ossimAlphaSensorHRI Class Reference

#include <ossimAlphaSensorHRI.h>

Inheritance diagram for ossimAlphaSensorHRI:

Public Member Functions
	ossimAlphaSensorHRI ()
	ossimAlphaSensorHRI (const ossimAlphaSensorHRI &src)
virtual ossimObject *	dup () const
virtual void	imagingRay (const ossimDpt &image_point, ossimEcefRay &image_ray) const
virtual void	worldToLineSample (const ossimGpt &world_point, ossimDpt &image_point) const
virtual void	updateModel ()
virtual void	initAdjustableParameters ()
virtual bool	loadState (const ossimKeywordlist &kwl, const char *prefix=0)
virtual bool	saveState (ossimKeywordlist &kwl, const char *prefix=0) const
virtual bool	initialize (const ossimAlphaSensorSupportData &supData)
	Initializes model from support data and calls update Model on success. More...
Public Member Functions inherited from ossimAlphaSensor
	ossimAlphaSensor ()
	ossimAlphaSensor (const ossimAlphaSensor &src)
virtual void	lineSampToWorld (const ossimDpt &image_point, ossimGpt &worldPoint) const
virtual void	lineSampleHeightToWorld (const ossimDpt &image_point, const double &heightEllipsoid, ossimGpt &worldPoint) const
virtual bool	useForward () const
void	setFov (const double fov)
void	setRollBias (const double rollBias)
void	setPitchBias (const double pitchBias)
void	setHeadingBias (const double headingBias)
void	setSlitRot (const double slitRot)
void	setRollPoly (const std::vector< ossim_float64 > rollPoly)
void	setPitchPoly (const std::vector< ossim_float64 > pitchPoly)
void	setHeadingPoly (const std::vector< ossim_float64 > headingPoly)
void	setLonPoly (const std::vector< ossim_float64 > lonPoly)
void	setLatPoly (const std::vector< ossim_float64 > latPoly)
void	setAltPoly (const std::vector< ossim_float64 > altPoly)
void	setScanPoly (const std::vector< ossim_float64 > scanPoly)
void	getPositionOrientation (const ossim_float64 &line, ossimEcefPoint &pos, NEWMAT::Matrix &cam2EcfRot) const
ossimEcefPoint	getCameraPosition (const ossim_float64 &line) const
NEWMAT::Matrix	getPlatform2LocalRot (const ossim_float64 &line) const
ossim_float64	evalPoly (const std::vector< ossim_float64 > &polyCoef, const ossim_float64 &line) const
Public Member Functions inherited from ossimSensorModel
	ossimSensorModel ()
	ossimSensorModel (const ossimSensorModel &copy_this)
	ossimSensorModel (const ossimKeywordlist &geom_kwl)
const ossimSensorModel &	operator= (const ossimSensorModel &rhs)
	assignment operator More...
virtual ossimObject *	getBaseObject ()
virtual const ossimObject *	getBaseObject () const
virtual ossimGpt	origin () const
virtual ossimDpt	getMetersPerPixel () const
virtual const double &	getNominalPosError () const
	Returns the estimated Absolute horizontal position error (CE90) of the sensor model. More...
virtual const double &	getRelativePosError () const
	Returns the estimated RELATIVE horizontal position error (CE90) of the sensor model. More...
virtual void	setNominalPosError (const double &ce90)
	Assigns the absolute image position error uncertainty (abs CE90) More...
virtual void	setRelativePosError (const double &ce90)
	Assigns the relative image position error uncertainty (rel CE90) More...
virtual void	lineSampleToWorld (const ossimDpt &image_point, ossimGpt &world_point) const
virtual std::ostream &	print (std::ostream &out) const
void	setRefImgPt (const ossimDpt &pt)
	Sets the center line sampe of the image. More...
void	setRefGndPt (const ossimGpt &pt)
	Sets the center latitude, longitude, height of the image. More...
void	setImageRect (const ossimDrect &imageRect)
void	setGroundRect (const ossimGpt &ul, const ossimGpt &ur, const ossimGpt &lr, const ossimGpt &ll)
ossimDpt	imageSize () const
void	setImageSize (const ossimDpt &size)
virtual void	adjustableParametersChanged ()
virtual bool	insideImage (const ossimDpt &p) const
virtual bool	operator== (const ossimProjection &proj) const
const ossimString &	getImageID () const
