix*cam_ray_dir);
ecf_ray_dir = ecf_ray_dir*(1.0/ecf_ray_dir.magnitude());
image_ray.setOrigin(theAdjEcefPlatformPosition);
image_ray.setDirection(ecf_ray_dir);
if(traceDebug()) ossimNotify(ossimNotifyLevel_DEBUG) << "ossimBuckeyeSensor::imagingRay: ..... leaving" << std::endl;
}
void ossimPpjFrameSensor::imagingRay(const ossimDpt& imagePoint,
ossimEcefRay& imageRay) const
{
// Form camera frame LOS vector
ossimColumnVector3d camLOS(imagePoint.x - m_principalPoint.x,
imagePoint.y - m_principalPoint.y,
m_adjustedFocalLength);
// Rotate to ECF
ossimColumnVector3d ecfLOS = m_ecef2CamInverse * camLOS;
imageRay.setOrigin(m_adjustedCameraPosition);
ossimEcefVector ecfRayDir(ecfLOS);
imageRay.setDirection(ecfRayDir);
if (traceDebug())
{
ossimNotify(ossimNotifyLevel_DEBUG)
<< "ossimPpjFrameSensor::imagingRay DEBUG:\n"
<< " camLOS = " << camLOS << "\n"
<< " m_adjustedPlatformPosition = " << m_adjustedCameraPosition << "\n"
<< " imageRay = " << imageRay << "\n"
<< std::endl;
}
}
void ossimCsmSensorModel::imagingRay(const ossimDpt& image_point,
ossimEcefRay& image_ray) const
{
if(m_model)
{
double locus[6] = {0.0, 0.0, 0.0,
0.0, 0.0, 0.0};
double AP = 0.0;
m_model->imageToRemoteImagingLocus(image_point.y, image_point.x, locus, AP);
ossimEcefVector v(locus[3], locus[4], locus[5]);
image_ray.setOrigin(ossimEcefPoint(locus[0], locus[1], locus[2]));
image_ray.setDirection(v);
}
}
void ossimAlphaSensorHSI::imagingRay(const ossimDpt& imagePoint,
ossimEcefRay& imageRay) const
{
ossim_float64 line = imagePoint.y;
// Form camera frame LOS vector
ossim_float64 scanAngle = getScanAngle(line);
ossimColumnVector3d camLOS(imagePoint.x - theImageSize.x/2,
m_adjustedFocalLength * tan(scanAngle),
m_adjustedFocalLength);
// Compute camera position & orientation matrix
ossimEcefPoint platPos;
NEWMAT::Matrix cam2EcfRot;
getPositionOrientation(line, platPos, cam2EcfRot);
// Rotate camera vector to ECF
ossimColumnVector3d ecfLOS = cam2EcfRot * camLOS.unit();
// Construct ECF image ray
imageRay.setOrigin(platPos);
ossimEcefVector ecfRayDir(ecfLOS);
imageRay.setDirection(ecfRayDir);
if (traceDebug())
{
ossimNotify(ossimNotifyLevel_DEBUG)
<< "ossimAlphaSensorHSI::imagingRay DEBUG:\n"
<< " imagePoint = " << imagePoint << "\n"
<< " imageRay = " << imageRay << "\n"
<< " camLOS = " << camLOS << "\n"
<< " platPos = " << platPos << "\n"
<< std::endl;
}
}
