#include <ossimPpjFrameSensor.h>

Inheritance diagram for ossimPpjFrameSensor:

Public Member Functions
	ossimPpjFrameSensor ()

	ossimPpjFrameSensor (const ossimPpjFrameSensor &src)

virtual ossimObject *	dup () const

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

virtual void	lineSampleToWorld (const ossimDpt &image_point, ossimGpt &worldPoint) const

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

virtual void	worldToLineSample (const ossimGpt &world_point, ossimDpt &image_point) const

virtual void	updateModel ()

void	setFocalLength (double focX, double focY)

void	setCameraPosition (const ossimGpt &value)

void	setPrincipalPoint (const ossimDpt &value)

void	setecef2CamMatrix (const NEWMAT::Matrix &value)

void	setAveragePrjectedHeight (double averageProjectedHeight)

virtual bool	useForward () const

virtual void	initAdjustableParameters ()

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 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_ecef2Cam

NEWMAT::Matrix	m_ecef2CamInverse

ossimDpt	m_principalPoint

double	m_focalLengthX

double	m_focalLengthY

double	m_focalLength

ossimEcefPoint	m_ecefCameraPosition

ossimGpt	m_cameraPositionEllipsoid

double	m_radialK1

double	m_radialK2

double	m_radialP1

double	m_radialP2

ossimGpt	m_adjustedCameraPosition

double	m_adjustedFocalLength

double	m_averageProjectedHeight

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 15 of file ossimPpjFrameSensor.h.

Constructor & Destructor Documentation

◆ ossimPpjFrameSensor() [1/2]

ossimPpjFrameSensor::ossimPpjFrameSensor ( )

Definition at line 40 of file ossimPpjFrameSensor.cpp.

Referenced by dup().

    :
    m_ecef2Cam(),
    m_ecef2CamInverse(),
    m_principalPoint(0.0, 0.0),
    m_focalLengthX(0.0),
    m_focalLengthY(0.0),
    m_focalLength(0.0),
    m_ecefCameraPosition(),
    m_cameraPositionEllipsoid(),
    m_radialK1(0.0),
    m_radialK2(0.0),
    m_radialP1(0.0),
    m_radialP2(0.0),
    m_adjustedCameraPosition(),
    m_adjustedFocalLength(0.0),
    m_averageProjectedHeight(0.0)
 {
    if (traceDebug())
    {
       ossimNotify(ossimNotifyLevel_DEBUG)
          << "ossimPpjFrameSensor::ossimPpjFrameSensor DEBUG:" << std::endl;
    }
    initAdjustableParameters();
    theSensorID = "PpjFrame";
    m_ecef2Cam.ReSize(3,3);
    m_ecef2CamInverse.ReSize(3,3);
 
    std::fill(m_ecef2Cam.Store(), m_ecef2Cam.Store()+9, 0.0);
    std::fill(m_ecef2CamInverse.Store(), m_ecef2CamInverse.Store()+9, 0.0);
    m_ecef2Cam[0][0] = 1.0;
    m_ecef2Cam[1][1] = 1.0;
    m_ecef2Cam[2][2] = 1.0;
    m_ecef2CamInverse[0][0] = 1.0;
    m_ecef2CamInverse[1][1] = 1.0;
    m_ecef2CamInverse[2][2] = 1.0;
 }

◆ ossimPpjFrameSensor() [2/2]

ossimPpjFrameSensor::ossimPpjFrameSensor ( const ossimPpjFrameSensor & src )

Definition at line 78 of file ossimPpjFrameSensor.cpp.