	Access methods: More...
const ossimDrect &	getImageClipRect () const
virtual ossim_uint32	degreesOfFreedom () const
virtual bool	needsInitialState () const
	needsInitialState() More...
virtual double	optimizeFit (const ossimTieGptSet &tieSet, double *targetVariance=0)
virtual ossimDpt	getForwardDeriv (int parmIdx, const ossimGpt &gpos, double hdelta=1e-11)
virtual ossimGpt	getInverseDeriv (int parmIdx, const ossimDpt &ipos, double hdelta=1e-11)
virtual ossimSensorModel::CovMatStatus	getObsCovMat (const ossimDpt &ipos, NEWMAT::SymmetricMatrix &Cov, const ossim_float64 defPointingSigma=0.5) const
	Gives 2X2 covariance matrix of observations. More...
virtual bool	isAffectedByElevation () const
	Implementation of pure virtual ossimProjection::isAffectedByElevation method. More...
void	computeGsd ()
	This method computes the ground sample distance(gsd) and sets class attributes theGSD and theMeanGSD by doing a lineSampleHeightToWorld on four points and calculating the distance from them. More...
virtual bool	getImageGeometry (const ossimString &, const ossimString &, ossimKeywordlist &) const
	Extracts geometry info from a non-ossim key,value pair to an ossim keyword list. More...
Public Member Functions inherited from ossimProjection
	ossimProjection ()
virtual	~ossimProjection ()
virtual ossimDpt	forward (const ossimGpt &wp) const
virtual ossimGpt	inverse (const ossimDpt &pp) const
virtual void	getRoundTripError (const ossimDpt &imagePoint, ossimDpt &errorResult) const
virtual void	getRoundTripError (const ossimGpt &groundPoint, ossimDpt &errorResult) const
virtual void	getGroundClipPoints (ossimGeoPolygon &gpts) const
virtual bool	isEqualTo (const ossimObject &obj, ossimCompareType compareType=OSSIM_COMPARE_FULL) const
virtual bool	operator!= (const ossimProjection &projection) const
Public Member Functions inherited from ossimObject
	ossimObject ()
virtual	~ossimObject ()
virtual ossimString	getShortName () const
virtual ossimString	getLongName () const
virtual ossimString	getDescription () const
virtual ossimString	getClassName () const
virtual RTTItypeid	getType () const
virtual bool	canCastTo (ossimObject *obj) const
virtual bool	canCastTo (const RTTItypeid &id) const
virtual bool	canCastTo (const ossimString &parentClassName) const
virtual void	accept (ossimVisitor &visitor)
Public Member Functions inherited from ossimReferenced
	ossimReferenced ()
	ossimReferenced (const ossimReferenced &)
ossimReferenced &	operator= (const ossimReferenced &)
void	ref () const
	increment the reference count by one, indicating that this object has another pointer which is referencing it. More...
void	unref () const
	decrement the reference count by one, indicating that a pointer to this object is referencing it. More...
void	unref_nodelete () const
	decrement the reference count by one, indicating that a pointer to this object is referencing it. More...
int	referenceCount () const
Public Member Functions inherited from ossimErrorStatusInterface
	ossimErrorStatusInterface ()
virtual	~ossimErrorStatusInterface ()
virtual ossimErrorCode	getErrorStatus () const
virtual ossimString	getErrorStatusString () const
virtual void	setErrorStatus (ossimErrorCode error_status) const
virtual void	setErrorStatus () const
virtual void	clearErrorStatus () const
bool	hasError () const
Public Member Functions inherited from ossimOptimizableProjection
	ossimOptimizableProjection ()
	ossimOptimizableProjection (const ossimOptimizableProjection &source)
virtual	~ossimOptimizableProjection ()
virtual ossimOptimizableProjection &	operator= (const ossimOptimizableProjection &source)
virtual bool	setupOptimizer (const ossimString &setup)
	setupFromString() Derived classes should implement as needed. Initialize parameters needed for optimizeFit and degreesOfFreedom More...
Public Member Functions inherited from ossimAdjustableParameterInterface
