#include <ossimIpodSensor.h>

Inheritance diagram for ossimIpodSensor:

Public Member Functions
	ossimIpodSensor ()

	ossimIpodSensor (const ossimIpodSensor &src)

virtual ossimObject *	dup () const

virtual void	imagingRay (const ossimDpt &image_point, ossimEcefRay &image_ray) const

void	lineSampleHeightToWorld (const ossimDpt &image_point, const double &heightEllipsoid, ossimGpt &worldPoint) const

virtual void	updateModel ()

void	setRollPitchYaw (double r, double p, double y)

void	setFocalLength (double value)

void	setPlatformPosition (const ossimGpt &value)

void	setPrincipalPoint (const ossimDpt &value)

void	setPixelSize (const ossimDpt &value)

virtual bool	useForward () const

virtual void	initAdjustableParameters ()
	ground to image faster (you don't need DEM) //TBC More...

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

virtual bool	saveState (ossimKeywordlist &kwl, const char *prefix=0) 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 void	worldToLineSample (const ossimGpt &world_point, ossimDpt &image_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...

Protected Attributes
NEWMAT::Matrix	m_air2Ned

NEWMAT::Matrix	m_ecef2Ned

NEWMAT::Matrix	m_ecef2NedInverse

NEWMAT::Matrix	m_composite

NEWMAT::Matrix	m_compositeInverse

double	m_roll

double	m_pitch

double	m_yaw

ossimDpt	m_principalPoint

ossimDpt	m_pixelSize

double	m_focalLength

ossimEcefPoint	m_ecefPlatformPosition

ossimGpt	m_platformPosition

ossimGpt	m_platformPositionEllipsoid

double	m_fovIntrack

double	m_fovCrossTrack

ossimGpt	m_adjustedPlatformPosition

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

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 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...

Detailed Description

Definition at line 17 of file ossimIpodSensor.h.

Constructor & Destructor Documentation

◆ ossimIpodSensor() [1/2]

ossimIpodSensor::ossimIpodSensor ( )

Definition at line 30 of file ossimIpodSensor.cpp.

References initAdjustableParameters(), and ossimSensorModel::theSensorID.

 {
    initAdjustableParameters();
    theSensorID = "Ipod";
 }

◆ ossimIpodSensor() [2/2]

ossimIpodSensor::ossimIpodSensor ( const ossimIpodSensor & src )

inline

Definition at line 21 of file ossimIpodSensor.h.

    :ossimSensorModel(src),
    m_air2Ned(src.m_air2Ned),
    m_ecef2Ned(src.m_ecef2Ned),
    m_ecef2NedInverse(src.m_ecef2NedInverse),
    m_roll(src.m_roll),
    m_pitch(src.m_pitch),
    m_yaw(src.m_yaw),
    m_principalPoint(src.m_principalPoint), // in meters
    m_pixelSize(src.m_pixelSize),      // in meters
    m_focalLength(src.m_focalLength),    // in meters
    m_ecefPlatformPosition(src.m_ecefPlatformPosition),
    m_platformPosition(src.m_platformPosition),
    m_platformPositionEllipsoid(src.m_platformPositionEllipsoid),
    m_fovIntrack(src.m_fovIntrack),
    m_fovCrossTrack(src.m_fovCrossTrack),
    m_adjustedPlatformPosition(src.m_adjustedPlatformPosition)
    {
    }

Member Function Documentation

◆ dup()

virtual ossimObject* ossimIpodSensor::dup ( ) const

inlinevirtual

Implements ossimProjection.

Definition at line 40 of file ossimIpodSensor.h.

    {
       return new ossimIpodSensor(*this);
    }

◆ imagingRay()

void ossimIpodSensor::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 36 of file ossimIpodSensor.cpp.

