ossimSensorModel Class Reference

#include <ossimSensorModel.h>

Inheritance diagram for ossimSensorModel:

Public Types
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 }

Public Member Functions
	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 void	lineSampleHeightToWorld (const ossimDpt &lineSampPt, const double &heightEllipsoid, ossimGpt &worldPt) const =0
virtual void	imagingRay (const ossimDpt &image_point, ossimEcefRay &image_ray) 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 void	updateModel ()
virtual bool	saveState (ossimKeywordlist &kwl, const char *prefix=0) const
virtual bool	loadState (const ossimKeywordlist &kwl, const char *prefix=0)
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 ossimObject *	dup () const =0
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...
virtual bool	useForward () const =0
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)
virtual void	initAdjustableParameters ()
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...

Static Public Member Functions
static void	writeGeomTemplate (ostream &os)

Protected Member Functions
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
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

---

CLASS: ossimSensorModel

Definition at line 54 of file ossimSensorModel.h.

Member Enumeration Documentation

CovMatStatus

enum ossimSensorModel::CovMatStatus

Enumerator
COV_INVALID
COV_PARTIAL
COV_FULL

Definition at line 60 of file ossimSensorModel.h.

   {
      COV_INVALID = 0,
      COV_PARTIAL = 1,
      COV_FULL    = 2
   };

DeriveMode

enum ossimSensorModel::DeriveMode

Enumerator
OBS_INIT
EVALUATE
P_WRT_X
P_WRT_Y
P_WRT_Z

Definition at line 67 of file ossimSensorModel.h.

   {
      OBS_INIT =-99,
      EVALUATE =-98,
      P_WRT_X = -1,
      P_WRT_Y = -2,
      P_WRT_Z = -3
   };

Constructor & Destructor Documentation

ossimSensorModel() [1/3]

ossimSensorModel::ossimSensorModel

(

)

CONSTRUCTORS:

Definition at line 97 of file ossimSensorModel.cpp.

   :
   ossimOptimizableProjection       (),
   ossimAdjustableParameterInterface(),
   theImageSize        (0, 0),
   theSubImageOffset   (0.0, 0.0),
   theImageID          (),
   theSensorID         (),
   theGSD              (0.0, 0.0),
   theMeanGSD          (0.0),
   theRefGndPt         (0.0, 0.0, 0.0),
   theRefImgPt         (0.0, 0.0),
   theBoundGndPolygon  (),
   theImageClipRect    (),
   theRelPosError      (0.0),
   theNominalPosError  (0.0),
   theParWRTx          (0.0, 0.0),
   theParWRTy          (0.0, 0.0),
   theParWRTz          (0.0, 0.0),
   theObs              (0.0, 0.0),
   theResid            (0.0, 0.0),
   theExtrapolateImageFlag(false),
   theExtrapolateGroundFlag(false)
{
   if (traceExec())
   {
      ossimNotify(ossimNotifyLevel_DEBUG)
         << "DEBUG ossimSensorModel::ossimSensorModel(geom_kwl): entering...\n"
         << "DEBUG ossimSensorModel::ossimSensorModel(geom_kwl): returning..."
         << std::endl;
   }
}

ossimSensorModel() [2/3]

ossimSensorModel::ossimSensorModel

(

const ossimSensorModel &

copy_this

)

Definition at line 133 of file ossimSensorModel.cpp.

   :
   ossimOptimizableProjection(model),
   ossimAdjustableParameterInterface(model),
   theImageSize       (model.theImageSize),
   theSubImageOffset  (model.theSubImageOffset),
   theImageID         (model.theImageID),
   theSensorID        (model.theSensorID),
   theGSD             (model.theGSD),
   theMeanGSD         (model.theMeanGSD),
   theRefGndPt        (model.theRefGndPt),
   theRefImgPt        (model.theRefImgPt),
   theBoundGndPolygon (model.theBoundGndPolygon),
   theImageClipRect   (model.theImageClipRect),
   theRelPosError     (model.theRelPosError),
   theNominalPosError (model.theNominalPosError),
   theParWRTx         (model.theParWRTx),
   theParWRTy         (model.theParWRTy),
   theParWRTz         (model.theParWRTz),
   theObs             (model.theObs),
   theResid           (model.theResid),
   theExtrapolateImageFlag(false),
   theExtrapolateGroundFlag(false)
{
   if (traceExec())
   {
      ossimNotify(ossimNotifyLevel_DEBUG)
         << "DEBUG ossimSensorModel::ossimSensorModel(model): entering..." << std::endl;
   }

   theErrorStatus = model.theErrorStatus;
   
   if (traceExec())
   {
      ossimNotify(ossimNotifyLevel_DEBUG)
         << "DEBUG ossimSensorModel::ossimSensorModel(model): returning..." << std::endl;
   }
   
   return;
}

ossimSensorModel() [3/3]

ossimSensorModel::ossimSensorModel

(

const ossimKeywordlist &

geom_kwl

)

Definition at line 180 of file ossimSensorModel.cpp.