	ossimAdjustableParameterInterface ()
	ossimAdjustableParameterInterface (const ossimAdjustableParameterInterface &rhs)
virtual	~ossimAdjustableParameterInterface ()
void	newAdjustment (ossim_uint32 numberOfParameters=0)
void	setAdjustmentDescription (const ossimString &description)
ossimString	getAdjustmentDescription () const
ossimString	getAdjustmentDescription (ossim_uint32 adjustmentIdx) const
	Returns adjustmentDescription of specific adjustmentInfo. More...
void	setCurrentAdjustment (ossim_uint32 adjustmentIndex, bool notify=false)
bool	setCurrentAdjustment (const ossimString &description, bool notify=false)
	Sets the current adjustment to the adjustment with a matching description. More...
void	eraseAdjustment (bool notify)
void	eraseAdjustment (ossim_uint32 idx, bool notify)
void	resetAdjustableParameters (bool notify=false)
void	copyAdjustment (ossim_uint32 idx, bool notify)
void	copyAdjustment (bool notify=false)
void	keepAdjustment (ossim_uint32 idx, bool createCopy)
virtual void	keepAdjustment (bool createCopy=true)
const ossimAdjustableParameterInterface &	operator= (const ossimAdjustableParameterInterface &rhs)
void	removeAllAdjustments ()
ossim_uint32	getNumberOfAdjustableParameters () const
double	getAdjustableParameter (ossim_uint32 idx) const
virtual void	setAdjustableParameter (ossim_uint32 idx, double value, bool notify=false)
virtual void	setAdjustableParameter (ossim_uint32 idx, double value, double sigma, bool notify=false)
double	getParameterSigma (ossim_uint32 idx) const
void	setParameterSigma (ossim_uint32 idx, double value, bool notify=false)
ossimUnitType	getParameterUnit (ossim_uint32 idx) const
void	setParameterUnit (ossim_uint32 idx, ossimUnitType unit)
void	setParameterUnit (ossim_uint32 idx, const ossimString &unit)
void	setParameterCenter (ossim_uint32 idx, double center, bool notify=false)
double	getParameterCenter (ossim_uint32 idx) const
double	computeParameterOffset (ossim_uint32 idx) const
void	setParameterOffset (ossim_uint32 idx, ossim_float64 value, bool notify=false)
ossimString	getParameterDescription (ossim_uint32 idx) const
void	setParameterDescription (ossim_uint32 idx, const ossimString &descrption)
ossim_int32	findParameterIdxGivenDescription (ossim_uint32 adjustmentIdx, const ossimString &name) const
ossim_int32	findParameterIdxContainingDescription (ossim_uint32 adjustmentIdx, const ossimString &name) const
bool	isParameterLocked (ossim_uint32 idx) const
void	setParameterLockFlag (ossim_uint32 idxParam, bool flag)
bool	getParameterLockFlag (ossim_uint32 idx) const
void	lockAllParametersCurrentAdjustment ()
void	unlockAllParametersCurrentAdjustment ()
void	lockAllParameters (ossim_uint32 idxAdjustment)
void	unlockAllParameters (ossim_uint32 idxAdjustment)
void	resizeAdjustableParameterArray (ossim_uint32 numberOfParameters)
void	setAdjustment (const ossimAdjustmentInfo &adj, bool notify=false)
void	setAdjustment (ossim_uint32 idx, const ossimAdjustmentInfo &adj, bool notify=false)
void	addAdjustment (const ossimAdjustmentInfo &adj, bool notify)
void	getAdjustment (ossimAdjustmentInfo &adj) const
void	getAdjustment (ossim_uint32 idx, ossimAdjustmentInfo &adj) const
ossim_uint32	getNumberOfAdjustments () const
ossim_uint32	getCurrentAdjustmentIdx () const
void	setDirtyFlag (bool flag=true)
void	setAllDirtyFlag (bool flag=true)
bool	hasDirtyAdjustments () const
virtual void	saveCurrentAdjustmentOnly (ossimKeywordlist &kwl, const ossimString &prefix=ossimString(""))
	Saves the current active adjustment to the KWL file. More...
bool	saveAdjustments (ossimKeywordlist &kwl, const ossimString &prefix=ossimString("")) const
	Save all adjustments to the KWL file. More...
bool	loadAdjustments (const ossimKeywordlist &kwl, const ossimString &prefix=ossimString(""))
std::ostream &	print (std::ostream &out) const
	Dumps the currently active adjustment to ostream. More...

