void ossimPpjFrameSensor::updateModel()
{
if (traceDebug())
{
ossimNotify(ossimNotifyLevel_DEBUG)
<< "ossimPpjFrameSensor::updateModel DEBUG:" << std::endl;
}
double deltap = computeParameterOffset(PARAM_ADJ_LAT_OFFSET)/
m_cameraPositionEllipsoid.metersPerDegree().y;
double deltal = computeParameterOffset(PARAM_ADJ_LON_OFFSET)/
m_cameraPositionEllipsoid.metersPerDegree().x;
m_adjustedCameraPosition = ossimGpt(m_cameraPositionEllipsoid.latd() + deltap,
m_cameraPositionEllipsoid.lond() + deltal,
m_cameraPositionEllipsoid.height() + computeParameterOffset(PARAM_ADJ_ALTITUDE_OFFSET));
// TODO Need to add correction matrix to accommodate orientation offsets. It
// shouldn't be done in ECF frame.
// double r = ossim::degreesToRadians(m_roll + computeParameterOffset(PARAM_ADJ_ROLL_OFFSET));
// double p = ossim::degreesToRadians(m_pitch + computeParameterOffset(PARAM_ADJ_PITCH_OFFSET) );
// double y = ossim::degreesToRadians(m_yaw + computeParameterOffset(PARAM_ADJ_YAW_OFFSET));
// NEWMAT::Matrix rollM = ossimMatrix3x3::create(1, 0, 0,
// 0, cos(r), sin(r),
// 0, -sin(r), cos(r));
// NEWMAT::Matrix pitchM = ossimMatrix3x3::create(cos(p), 0, -sin(p),
// 0, 1, 0,
// sin(p), 0, cos(p));
// NEWMAT::Matrix yawM = ossimMatrix3x3::create(cos(y), sin(y), 0,
// -sin(y), cos(y), 0,
// 0,0,1);
m_adjustedFocalLength = m_focalLength + computeParameterOffset(PARAM_ADJ_FOCAL_LENGTH_OFFSET);
try
{
computeGsd();
}
catch(...)
{
}
if (traceDebug())
{
ossimNotify(ossimNotifyLevel_DEBUG)
<< "ossimPpjFrameSensor::updateModel complete..." << std::endl;
}
/*
ossimGpt gpt;
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;
*/
}
rspfRefPtr<rspfProperty> rspfSFIMFusion::getProperty(const rspfString& name)const
{
if(name == "low_pass_kernel_width")
{
rspfNumericProperty* prop = new rspfNumericProperty(name,
rspfString::toString(computeParameterOffset(LOW_PASS_WIDTH_OFFSET)),
getParameterCenter(LOW_PASS_WIDTH_OFFSET)-getParameterSigma(LOW_PASS_WIDTH_OFFSET),
getParameterCenter(LOW_PASS_WIDTH_OFFSET)+getParameterSigma(LOW_PASS_WIDTH_OFFSET));
prop->setCacheRefreshBit();
return prop;
}
else if(name == "high_pass_gain")
{
rspfNumericProperty* prop = new rspfNumericProperty(name,
rspfString::toString(computeParameterOffset(HIGH_PASS_GAIN_OFFSET)),
getParameterCenter(HIGH_PASS_GAIN_OFFSET)-getParameterSigma(HIGH_PASS_GAIN_OFFSET),
getParameterCenter(HIGH_PASS_GAIN_OFFSET)+getParameterSigma(HIGH_PASS_GAIN_OFFSET));
prop->setCacheRefreshBit();
return prop;
}
else if(name=="auto_adjust_scales")
{
rspfBooleanProperty* prop = new rspfBooleanProperty(name,theAutoAdjustScales);
prop->setCacheRefreshBit();
return prop;
}
return rspfFusionCombiner::getProperty(name);
}
void ossimRpcModel::updateModel()
{
theIntrackOffset = computeParameterOffset(INTRACK_OFFSET);
theCrtrackOffset = computeParameterOffset(CRTRACK_OFFSET);
theIntrackScale = computeParameterOffset(INTRACK_SCALE);
theCrtrackScale = computeParameterOffset(CRTRACK_SCALE);
double mapRotation = computeParameterOffset(MAP_ROTATION);
theCosMapRot = ossim::cosd(mapRotation);
theSinMapRot = ossim::sind(mapRotation);
}
void ossimRpcProjection::adjustableParametersChanged()
{
theIntrackOffset = computeParameterOffset(INTRACK_OFFSET);
theCrtrackOffset = computeParameterOffset(CRTRACK_OFFSET);
theIntrackScale = computeParameterOffset(INTRACK_SCALE);