    :
    ossimSensorModel(src),
    m_ecef2Cam(src.m_ecef2Cam),
    m_ecef2CamInverse(src.m_ecef2CamInverse),
    m_principalPoint(src.m_principalPoint),
    m_focalLengthX(src.m_focalLengthX),
    m_focalLengthY(src.m_focalLengthY),
    m_focalLength(src.m_focalLength),
    m_ecefCameraPosition(src.m_ecefCameraPosition),
    m_cameraPositionEllipsoid(src.m_cameraPositionEllipsoid),
    m_radialK1(src.m_radialK1),
    m_radialK2(src.m_radialK2),
    m_radialP1(src.m_radialP1),
    m_radialP2(src.m_radialP2),
    m_adjustedCameraPosition(src.m_adjustedCameraPosition),
    m_adjustedFocalLength(src.m_adjustedFocalLength),
    m_averageProjectedHeight(src.m_averageProjectedHeight)
 {
 }

Member Function Documentation

◆ dup()

ossimObject * ossimPpjFrameSensor::dup ( ) const

virtual

Implements ossimProjection.

Definition at line 99 of file ossimPpjFrameSensor.cpp.

References ossimPpjFrameSensor().

 {
    return new ossimPpjFrameSensor(*this);
 }

◆ imagingRay()

void ossimPpjFrameSensor::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 133 of file ossimPpjFrameSensor.cpp.

References m_adjustedCameraPosition, m_adjustedFocalLength, m_ecef2CamInverse, m_principalPoint, ossimEcefRay::setDirection(), ossimEcefRay::setOrigin(), ossimDpt::x, and ossimDpt::y.

Referenced by lineSampleHeightToWorld(), and lineSampleToWorld().

 {
    // 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;
    }
 
 }

◆ initAdjustableParameters()

void ossimPpjFrameSensor::initAdjustableParameters ( )

virtual

Reimplemented from ossimAdjustableParameterInterface.

Definition at line 269 of file ossimPpjFrameSensor.cpp.

 {
    if (traceExec())
       ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimPpjFrameSensor::initAdjustableParameters: returning..." << std::endl;
    resizeAdjustableParameterArray(PARAM_ADJ_COUNT);
    
    setAdjustableParameter(PARAM_ADJ_LON_OFFSET, 0.0);
    setParameterDescription(PARAM_ADJ_LON_OFFSET, "lon_offset");
    setParameterUnit(PARAM_ADJ_LON_OFFSET, "meters");
    setParameterSigma(PARAM_ADJ_LON_OFFSET, 10);
    
    setAdjustableParameter(PARAM_ADJ_LAT_OFFSET, 0.0);
    setParameterDescription(PARAM_ADJ_LAT_OFFSET, "lat_offset");
    setParameterUnit(PARAM_ADJ_LAT_OFFSET, "meters");
    setParameterSigma(PARAM_ADJ_LAT_OFFSET, 10);
    
    setAdjustableParameter(PARAM_ADJ_ALTITUDE_OFFSET, 0.0);
    setParameterDescription(PARAM_ADJ_ALTITUDE_OFFSET, "altitude_offset");
    setParameterUnit(PARAM_ADJ_ALTITUDE_OFFSET, "meters");
    setParameterSigma(PARAM_ADJ_ALTITUDE_OFFSET, 10);
    
    // TODO  Add these back in when orientation angle offsets are fixed.
    // setAdjustableParameter(PARAM_ADJ_ROLL_OFFSET, 0.0);
    // setParameterDescription(PARAM_ADJ_ROLL_OFFSET, "roll_offset");
    // setParameterUnit(PARAM_ADJ_ROLL_OFFSET, "degrees");
    // setParameterSigma(PARAM_ADJ_ROLL_OFFSET, 10);
    
    // setAdjustableParameter(PARAM_ADJ_PITCH_OFFSET, 0.0);
    // setParameterDescription(PARAM_ADJ_PITCH_OFFSET, "pitch_offset");
    // setParameterUnit(PARAM_ADJ_PITCH_OFFSET, "degrees");
    // setParameterSigma(PARAM_ADJ_PITCH_OFFSET, 10);
    
    // setAdjustableParameter(PARAM_ADJ_YAW_OFFSET, 0.0);
    // setParameterDescription(PARAM_ADJ_YAW_OFFSET, "yaw_offset");
    // setParameterUnit(PARAM_ADJ_YAW_OFFSET, "degrees");
    // setParameterSigma(PARAM_ADJ_YAW_OFFSET, .04);
    
    setAdjustableParameter(PARAM_ADJ_FOCAL_LENGTH_OFFSET, 0.0);
    setParameterDescription(PARAM_ADJ_FOCAL_LENGTH_OFFSET, "focal_length_offset");
    setParameterUnit(PARAM_ADJ_FOCAL_LENGTH_OFFSET, "pixels");
    setParameterSigma(PARAM_ADJ_FOCAL_LENGTH_OFFSET, 20.0);   
 }

◆ lineSampleHeightToWorld()

void ossimPpjFrameSensor::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 167 of file ossimPpjFrameSensor.cpp.