Additional Inherited Members
Public Types inherited from ossimSensorModel
enum	CovMatStatus { COV_INVALID = 0, COV_PARTIAL = 1, COV_FULL = 2 }
enum	DeriveMode {   OBS_INIT =-99, EVALUATE =-98, P_WRT_X = -1, P_WRT_Y = -2,   P_WRT_Z = -3 }
Static Public Member Functions inherited from ossimSensorModel
static void	writeGeomTemplate (ostream &os)
Protected Member Functions inherited from ossimAlphaSensor
NEWMAT::Matrix	formHPRmat (const ossim_float64 &roll, const ossim_float64 &pitch, const ossim_float64 &heading) const
NEWMAT::Matrix	formLLAmat (const ossim_float64 &lat, const ossim_float64 &lon, const ossim_float64 &az) const
Protected Member Functions inherited from ossimSensorModel
virtual	~ossimSensorModel ()
virtual ossimDpt	extrapolate (const ossimGpt &gp) const
virtual ossimGpt	extrapolate (const ossimDpt &ip, const double &height=ossim::nan()) const
void	buildNormalEquation (const ossimTieGptSet &tieSet, NEWMAT::SymmetricMatrix &A, NEWMAT::ColumnVector &residue, NEWMAT::ColumnVector &projResidue, double pstep_scale)
NEWMAT::ColumnVector	getResidue (const ossimTieGptSet &tieSet)
NEWMAT::ColumnVector	solveLeastSquares (NEWMAT::SymmetricMatrix &A, NEWMAT::ColumnVector &r) const
NEWMAT::Matrix	invert (const NEWMAT::Matrix &m) const
	stable invert stolen from ossimRpcSolver More...
Protected Member Functions inherited from ossimReferenced
virtual	~ossimReferenced ()
Protected Member Functions inherited from ossimAdjustableParameterInterface
bool	paramChanged (ossim_uint32 param_idx) const
	Returns true if specified parameter has been modified since last setAllChangeFlag(false) call. More...
void	setAllChangeFlags (bool areChanged)
	Sets all the change flags to the boolean indicated to indicate parameters are changed (TRUE) or not (FALSE). More...
void	initChangeFlags ()
	Initializes the change flags to TRUE. More...
Protected Attributes inherited from ossimAlphaSensor
ossim_float64	m_rollBias
ossim_float64	m_pitchBias
ossim_float64	m_headingBias
ossim_float64	m_fov
ossim_float64	m_slitRot
ossim_float64	m_focalLength
std::vector< ossim_float64 >	m_rollPoly
std::vector< ossim_float64 >	m_pitchPoly
std::vector< ossim_float64 >	m_headingPoly
std::vector< ossim_float64 >	m_lonPoly
std::vector< ossim_float64 >	m_latPoly
std::vector< ossim_float64 >	m_altPoly
std::vector< ossim_float64 >	m_scanPoly
NEWMAT::Matrix	m_cam2Platform
ossim_float64	m_adjustedFocalLength
Protected Attributes inherited from ossimSensorModel
ossimIpt	theImageSize
ossimDpt	theSubImageOffset
ossimString	theImageID
ossimString	theSensorID
ossimDpt	theGSD
ossim_float64	theMeanGSD
ossimGpt	theRefGndPt
ossimDpt	theRefImgPt
ossimPolygon	theBoundGndPolygon
ossimDrect	theImageClipRect
ossim_float64	theRelPosError
ossim_float64	theNominalPosError
ossimDpt	theParWRTx
	Partials for current point. More...
ossimDpt	theParWRTy
ossimDpt	theParWRTz
ossimDpt	theObs
	Observations & residuals for current point. More...
ossimDpt	theResid
ossimRefPtr< ossimProjection >	theSeedFunction
	Used as an initial guess for iterative solutions and a guess for points outside the support bounds. More...
bool	theExtrapolateImageFlag
bool	theExtrapolateGroundFlag
Protected Attributes inherited from ossimErrorStatusInterface
ossimErrorCode	theErrorStatus