References ossimAdjustableParameterInterface::computeParameterOffset(), m_adjustedPlatformPosition, m_air2Ned, m_ecef2NedInverse, m_focalLength, m_pixelSize, m_principalPoint, ossimEcefRay::setDirection(), ossimEcefRay::setOrigin(), ossimSensorModel::theRefImgPt, ossimDpt::x, and ossimDpt::y.

Referenced by lineSampleHeightToWorld().

 {
 
    ossimDpt f1 (image_point - theRefImgPt);
    f1.x *= m_pixelSize.x;
    f1.y *= -m_pixelSize.y; 
    ossimDpt film (f1 - m_principalPoint);
    
    // once we have them we can add distortion fixes 
    // here on the film
    //
    
    
    // now orient the local film point to the ECEF axes
    // in a north east down lsr space.
    //
    ossimColumnVector3d rc_body(film.y, film.x, m_focalLength + computeParameterOffset(6));  
    ossimColumnVector3d rc_ecef = m_ecef2NedInverse*m_air2Ned*rc_body;
    image_ray.setOrigin(m_adjustedPlatformPosition);
    ossimEcefVector     ecf_ray_dir (rc_ecef);
    image_ray.setDirection(ecf_ray_dir);
 
 }

◆ initAdjustableParameters()

void ossimIpodSensor::initAdjustableParameters ( )

virtual

ground to image faster (you don't need DEM) //TBC

Reimplemented from ossimAdjustableParameterInterface.

Definition at line 149 of file ossimIpodSensor.cpp.

References ossimAdjustableParameterInterface::resizeAdjustableParameterArray(), ossimAdjustableParameterInterface::setAdjustableParameter(), ossimAdjustableParameterInterface::setParameterDescription(), ossimAdjustableParameterInterface::setParameterSigma(), and ossimAdjustableParameterInterface::setParameterUnit().

Referenced by loadState(), and ossimIpodSensor().

 {
    resizeAdjustableParameterArray(7);
    
    setAdjustableParameter(0, 0.0);
    setParameterDescription(0, "lon_offset");
    setParameterUnit(0, "degrees");
    
    setAdjustableParameter(1, 0.0);
    setParameterDescription(1, "lat_offset");
    setParameterUnit(1, "degrees");
    
    setAdjustableParameter(2, 0.0);
    setParameterDescription(2, "roll");
    setParameterUnit(2, "degrees");
    
    setAdjustableParameter(3, 0.0);
    setParameterDescription(3, "pitch");
    setParameterUnit(3, "degrees");
    
    setAdjustableParameter(4, 0.0);
    setParameterDescription(4, "yaw");
    setParameterUnit(4, "degrees");
    
    setAdjustableParameter(5, 0.0);
    setParameterDescription(5, "Altitude delta");
    setParameterUnit(5, "meters");
    
    setAdjustableParameter(6, 0.0);
    setParameterDescription(6, "focal length delta");
    setParameterUnit(6, "meters");
    
    setParameterSigma(0, .001);
    setParameterSigma(1, .001);
    setParameterSigma(2, 10);
    setParameterSigma(3, 10);
    setParameterSigma(4, 10);
    setParameterSigma(5, 100);
    setParameterSigma(6, .04);
    
 }

◆ lineSampleHeightToWorld()

void ossimIpodSensor::lineSampleHeightToWorld	(	const ossimDpt &	lineSampPt,
		const double &	heightEllipsoid,
		ossimGpt &	worldPt
	)		const

virtual

METHOD: lineSampleHeightToWorld This is the pure virtual that performs the actual work of projecting the image point to the given elevation above Ellipsoid.

Implements ossimSensorModel.

Definition at line 61 of file ossimIpodSensor.cpp.

References imagingRay(), ossimSensorModel::insideImage(), ossimEcefRay::intersectAboveEarthEllipsoid(), and ossimGpt::makeNan().