References ossim::almostEqual(), imagingRay(), ossimEcefRay::intersectAboveEarthEllipsoid(), ossim::isnan(), and m_averageProjectedHeight.

 {
    ossimEcefRay ray;
    imagingRay(imagePoint, ray);
    double h = (ossim::isnan(heightEllipsoid)||ossim::almostEqual(heightEllipsoid, 0.0))?m_averageProjectedHeight:heightEllipsoid;
    ossimEcefPoint pecf(ray.intersectAboveEarthEllipsoid(h));
    worldPt = ossimGpt(pecf);
 
    if (traceDebug())
    {
       ossimNotify(ossimNotifyLevel_DEBUG) << "ossimPpjFrameSensor::lineSampleHeightToWorld DEBUG:" << std::endl;
       ossimNotify(ossimNotifyLevel_DEBUG) << "  imagePoint = " << imagePoint << std::endl;
       ossimNotify(ossimNotifyLevel_DEBUG) << "  heightEllipsoid = " << heightEllipsoid << std::endl;
       ossimNotify(ossimNotifyLevel_DEBUG) << "  ray = " << ray << std::endl;
       ossimNotify(ossimNotifyLevel_DEBUG) << "  worldPt = " << worldPt << std::endl;
    }
 }

◆ lineSampleToWorld()

void ossimPpjFrameSensor::lineSampleToWorld	(	const ossimDpt &	image_point,
		ossimGpt &	world_point
	)		const

virtual

Implementation of base-class pure virtual projection methods. These methods may be overriden by derived classes if those have more efficient schemes. The implementations here are iterative (relatively slow). Both depend on calls to the pure virtual lineSampleHeightToWorld() method.

Reimplemented from ossimSensorModel.

Definition at line 159 of file ossimPpjFrameSensor.cpp.

References imagingRay(), ossimElevManager::instance(), ossimElevSource::intersectRay(), and m_averageProjectedHeight.

 {
    ossimEcefRay ray;
    imagingRay(imagePoint, ray);
    ossimElevManager::instance()->intersectRay(ray, worldPt, m_averageProjectedHeight);
 }  

◆ loadState()

bool ossimPpjFrameSensor::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 312 of file ossimPpjFrameSensor.cpp.

 {
    if (traceDebug())
    {
       ossimNotify(ossimNotifyLevel_DEBUG)
          << "ossimPpjFrameSensor::loadState DEBUG:" << std::endl;
    }
 
    theGSD.makeNan();
    theRefImgPt.makeNan();
    ossimSensorModel::loadState(kwl, prefix);
    if(getNumberOfAdjustableParameters() < 1)
    {
       initAdjustableParameters();
    }
    ossimString principal_point = kwl.find(prefix, "principal_point");
    ossimString focal_length_x = kwl.find(prefix, "focal_length_x");
    ossimString focal_length_y = kwl.find(prefix, "focal_length_y");
    ossimString number_samples = kwl.find(prefix, "number_samples");
    ossimString number_lines = kwl.find(prefix, "number_lines");
    ossimString ecf_to_cam_row1 = kwl.find(prefix, "ecf_to_cam_row1");
    ossimString ecf_to_cam_row2 = kwl.find(prefix, "ecf_to_cam_row2");
    ossimString ecf_to_cam_row3 = kwl.find(prefix, "ecf_to_cam_row3");
    ossimString platform_position = kwl.find(prefix, "ecef_camera_position");
    ossimString averageProjectedHeight = kwl.find(prefix, "average_projected_height");
 
