bool ossim::matrixToHpr( ossim_float64 hpr[3],
const NEWMAT::Matrix& lsrMatrix,
const NEWMAT::Matrix& rotationalMatrix)
{
bool result = false;
NEWMAT::Matrix invertLsr(lsrMatrix.i());
hpr[0] = 0.0;
hpr[1] = 0.0;
hpr[2] = 0.0;
result = matrixToHpr(hpr, invertLsr*rotationalMatrix);
if(std::abs(hpr[0]) < FLT_EPSILON)
{
hpr[0] = 0.0;
}
if(std::abs(hpr[1]) < FLT_EPSILON)
{
hpr[1] = 0.0;
}
if(std::abs(hpr[2]) < FLT_EPSILON)
{
hpr[2] = 0.0;
}
return result;
}
TFEulerYPR TransformReference::transformEulerYPR(const std::string & target_frame, const TFEulerYPR & euler_in)
{
NEWMAT::Matrix local = Pose3D::matrixFromEuler(0,0,0,euler_in.yaw, euler_in.pitch, euler_in.roll);
NEWMAT::Matrix Transform = getMatrix(target_frame, euler_in.frame, euler_in.time);
NEWMAT::Matrix output = local.i() * Transform;
Euler eulers = Pose3D::eulerFromMatrix(output,1);
TFEulerYPR retEuler;
retEuler.yaw = eulers.yaw;
retEuler.pitch = eulers.pitch;
retEuler.roll = eulers.roll;
return retEuler;
}
double CUniversalKriging::Evaluate(const CGridPoint& pt, int iXval)const
{
//if variogram is not initialised correckly, we retuern no data;
if (!m_pVariogram->IsInit())
return m_param.m_noData;
// Find the nearest samples:
CGridPointVector va;
Init_va(pt, iXval, va);
int mdt = GetMDT();
// Test number of samples found:
// Test if there are enough samples to estimate all drift terms:
if ((int)va.size() < m_p.m_nbPoint || (int)va.size() <= mdt)
return m_param.m_noData;
if ( /*iXval<0 &&*/ va[0].GetDistance(pt) > m_param.m_maxDistance)
return m_param.m_noData;
// There are enough samples - proceed with estimation.
// Go ahead and set up the OK portion of the kriging matrix:
NEWMAT::ColumnVector r;
NEWMAT::Matrix a;
Init_a(pt, va, a);
Init_r(pt, va, r);
// If estimating the trend then reset all the right hand side terms=0.0:
if (m_p.m_bTrend)
r = 0;
//copy r to compute variance
NEWMAT::ColumnVector rr(r);
// Solve the kriging system:
int neq = mdt + int(va.size());
//reduce the matrix until the 2/3 of the number of neightbor
bool bOK = false;
while (!bOK && neq >= mdt + m_p.m_nbPoint * 2 / 3)//by RSA 25/10/2010
{
Try
{
a = a.i();
bOK = true;
}
Catch(NEWMAT::Exception)
{
OutputDebugStringW(L"a=a.i() failled; Reduce number of point");
Init_a(pt, va, a);
Init_r(pt, va, r);
neq--;
int firstRow = 1 + mdt + int(va.size()) - neq;
a = a.SubMatrix(firstRow, a.Nrows(), firstRow, a.Ncols());
r = r.SubMatrix(firstRow, r.Nrows(), 1, 1);
}
if (m_pAgent && m_pAgent->TestConnection(m_hxGridSessionID) == S_FALSE)
throw(CHxGridException());
}
//if we don't solve system, return missing
if (!bOK)
return m_param.m_noData;
NEWMAT::ColumnVector s = a*r;
CDiscretisation m_discr;
m_discr.Initialization(pt, *m_pVariogram, m_p, m_param.m_bFillNugget);
// Compute the solution:
double uuk = 0.0;
double ukv = m_discr.cbb;
for (int j = 0; j < neq; j++)
{
ukv -= s[j] * rr[j];
if (j < (int)va.size())
uuk += s[j] * (m_prePostTransfo.Transform(va[j].m_event) - m_p.m_SKmean);
}
uuk += m_p.m_SKmean;
uuk = m_prePostTransfo.InvertTransform(uuk, m_param.m_noData);
//
if ( /*iXval<0 &&*/ m_param.m_bRegionalLimit && uuk > m_param.m_noData)
{
CStatistic stat;
for (size_t i = 0; i < va.size(); i++)
stat += va[i].m_event;
bool bOutside = uuk<stat[LOWEST] - m_param.m_regionalLimitSD*stat[STD_DEV] || uuk>stat[HIGHEST] + m_param.m_regionalLimitSD*stat[STD_DEV];
if (bOutside)
{
if (m_param.m_bRegionalLimitToBound)
uuk = min(stat[HIGHEST] + m_param.m_regionalLimitSD*stat[STD_DEV], max(stat[LOWEST] - m_param.m_regionalLimitSD*stat[STD_DEV], uuk));
else
uuk = m_param.m_noData;
}
}
if ( /*iXval<0 &&*/ m_param.m_bGlobalLimit && uuk > m_param.m_noData)
{
bool bOutside = uuk<m_stat[LOWEST] - m_param.m_globalLimitSD*m_stat[STD_DEV] || uuk>m_stat[HIGHEST] + m_param.m_globalLimitSD*m_stat[STD_DEV];
if (bOutside)
{
if (m_param.m_bGlobalLimitToBound)
uuk = min(m_stat[HIGHEST] + m_param.m_globalLimitSD*m_stat[STD_DEV], max(m_stat[LOWEST] - m_param.m_globalLimitSD*m_stat[STD_DEV], uuk));
else
uuk = m_param.m_noData;
}
}
if ( /*iXval<0 &&*/ m_param.m_bGlobalMinMaxLimit && uuk > m_param.m_noData)
{
bool bOutside = uuk<m_param.m_globalMinLimit || uuk>m_param.m_globalMaxLimit;
if (bOutside)
{
if (m_param.m_bGlobalMinMaxLimitToBound)
uuk = min(m_param.m_globalMaxLimit, max(m_param.m_globalMinLimit, uuk));
else
uuk = m_param.m_noData;
}
}
return uuk;
}