 {
    if (!insideImage(lineSampPt))
    {
       worldPt.makeNan();
       //       worldPoint = extrapolate(image_point, heightEllipsoid);
    }
    else
    {
       //***
       // First establish imaging ray from image point:
       //***
       ossimEcefRay ray;
       imagingRay(lineSampPt, ray);
       ossimEcefPoint Pecf (ray.intersectAboveEarthEllipsoid(heightEllipsoid));
       worldPt = ossimGpt(Pecf);
    }
 }

◆ loadState()

bool ossimIpodSensor::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 ossimSensorModel.

Definition at line 191 of file ossimIpodSensor.cpp.

References ossimSensorModel::computeGsd(), ossimString::empty(), ossimKeywordlist::find(), ossimAdjustableParameterInterface::getNumberOfAdjustableParameters(), ossimDpt::hasNans(), ossimDrect::hasNans(), ossimGpt::height(), initAdjustableParameters(), ossimGeoidManager::instance(), ossimDpt::isNan(), ossim::isnan(), ossimSensorModel::loadState(), m_focalLength, m_pitch, m_pixelSize, m_platformPosition, m_platformPositionEllipsoid, m_principalPoint, m_roll, m_yaw, ossimDpt::makeNan(), ossimDrect::midPoint(), ossimGeoidManager::offsetFromEllipsoid(), ossimSensorModel::theGSD, ossimSensorModel::theImageClipRect, ossimSensorModel::theImageSize, ossimSensorModel::theRefImgPt, ossimString::toDouble(), ossimIpt::toPoint(), ossimDpt::toPoint(), ossimGpt::toPoint(), updateModel(), ossimIpt::x, and ossimIpt::y.

 {
    if(getNumberOfAdjustableParameters() < 1)
    {
       initAdjustableParameters();
    }
    theGSD.makeNan();
    theRefImgPt.makeNan();
    ossimSensorModel::loadState(kwl, prefix);
    ossimString image_size = kwl.find(prefix, "image_size");
    ossimString pixel_size = kwl.find(prefix, "pixel_size");
    ossimString principal_point = kwl.find(prefix, "principal_point");
    ossimString focal_length = kwl.find(prefix, "focal_length");
    ossimString roll;
    ossimString pitch;
    ossimString yaw;
    ossimString platform_position;
    m_roll    = 0;
    m_pitch   = 0;
    m_yaw     = 0;
    roll      = kwl.find(prefix, "roll"); 
    pitch     = kwl.find(prefix, "pitch"); 
    yaw       = kwl.find(prefix, "yaw"); 
    platform_position = kwl.find(prefix, "platform_position");
    bool result = (!pixel_size.empty()&&
                   !principal_point.empty()&&
                   !focal_length.empty()&&
                   !platform_position.empty());
    if(!image_size.empty())
    {
       theImageSize.toPoint(image_size);
       theRefImgPt = ossimDpt(theImageSize.x*.5, theImageSize.y*.5);
       theImageClipRect = ossimDrect(0,0,theImageSize.x-1, theImageSize.y-1);
    }
    if(theImageClipRect.hasNans())
    {
       theImageClipRect = ossimDrect(0,0,theImageSize.x-1,theImageSize.y-1);
    }
    if(theRefImgPt.hasNans())
    {
       theRefImgPt = theImageClipRect.midPoint();
    }
    if(!focal_length.empty())
    {
       m_focalLength = focal_length.toDouble();
    }
    if(!pixel_size.empty())
    {
       m_pixelSize.toPoint(pixel_size);
    }
    if(!roll.empty())
    {
       m_roll = roll.toDouble();
    }
    if(!pitch.empty())
    {
       m_pitch = pitch.toDouble();
    }
    if(!yaw.empty())
    {
       m_yaw   = yaw.toDouble();
    }
    if(!principal_point.empty())
    {
       m_principalPoint.toPoint(principal_point);
    }
    if(!platform_position.empty())
    {
       m_platformPosition.toPoint(platform_position);
       m_platformPositionEllipsoid = m_platformPosition;
       double offset = ossimGeoidManager::instance()->offsetFromEllipsoid(m_platformPosition);
       if(!ossim::isnan(offset))
       {
          m_platformPositionEllipsoid.height(m_platformPosition.height() + offset);
       }
    }
    updateModel();
    