    // ossimString roll;
    // ossimString pitch;
    // ossimString yaw;
    // m_roll    = 0;
    // m_pitch   = 0;
    // m_yaw     = 0;
    // roll      = kwl.find(prefix, "roll"); 
    // pitch     = kwl.find(prefix, "pitch"); 
    // yaw       = kwl.find(prefix, "yaw"); 
 
    bool result = (!principal_point.empty()&&
                   !focal_length_x.empty()&&
                   !platform_position.empty()&&
                   !ecf_to_cam_row1.empty()&&
                   !ecf_to_cam_row2.empty()&&
                   !ecf_to_cam_row3.empty());
    if(!averageProjectedHeight.empty())
    {
       m_averageProjectedHeight = averageProjectedHeight.toDouble();
    }
    if(!number_samples.empty())
    {
       theImageSize = ossimIpt(number_samples.toDouble(), number_lines.toDouble());
       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_x.empty())
    {
       m_focalLengthX = focal_length_x.toDouble();
       m_focalLength = m_focalLengthX;
    }
    if(!focal_length_y.empty())
    {
       m_focalLengthY = focal_length_y.toDouble();
    }
 
    std::vector<ossimString> row;
    if(!ecf_to_cam_row1.empty())
    {
       row = ecf_to_cam_row1.explode(" ");
       for (int i=0; i<3; ++i)
          m_ecef2Cam[0][i] = row[i].toDouble();
       row = ecf_to_cam_row2.explode(" ");
       for (int i=0; i<3; ++i)
          m_ecef2Cam[1][i] = row[i].toDouble();
       row = ecf_to_cam_row3.explode(" ");
       for (int i=0; i<3; ++i)
          m_ecef2Cam[2][i] = row[i].toDouble();
       m_ecef2CamInverse = m_ecef2Cam.t();
    }
 
    // 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_ecefCameraPosition.toPoint(platform_position);
       m_cameraPositionEllipsoid = ossimGpt(m_ecefCameraPosition);
    }
 
    
    updateModel();
    
    if(theGSD.isNan())
    {
       try
       {
          computeGsd();
       }
       catch (const ossimException& e)
       {
          if (traceDebug())
          {
             ossimNotify(ossimNotifyLevel_DEBUG)
             << "ossimPpjFrameSensor::loadState Caught Exception:\n"
             << e.what() << std::endl;
          }
       }
    }
    if (traceDebug())
    {
       ossimNotify(ossimNotifyLevel_DEBUG)
          << "ossimPpjFrameSensor::loadState complete..." << std::endl;
    }
    
    return result;
 }

◆ saveState()

bool ossimPpjFrameSensor::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 448 of file ossimPpjFrameSensor.cpp.

References ossimKeywordlist::add(), m_averageProjectedHeight, m_ecef2Cam, m_ecefCameraPosition, m_focalLengthX, m_focalLengthY, m_principalPoint, ossimSensorModel::saveState(), ossimSensorModel::theGSD, ossimSensorModel::theImageSize, ossimIpt::toString(), ossimDpt::toString(), ossimEcefPoint::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, "gsd", theGSD.toString(), true);
    kwl.add(prefix, "principal_point", m_principalPoint.toString(), true);
    kwl.add(prefix, "ecef_camera_position",m_ecefCameraPosition.toString() ,true);
    kwl.add(prefix, "focal_length_x", ossimString::toString(m_focalLengthX) ,true);
    kwl.add(prefix, "focal_length_y", ossimString::toString(m_focalLengthY) ,true);
    kwl.add(prefix, "image_size", theImageSize.toString() ,true);
    kwl.add(prefix, "average_projected_height", m_averageProjectedHeight, true);
    ossimString row1 = ossimString::toString(m_ecef2Cam[0][0]) + " " +
                       ossimString::toString(m_ecef2Cam[0][1]) + " " +
                       ossimString::toString(m_ecef2Cam[0][2]);
    kwl.add(prefix, "ecf_to_cam_row1", row1, true);
    ossimString row2 = ossimString::toString(m_ecef2Cam[1][0]) + " " +
                       ossimString::toString(m_ecef2Cam[1][1]) + " " +
                       ossimString::toString(m_ecef2Cam[1][2]);
    kwl.add(prefix, "ecf_to_cam_row2", row2, true);
    ossimString row3 = ossimString::toString(m_ecef2Cam[2][0]) + " " +
                       ossimString::toString(m_ecef2Cam[2][1]) + " " +
                       ossimString::toString(m_ecef2Cam[2][2]);
    kwl.add(prefix, "ecf_to_cam_row3", row3, true);
 