Detailed Description

Definition at line 17 of file ossimAlphaSensorHRI.h.

Constructor & Destructor Documentation

ossimAlphaSensorHRI() [1/2]

ossimAlphaSensorHRI::ossimAlphaSensorHRI

(

)

Definition at line 27 of file ossimAlphaSensorHRI.cpp.

Referenced by dup().

{
   if (traceDebug())
   {
      ossimNotify(ossimNotifyLevel_DEBUG)
         << "ossimAlphaSensorHRI::ossimAlphaSensorHRI DEBUG:" << std::endl;
   }
   initAdjustableParameters();
   theSensorID = "AlphaHRI";
}

ossimAlphaSensorHRI() [2/2]

ossimAlphaSensorHRI::ossimAlphaSensorHRI

(

const ossimAlphaSensorHRI &

src

)

Definition at line 38 of file ossimAlphaSensorHRI.cpp.

   :
   ossimAlphaSensor(src)
{
}

Member Function Documentation

dup()

ossimObject * ossimAlphaSensorHRI::dup ( ) const

virtual

Reimplemented from ossimAlphaSensor.

Definition at line 44 of file ossimAlphaSensorHRI.cpp.

References ossimAlphaSensorHRI().

{
   return new ossimAlphaSensorHRI(*this);
}

imagingRay()

void ossimAlphaSensorHRI::imagingRay ( const ossimDpt &  image_point, ossimEcefRay &  image_ray  ) const

virtual

METHOD: imagingRay(image_point, &ossimEcefRay) Given an image point, returns a ray originating at some arbitrarily high point (ideally at the sensor position) and pointing towards the target. Implemented here but should be overriden for more efficient solution.

Reimplemented from ossimSensorModel.

Definition at line 49 of file ossimAlphaSensorHRI.cpp.

References ossimAlphaSensor::getPositionOrientation(), ossimAlphaSensor::m_adjustedFocalLength, ossimEcefRay::setDirection(), ossimEcefRay::setOrigin(), ossimSensorModel::theImageSize, ossimColumnVector3d::unit(), ossimIpt::x, ossimDpt::x, and ossimDpt::y.

{
   ossim_float64 line = imagePoint.y;

   ossim_float64 samp = imagePoint.x - theImageSize.x/2;

   // Flip x because raw image is mirrored in sample direction
   samp = -samp;


   // Form camera frame LOS vector
   ossimColumnVector3d camLOS(0.0, samp, -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)
         << "ossimAlphaSensorHRI::imagingRay DEBUG:\n"
         << "  imagePoint = " << imagePoint << "\n"
         << "  imageRay = " << imageRay << "\n"
         << "  camLOS     = " << camLOS << "\n"
         << "  platPos    = " << platPos << "\n"
         << std::endl;
   }

}

initAdjustableParameters()

void ossimAlphaSensorHRI::initAdjustableParameters ( )

virtual

Reimplemented from ossimAlphaSensor.

Definition at line 186 of file ossimAlphaSensorHRI.cpp.

{
   if (traceExec())
      ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimAlphaSensorHRI::initAdjustableParameters: returning..." << std::endl;

   ossimAlphaSensor::initAdjustableParameters();
}

initialize()

bool ossimAlphaSensorHRI::initialize ( const ossimAlphaSensorSupportData &  supData )

virtual

Initializes model from support data and calls update Model on success.

Parameters

supData

Returns

true on success, false on error.

Definition at line 226 of file ossimAlphaSensorHRI.cpp.