    if(theGSD.isNan())
    {
       try
       {
          // This will set theGSD and theMeanGSD. Method throws ossimException.
          computeGsd();
       }
       catch (const ossimException& e)
       {
          if (traceDebug())
          {
             ossimNotify(ossimNotifyLevel_DEBUG)
             << "ossimIpodSensor::loadState Caught Exception:\n"
             << e.what() << std::endl;
          }
       }
    }
    
    return result;
 }

◆ saveState()

bool ossimIpodSensor::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 ossimSensorModel.

Definition at line 290 of file ossimIpodSensor.cpp.

References ossimKeywordlist::add(), m_focalLength, m_pitch, m_pixelSize, m_platformPosition, m_principalPoint, m_roll, m_yaw, ossimSensorModel::saveState(), ossimSensorModel::theImageSize, ossimIpt::toString(), ossimDpt::toString(), ossimGpt::toString(), and ossimString::toString().

 {
    ossimSensorModel::saveState(kwl, prefix);
    kwl.add(prefix, "roll", ossimString::toString(m_roll), true);
    kwl.add(prefix, "pitch", ossimString::toString(m_pitch), true);
    kwl.add(prefix, "yaw", ossimString::toString(m_yaw), true);
    kwl.add(prefix, "principal_point", m_principalPoint.toString(), true);
    kwl.add(prefix, "pixel_size", m_pixelSize.toString(), true);
    kwl.add(prefix, "platform_position",m_platformPosition.toString() ,true);
    kwl.add(prefix, "focal_length", ossimString::toString(m_focalLength) ,true);
    kwl.add(prefix, "image_size", theImageSize.toString() ,true);
    
    return true;
 }

◆ setFocalLength()

void ossimIpodSensor::setFocalLength ( double value )

inline

Definition at line 61 of file ossimIpodSensor.h.

    {
       m_focalLength = value;
    }

◆ setPixelSize()

void ossimIpodSensor::setPixelSize ( const ossimDpt & value )

inline

Definition at line 75 of file ossimIpodSensor.h.

    {
       m_pixelSize = value;
    }

◆ setPlatformPosition()

void ossimIpodSensor::setPlatformPosition ( const ossimGpt & value )

inline

Definition at line 65 of file ossimIpodSensor.h.

    {
       m_platformPosition     = value;
       m_ecefPlatformPosition = value;
    }

◆ setPrincipalPoint()

void ossimIpodSensor::setPrincipalPoint ( const ossimDpt & value )

inline

Definition at line 71 of file ossimIpodSensor.h.

    {
       m_principalPoint = value;
    }

◆ setRollPitchYaw()

void ossimIpodSensor::setRollPitchYaw	(	double	r,
		double	p,
		double	y
	)

inline

Definition at line 55 of file ossimIpodSensor.h.

References y.

    {
       m_roll  = r;
       m_pitch = p;
       m_yaw   = y;
    }

◆ updateModel()

void ossimIpodSensor::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 ossimSensorModel.

Definition at line 83 of file ossimIpodSensor.cpp.

References ossimSensorModel::computeGsd(), ossimAdjustableParameterInterface::computeParameterOffset(), ossim::cosd(), ossimMatrix3x3::create(), ossim::degreesToRadians(), ossimGpt::height(), ossimDrect::height(), ossimGpt::latd(), ossimSensorModel::lineSampleToWorld(), ossimDrect::ll(), ossimGpt::lond(), ossimDrect::lr(), m_adjustedPlatformPosition, m_air2Ned, m_ecef2Ned, m_ecef2NedInverse, m_focalLength, m_fovCrossTrack, m_fovIntrack, m_pitch, m_platformPositionEllipsoid, m_roll, m_yaw, ossimPolygon::resize(), ossim::sind(), ossimSensorModel::theBoundGndPolygon, ossimSensorModel::theImageClipRect, ossimSensorModel::theImageSize, ossimSensorModel::theRefGndPt, ossimSensorModel::theRefImgPt, ossimDrect::ul(), ossimDrect::ur(), ossimDrect::width(), ossimIpt::x, ossimDpt::x, ossimIpt::y, ossimDpt::y, and y.