    return true;
 }

◆ setAveragePrjectedHeight()

void ossimPpjFrameSensor::setAveragePrjectedHeight ( double averageProjectedHeight )

Definition at line 128 of file ossimPpjFrameSensor.cpp.

References m_averageProjectedHeight.

 {
    m_averageProjectedHeight = averageProjectedHeight;
 }

◆ setCameraPosition()

void ossimPpjFrameSensor::setCameraPosition ( const ossimGpt & value )

Definition at line 111 of file ossimPpjFrameSensor.cpp.

References m_cameraPositionEllipsoid, and m_ecefCameraPosition.

 {
    m_cameraPositionEllipsoid = value;
    m_ecefCameraPosition = value;
 }

◆ setecef2CamMatrix()

void ossimPpjFrameSensor::setecef2CamMatrix ( const NEWMAT::Matrix & value )

Definition at line 122 of file ossimPpjFrameSensor.cpp.

References m_ecef2Cam, and m_ecef2CamInverse.

 {
    m_ecef2Cam = value;
    m_ecef2CamInverse = m_ecef2Cam.t();
 }

◆ setFocalLength()

void ossimPpjFrameSensor::setFocalLength	(	double	focX,
		double	focY
	)

Definition at line 104 of file ossimPpjFrameSensor.cpp.

References m_focalLength, m_focalLengthX, and m_focalLengthY.

 {
    m_focalLengthX = focX;
    m_focalLengthY = focY;
    m_focalLength  = m_focalLengthX;
 }

◆ setPrincipalPoint()

void ossimPpjFrameSensor::setPrincipalPoint ( const ossimDpt & value )

Definition at line 117 of file ossimPpjFrameSensor.cpp.

References m_principalPoint.

 {
    m_principalPoint = value;
 }

◆ updateModel()

void ossimPpjFrameSensor::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 208 of file ossimPpjFrameSensor.cpp.

 {
    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;
    */
 }

◆ useForward()

virtual bool ossimPpjFrameSensor::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 48 of file ossimPpjFrameSensor.h.

48 {return true;}

◆ worldToLineSample()

void ossimPpjFrameSensor::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 187 of file ossimPpjFrameSensor.cpp.

References ossimEcefVector::data(), ossimGpt::height(), ossimGpt::isHgtNan(), m_adjustedCameraPosition, m_adjustedFocalLength, m_averageProjectedHeight, m_ecef2Cam, m_principalPoint, ossimDpt::x, x, ossimDpt::y, and y.

 {   
    ossimGpt wpt = world_point;
    if(wpt.isHgtNan())
    {
       wpt.height(m_averageProjectedHeight);
    }
    ossimEcefPoint gnd_ecf(wpt);
    ossimEcefPoint cam_ecf(m_adjustedCameraPosition);
    ossimEcefVector ecfRay(gnd_ecf - cam_ecf);
    ossimColumnVector3d camRay(m_ecef2Cam*ecfRay.data());   
       
    double x = m_principalPoint.x + m_adjustedFocalLength*camRay[0]/camRay[2];
    double y = m_principalPoint.y + m_adjustedFocalLength*camRay[1]/camRay[2];
 
    ossimDpt p(x, y);
     
    image_point = p;
 }

Member Data Documentation

◆ m_adjustedCameraPosition

ossimGpt ossimPpjFrameSensor::m_adjustedCameraPosition

protected

Definition at line 70 of file ossimPpjFrameSensor.h.

Referenced by imagingRay(), and worldToLineSample().