References ossimAlphaSensorSupportData::getAltPoly(), ossimAlphaSensorSupportData::getFov(), ossimAlphaSensorSupportData::getHeadingBias(), ossimAlphaSensorSupportData::getHeadingPoly(), ossimAlphaSensorSupportData::getImageSize(), ossimAlphaSensorSupportData::getLatPoly(), ossimAlphaSensorSupportData::getLonPoly(), ossimAlphaSensorSupportData::getPitchBias(), ossimAlphaSensorSupportData::getPitchPoly(), ossimAlphaSensorSupportData::getRollBias(), ossimAlphaSensorSupportData::getRollPoly(), ossimAlphaSensorSupportData::getScanPoly(), ossimAlphaSensorSupportData::getSlitRot(), ossimSensorModel::imageSize(), ossimAlphaSensor::setAltPoly(), ossimAlphaSensor::setFov(), ossimAlphaSensor::setHeadingBias(), ossimAlphaSensor::setHeadingPoly(), ossimSensorModel::setImageRect(), ossimSensorModel::setImageSize(), ossimAlphaSensor::setLatPoly(), ossimAlphaSensor::setLonPoly(), ossimAlphaSensor::setPitchBias(), ossimAlphaSensor::setPitchPoly(), ossimSensorModel::setRefImgPt(), ossimAlphaSensor::setRollBias(), ossimAlphaSensor::setRollPoly(), ossimAlphaSensor::setScanPoly(), ossimAlphaSensor::setSlitRot(), updateModel(), ossimDpt::x, and ossimDpt::y.

{
   bool result = true; // Currently no error checking.

   ossimDpt imageSize = supData.getImageSize();
   setImageSize(imageSize);
   setImageRect(ossimDrect(0,0,imageSize.x-1, imageSize.y-1));
   setRefImgPt(ossimDpt(imageSize.x*.5, imageSize.y*.5));
   
   setFov(supData.getFov());
   setRollBias(supData.getRollBias());
   setPitchBias(supData.getPitchBias());
   setHeadingBias(supData.getHeadingBias());
   setSlitRot(supData.getSlitRot());
   
   setRollPoly(supData.getRollPoly());
   setPitchPoly(supData.getPitchPoly());
   setHeadingPoly(supData.getHeadingPoly());
   setLonPoly(supData.getLonPoly());
   setLatPoly(supData.getLatPoly());
   setAltPoly(supData.getAltPoly());
   setScanPoly(supData.getScanPoly());
   
   updateModel();

   return result;
}

loadState()

bool ossimAlphaSensorHRI::loadState ( const ossimKeywordlist &  kwl, const char *  prefix = 0  )

virtual

Method to the load (recreate) the state of the object from a keyword list. Return true if ok or false on error.

Reimplemented from ossimAlphaSensor.

Definition at line 194 of file ossimAlphaSensorHRI.cpp.

{
   if (traceDebug())
   {
      ossimNotify(ossimNotifyLevel_DEBUG)
         << "ossimAlphaSensorHRI::loadState DEBUG:" << std::endl;
   }

   ossimAlphaSensor::loadState(kwl, prefix);
   if(getNumberOfAdjustableParameters() < 1)
   {
      initAdjustableParameters();
   }

   updateModel();

   if (traceDebug())
   {
      ossimNotify(ossimNotifyLevel_DEBUG)
         << "ossimAlphaSensorHRI::loadState complete..." << std::endl;
   }
   
   return true;
}

saveState()

bool ossimAlphaSensorHRI::saveState ( ossimKeywordlist &  kwl, const char *  prefix = 0  ) const

virtual

METHODS: saveState, loadState Fulfills ossimObject base-class pure virtuals. Loads and saves geometry KWL files.

Reimplemented from ossimAlphaSensor.

Definition at line 219 of file ossimAlphaSensorHRI.cpp.

References ossimAlphaSensor::saveState().

{
   ossimAlphaSensor::saveState(kwl, prefix);

   return true;
}

updateModel()

void ossimAlphaSensorHRI::updateModel ( )

virtual

VIRTUAL METHOD: updateModel() Following a change to the adjustable parameter set, this virtual is called to permit instances to compute derived quantities after parameter change.