Referenced by loadState().

 {
 
    m_adjustedPlatformPosition = ossimGpt(m_platformPositionEllipsoid.latd()   + computeParameterOffset(1),
                                          m_platformPositionEllipsoid.lond()   + computeParameterOffset(0),
                                          m_platformPositionEllipsoid.height() + computeParameterOffset(5));
    
    double r = ossim::degreesToRadians(m_roll  + computeParameterOffset(2));
    double p = ossim::degreesToRadians(m_pitch + computeParameterOffset(3) );
    double y = ossim::degreesToRadians(m_yaw   + computeParameterOffset(4));
    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); 
 
 
    
 
    NEWMAT::Matrix camAM   = ossimMatrix3x3::create(0,1,0,-1,0,0,0,0,1); //90 deg rotation @ 3- for camera orientation on copter
 
    NEWMAT::Matrix camM   = ossimMatrix3x3::create(-1,0,0,0,-1,0,0,0,1); //180 deg rotation @ 3- for corner alignment (mirroring)
 
    m_air2Ned = camM*rollM*pitchM*yawM*camAM;
    
    double sin_lat = ossim::sind(m_adjustedPlatformPosition.latd());
    double cos_lat = ossim::cosd(m_adjustedPlatformPosition.latd());
    double sin_lon = ossim::sind(m_adjustedPlatformPosition.lond());
    double cos_lon = ossim::cosd(m_adjustedPlatformPosition.lond());
    m_ecef2Ned = (ossimMatrix3x3::create(0,0,1,0,1,0,-1,0,0)*
                  ossimMatrix3x3::create(cos_lat, 0, sin_lat, 0,1,0, -sin_lat,0,cos_lat)*
                  ossimMatrix3x3::create(cos_lon,sin_lon,0, -sin_lon, cos_lon, 0, 0, 0, 1));
    m_ecef2NedInverse = m_ecef2Ned.t();
    double adjustedFocal = m_focalLength + computeParameterOffset(6);
    m_fovIntrack    = (atan((theImageSize.y*theRefImgPt.y)/adjustedFocal));
    m_fovCrossTrack = (atan((theImageSize.x*theRefImgPt.x)/adjustedFocal));
    
    
    lineSampleToWorld(theRefImgPt, theRefGndPt);
    
    theBoundGndPolygon.resize(4);
    ossim_float64 w = theImageClipRect.width()*2.0;
    ossim_float64 h = theImageClipRect.height()*2.0;
    ossimGpt gpt;
    
    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;
    try{
     computeGsd();
    }
    catch(...)
    {
    }
 
 }

◆ useForward()

virtual bool ossimIpodSensor::useForward ( ) const

inlinevirtual

useForward() return true when it's better (more accurate / fast) to use forward (from ground to image) than inverse(from image to ground)

Implements ossimOptimizableProjection.

Definition at line 79 of file ossimIpodSensor.h.

79 {return true;}

Member Data Documentation

◆ m_adjustedPlatformPosition

ossimGpt ossimIpodSensor::m_adjustedPlatformPosition

protected

Definition at line 105 of file ossimIpodSensor.h.

Referenced by imagingRay(), and updateModel().

◆ m_air2Ned

NEWMAT::Matrix ossimIpodSensor::m_air2Ned

protected

Definition at line 86 of file ossimIpodSensor.h.

Referenced by imagingRay(), and updateModel().