◆ m_adjustedFocalLength

double ossimPpjFrameSensor::m_adjustedFocalLength

protected

Definition at line 71 of file ossimPpjFrameSensor.h.

Referenced by imagingRay(), and worldToLineSample().

◆ m_averageProjectedHeight

double ossimPpjFrameSensor::m_averageProjectedHeight

protected

Definition at line 72 of file ossimPpjFrameSensor.h.

Referenced by lineSampleHeightToWorld(), lineSampleToWorld(), saveState(), setAveragePrjectedHeight(), and worldToLineSample().

◆ m_cameraPositionEllipsoid

ossimGpt ossimPpjFrameSensor::m_cameraPositionEllipsoid

protected

Definition at line 62 of file ossimPpjFrameSensor.h.

Referenced by setCameraPosition().

◆ m_ecef2Cam

NEWMAT::Matrix ossimPpjFrameSensor::m_ecef2Cam

protected

Definition at line 55 of file ossimPpjFrameSensor.h.

Referenced by saveState(), setecef2CamMatrix(), and worldToLineSample().

◆ m_ecef2CamInverse

NEWMAT::Matrix ossimPpjFrameSensor::m_ecef2CamInverse

protected

Definition at line 56 of file ossimPpjFrameSensor.h.

Referenced by imagingRay(), and setecef2CamMatrix().

◆ m_ecefCameraPosition

ossimEcefPoint ossimPpjFrameSensor::m_ecefCameraPosition

protected

Definition at line 61 of file ossimPpjFrameSensor.h.

Referenced by saveState(), and setCameraPosition().

◆ m_focalLength

double ossimPpjFrameSensor::m_focalLength

protected

Definition at line 60 of file ossimPpjFrameSensor.h.

Referenced by setFocalLength().

◆ m_focalLengthX

double ossimPpjFrameSensor::m_focalLengthX

protected

Definition at line 58 of file ossimPpjFrameSensor.h.

Referenced by saveState(), and setFocalLength().

◆ m_focalLengthY

double ossimPpjFrameSensor::m_focalLengthY

protected

Definition at line 59 of file ossimPpjFrameSensor.h.

Referenced by saveState(), and setFocalLength().

◆ m_principalPoint

ossimDpt ossimPpjFrameSensor::m_principalPoint

protected

Definition at line 57 of file ossimPpjFrameSensor.h.

Referenced by imagingRay(), saveState(), setPrincipalPoint(), and worldToLineSample().

◆ m_radialK1

double ossimPpjFrameSensor::m_radialK1

protected

Definition at line 65 of file ossimPpjFrameSensor.h.

◆ m_radialK2

double ossimPpjFrameSensor::m_radialK2

protected

Definition at line 66 of file ossimPpjFrameSensor.h.

◆ m_radialP1

double ossimPpjFrameSensor::m_radialP1

protected

Definition at line 67 of file ossimPpjFrameSensor.h.

◆ m_radialP2

double ossimPpjFrameSensor::m_radialP2

protected

Definition at line 68 of file ossimPpjFrameSensor.h.

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

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ossimPpjFrameSensor() [1/2]

◆ ossimPpjFrameSensor() [2/2]

Member Function Documentation

◆ dup()

◆ imagingRay()

◆ initAdjustableParameters()

◆ lineSampleHeightToWorld()

◆ lineSampleToWorld()

◆ loadState()

◆ saveState()

◆ setAveragePrjectedHeight()

◆ setCameraPosition()

◆ setecef2CamMatrix()

◆ setFocalLength()

◆ setPrincipalPoint()

◆ updateModel()

◆ useForward()

◆ worldToLineSample()

Member Data Documentation

◆ m_adjustedCameraPosition

◆ m_adjustedFocalLength

◆ m_averageProjectedHeight

◆ m_cameraPositionEllipsoid

◆ m_ecef2Cam

◆ m_ecef2CamInverse

◆ m_ecefCameraPosition

◆ m_focalLength

◆ m_focalLengthX

◆ m_focalLengthY

◆ m_principalPoint

◆ m_radialK1

◆ m_radialK2

◆ m_radialP1

◆ m_radialP2