theCrtrackScale = computeParameterOffset(CRTRACK_SCALE);
double mapRotation = computeParameterOffset(MAP_ROTATION);
theCosMapRot = ossim::cosd(mapRotation);
theSinMapRot = ossim::sind(mapRotation);
}
void rspfLandSatModel::updateModel()
{
theIntrackOffset = computeParameterOffset(INTRACK_OFFSET);
theCrtrackOffset = computeParameterOffset(CRTRACK_OFFSET);
theLineGsdCorr = computeParameterOffset(LINE_GSD_CORR);
theSampGsdCorr = computeParameterOffset(SAMP_GSD_CORR);
theRollOffset = computeParameterOffset(ROLL_OFFSET);
theYawOffset = computeParameterOffset(YAW_OFFSET);
theYawRate = computeParameterOffset(YAW_RATE);
theMapRotation = computeParameterOffset(MAP_ROTATION);
if (theProjectionType == UTM_ORBIT)
{
theMapAzimCos = rspf::cosd(-theMapAzimAngle + theMapRotation);
theMapAzimSin = rspf::sind(-theMapAzimAngle + theMapRotation);
}
else if (theProjectionType == TM_ORBIT)
{
theMapAzimCos = rspf::cosd(-theMapAzimAngle + theMapRotation);
theMapAzimSin = rspf::sind(-theMapAzimAngle + theMapRotation);
}
else
{
theMapAzimCos = rspf::cosd(theMapAzimAngle + theMapRotation);
theMapAzimSin = rspf::sind(theMapAzimAngle + theMapRotation);
}
double cos = rspf::cosd(theRollOffset);
double sin = rspf::sind(theRollOffset);
theRollRotMat = rspfMatrix3x3::create( 1.0, 0.0, 0.0,
0.0, cos,-sin,
0.0, sin, cos);
}
void rspfSFIMFusion::setFilters()
{
theLowPassFilter->setGaussStd(theLowPassKernelWidth);
theHighPassMatrix = NEWMAT::Matrix(theHighPassKernelWidth, theHighPassKernelWidth);
theHighPassMatrix = 0;
theHighPassMatrix[theHighPassKernelWidth>>1][theHighPassKernelWidth>>1] = 1;
// adjust the gain for the high pass filter
//
NEWMAT::Matrix high = theHighPassMatrix;
rspf_float64 kernelW2 = theHighPassKernelWidth*theHighPassKernelWidth;
double gain = computeParameterOffset(HIGH_PASS_GAIN_OFFSET)*(kernelW2);
double multiplier = gain/(kernelW2);
high = -multiplier;
rspf_int32 cx = theHighPassKernelWidth>>1;
rspf_int32 cy = theHighPassKernelWidth>>1;
if(gain > FLT_EPSILON)
{
high[cy][cx] = multiplier* ( (kernelW2-1)+kernelW2/gain);
}
else
{
high = 0.0;
high[cy][cx] = 1.0;
}
theHighPassFilter->setConvolution(high);
}
void ossimCsmSensorModel::updateModel()
{
if(!m_model) return;
int nParams = getNumberOfAdjustableParameters();
int idx = 0;
for(idx = 0; idx < nParams; ++idx)
{
m_model->setCurrentParameterValue(idx, computeParameterOffset(idx));
}
}
void rspfBuckeyeSensor::imagingRay(const rspfDpt& image_point,
rspfEcefRay& image_ray) const
{
rspfDpt f1 ((image_point) - theRefImgPt);
f1.x *= m_pixelSize.x;
f1.y *= -m_pixelSize.y;
rspfDpt film (f1 - m_principalPoint);
if (m_lensDistortion.valid())
{
rspfDpt filmOut;
m_lensDistortion->undistort(film, filmOut);
film = filmOut;
}
rspfColumnVector3d cam_ray_dir (film.x,
film.y,
-(m_focalLength+computeParameterOffset(6)));
rspfEcefVector ecf_ray_dir (m_compositeMatrix*cam_ray_dir);
ecf_ray_dir = ecf_ray_dir*(1.0/ecf_ray_dir.magnitude());
image_ray.setOrigin(m_ecefPlatformPosition);
image_ray.setDirection(ecf_ray_dir);
}
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;
}
void rspfSFIMFusion::adjustableParametersChanged()
{
// std::cout << "Parameter offset = " << computeParameterOffset(2) << std::endl;
theLowPassKernelWidth = (rspf_uint32)(rspf::round<int>(computeParameterOffset(LOW_PASS_WIDTH_OFFSET)));
}