Reimplemented from ossimAlphaSensor.

Definition at line 142 of file ossimAlphaSensorHRI.cpp.

Referenced by initialize().

{
   if (traceDebug())
   {
      ossimNotify(ossimNotifyLevel_DEBUG)
         << "ossimAlphaSensorHRI::updateModel DEBUG:" << std::endl;
   }
   ossimAlphaSensor::updateModel();
     
   try
   {
      computeGsd();
   }
   catch(...)
   {
      
   }
   if (traceDebug())
   {
      ossimNotify(ossimNotifyLevel_DEBUG)
         << "ossimAlphaSensorHRI::updateModel complete..." << std::endl;
   }

   // Ref point
   lineSampleToWorld(theRefImgPt, theRefGndPt);


   // Bounding rectangle
   ossimGpt gpt;
   theBoundGndPolygon.clear();

   lineSampleToWorld(theImageClipRect.ul(),gpt); //+ossimDpt(-w, -h), gpt);
   theBoundGndPolygon.addPoint(gpt.lond(), gpt.latd());

   lineSampleToWorld(theImageClipRect.ur(),gpt); //+ossimDpt(w, -h), gpt);
   theBoundGndPolygon.addPoint(gpt.lond(), gpt.latd());

   lineSampleToWorld(theImageClipRect.lr(),gpt); //+ossimDpt(w, h), gpt);
   theBoundGndPolygon.addPoint(gpt.lond(), gpt.latd());

   lineSampleToWorld(theImageClipRect.ll(),gpt); //+ossimDpt(-w, h), gpt);
   theBoundGndPolygon.addPoint(gpt.lond(), gpt.latd());
}

worldToLineSample()

void ossimAlphaSensorHRI::worldToLineSample ( const ossimGpt &  worldPoint, ossimDpt &  lineSampPt  ) const

virtual

METHOD: worldToLineSample() Performs the forward projection from ground point to line, sample.

Reimplemented from ossimSensorModel.

Definition at line 90 of file ossimAlphaSensorHRI.cpp.

References ossimEcefPoint::data(), ossimAlphaSensor::getPositionOrientation(), ossimAlphaSensor::m_adjustedFocalLength, ossimSensorModel::theImageSize, ossimIpt::x, and ossimIpt::y.

{   
   // Initialize at middle
   ossim_float64 refL = theImageSize.y/2;
   ossim_float64 drefL = 5;
   int nIter = 0;
   ossimColumnVector3d camLOS;

   // Iterate using Newton's method
   while (nIter<3)
   {
      ossim_float64 Fx[2];
      ossim_float64 refl[2];
      refl[0] = refL;
      refl[1] = refL + drefL;

      for (int ll=0; ll<2; ++ll)
      {
         // Compute camera position & orientation matrix
         ossimEcefPoint platPos;
         NEWMAT::Matrix cam2EcfRot;
         getPositionOrientation(refl[ll], platPos, cam2EcfRot);

         // Compute ECF vector
         ossimEcefPoint worldPointECF = ossimEcefPoint(world_point);
         ossimColumnVector3d ecfLOS = worldPointECF.data() - platPos.data();

         // Rotate to camera frame
         camLOS = cam2EcfRot.t() * ecfLOS;

         // Set function value
         Fx[ll] = camLOS[0];
      }

      // Compute numeric 1st derivative & new estimate for reference line (refL)
      ossim_float64 dFx = (Fx[1]-Fx[0]) / drefL;
      refL -= Fx[0]/dFx;

      nIter++;
   }

   ossim_float64 samp = -m_adjustedFocalLength*camLOS[1]/camLOS[2] + theImageSize.x/2;

   // Flip x because raw image is mirrored in sample direction
   samp = theImageSize.x - samp;

   ossimDpt p(samp, refL);
    
   image_point = p;
}

---

The documentation for this class was generated from the following files:

• ossimAlphaSensorHRI.h
• ossimAlphaSensorHRI.cpp