◆ m_composite

NEWMAT::Matrix ossimIpodSensor::m_composite

protected

Definition at line 90 of file ossimIpodSensor.h.

◆ m_compositeInverse

NEWMAT::Matrix ossimIpodSensor::m_compositeInverse

protected

Definition at line 91 of file ossimIpodSensor.h.

◆ m_ecef2Ned

NEWMAT::Matrix ossimIpodSensor::m_ecef2Ned

protected

Definition at line 87 of file ossimIpodSensor.h.

Referenced by updateModel().

◆ m_ecef2NedInverse

NEWMAT::Matrix ossimIpodSensor::m_ecef2NedInverse

protected

Definition at line 88 of file ossimIpodSensor.h.

Referenced by imagingRay(), and updateModel().

◆ m_ecefPlatformPosition

ossimEcefPoint ossimIpodSensor::m_ecefPlatformPosition

protected

Definition at line 99 of file ossimIpodSensor.h.

◆ m_focalLength

double ossimIpodSensor::m_focalLength

protected

Definition at line 98 of file ossimIpodSensor.h.

Referenced by imagingRay(), loadState(), saveState(), and updateModel().

◆ m_fovCrossTrack

double ossimIpodSensor::m_fovCrossTrack

protected

Definition at line 103 of file ossimIpodSensor.h.

Referenced by updateModel().

◆ m_fovIntrack

double ossimIpodSensor::m_fovIntrack

protected

Definition at line 102 of file ossimIpodSensor.h.

Referenced by updateModel().

◆ m_pitch

double ossimIpodSensor::m_pitch

protected

Definition at line 94 of file ossimIpodSensor.h.

Referenced by loadState(), saveState(), and updateModel().

◆ m_pixelSize

ossimDpt ossimIpodSensor::m_pixelSize

protected

Definition at line 97 of file ossimIpodSensor.h.

Referenced by imagingRay(), loadState(), and saveState().

◆ m_platformPosition

ossimGpt ossimIpodSensor::m_platformPosition

protected

Definition at line 100 of file ossimIpodSensor.h.

Referenced by loadState(), and saveState().

◆ m_platformPositionEllipsoid

ossimGpt ossimIpodSensor::m_platformPositionEllipsoid

protected

Definition at line 101 of file ossimIpodSensor.h.

Referenced by loadState(), and updateModel().

◆ m_principalPoint

ossimDpt ossimIpodSensor::m_principalPoint

protected

Definition at line 96 of file ossimIpodSensor.h.

Referenced by imagingRay(), loadState(), and saveState().

◆ m_roll

double ossimIpodSensor::m_roll

protected

Definition at line 93 of file ossimIpodSensor.h.

Referenced by loadState(), saveState(), and updateModel().

◆ m_yaw

double ossimIpodSensor::m_yaw

protected

Definition at line 95 of file ossimIpodSensor.h.

Referenced by loadState(), saveState(), and updateModel().

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

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ossimIpodSensor() [1/2]

◆ ossimIpodSensor() [2/2]

Member Function Documentation

◆ dup()

◆ imagingRay()

◆ initAdjustableParameters()

◆ lineSampleHeightToWorld()

◆ loadState()

◆ saveState()

◆ setFocalLength()

◆ setPixelSize()

◆ setPlatformPosition()

◆ setPrincipalPoint()

◆ setRollPitchYaw()

◆ updateModel()

◆ useForward()

Member Data Documentation

◆ m_adjustedPlatformPosition

◆ m_air2Ned

◆ m_composite

◆ m_compositeInverse

◆ m_ecef2Ned

◆ m_ecef2NedInverse

◆ m_ecefPlatformPosition

◆ m_focalLength

◆ m_fovCrossTrack

◆ m_fovIntrack

◆ m_pitch

◆ m_pixelSize

◆ m_platformPosition

◆ m_platformPositionEllipsoid

◆ m_principalPoint

◆ m_roll

◆ m_yaw