   :
   ossimOptimizableProjection     (),
   ossimAdjustableParameterInterface(),
   theImageSize        (0, 0),
   theSubImageOffset   (0.0, 0.0),
   theImageID          (),
   theSensorID         (),
   theGSD              (0.0, 0.0),
   theMeanGSD          (0.0),
   theRefGndPt         (0.0, 0.0, 0.0),
   theRefImgPt         (0.0, 0.0),
   theBoundGndPolygon  (),
   theImageClipRect    (),
   theRelPosError      (0.0),
   theNominalPosError  (0.0),
   theParWRTx          (0.0, 0.0),
   theParWRTy          (0.0, 0.0),
   theParWRTz          (0.0, 0.0),
   theObs              (0.0, 0.0),
   theResid            (0.0, 0.0),
   theExtrapolateImageFlag(false),
   theExtrapolateGroundFlag(false)
{
   if (traceExec())
   {
      ossimNotify(ossimNotifyLevel_DEBUG)
         << "DEBUG ossimSensorModel::ossimSensorModel(geom_kwl): entering..." << std::endl;
   }
   
//   ossimElevManager::instance()->loadState(geom_kwl);
   loadState(geom_kwl);

   if (traceExec())
   {
      ossimNotify(ossimNotifyLevel_DEBUG)
         << "DEBUG ossimSensorModel::ossimSensorModel(geom_kwl): returning..." << std::endl;
   }
}

~ossimSensorModel()

ossimSensorModel::~ossimSensorModel ( )

protectedvirtual

Definition at line 255 of file ossimSensorModel.cpp.

{
   if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimSensorModel::~ossimSensorModel: entering..." << std::endl;
   
   if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimSensorModel::~ossimSensorModel: returning..." << std::endl;
}

Member Function Documentation

adjustableParametersChanged()

virtual void ossimSensorModel::adjustableParametersChanged ( )

inlinevirtual

This is from the adjustable parameter interface. It is called when a paraemter adjustment is made.

Reimplemented from ossimAdjustableParameterInterface.

Definition at line 172 of file ossimSensorModel.h.

References ossimAdjustableParameterInterface::updateModel().

      {
         updateModel();
      }

buildNormalEquation()

void ossimSensorModel::buildNormalEquation ( const ossimTieGptSet &  tieSet, NEWMAT::SymmetricMatrix &  A, NEWMAT::ColumnVector &  residue, NEWMAT::ColumnVector &  projResidue, double  pstep_scale  )

protected

METHOD: buildNormalEquation builds linearized system (LMS equivalent) A*dp = projResidue

A: symetric matrix = tJ*J dp: system parameter shift that we want to estimate projResidue = tJ * residue

t: transposition operator J = jacobian of transform relative to parameters p, transform can be forward() or inverse() jacobian is obtained via finite differences residue can be image (2D) or ground residue(3D)

TODO: use image/ground points covariance matrices

Definition at line 1549 of file ossimSensorModel.cpp.

References A, ossimProjection::forward(), getForwardDeriv(), getInverseDeriv(), ossimAdjustableParameterInterface::getNumberOfAdjustableParameters(), ossimTieGptSet::getTiePoints(), ossimGpt::hgt, ossimProjection::inverse(), ossimGpt::lat, ossimGpt::lon, M_PI, ossimTieGptSet::size(), ossimOptimizableProjection::useForward(), ossimDpt::x, and ossimDpt::y.

Referenced by optimizeFit().

{
   //goal:       build Least Squares system
   //constraint: never store full Jacobian matrix in memory (can be huge)
   //            so we build the matrices incrementally
   // the system can be built using forward() or inverse() depending on the projection capabilities : useForward()
   //
   //TBD : add covariance matrix for each tie point

   //init
   int np = getNumberOfAdjustableParameters();
   int dimObs;
   bool useImageObs = useForward(); //caching
   if (useImageObs)
   {
      dimObs = 2; //image observation
   } else {
      dimObs = 3; //ground observations
   }
   int no = dimObs * tieSet.size(); //number of observations

   A.ReSize(np);
   residue.ReSize(no);
   projResidue.ReSize(np);
   //Zeroify matrices that will be accumulated
   A           = 0.0;
   projResidue = 0.0;

   const vector<ossimRefPtr<ossimTieGpt> >& theTPV = tieSet.getTiePoints();
   vector<ossimRefPtr<ossimTieGpt> >::const_iterator tit;
   unsigned long c=1;

   if (useImageObs)
   { 
     //image observations 
      std::vector<ossimDpt> imDerp(np);
     ossimDpt resIm;
     // loop on tie points
      for (tit = theTPV.begin() ; tit != theTPV.end() ; ++tit)
      {
         //compute residue
         resIm = (*tit)->tie - forward(*(*tit));
         residue(c++) = resIm.x;
         residue(c++) = resIm.y;

         //compute all image derivatives regarding parametres for the tie point position
         for(int p=0;p<np;++p)
         {
            imDerp[p] = getForwardDeriv( p , *(*tit) , pstep_scale);
         }

         //compute influence of tie point on all sytem elements
         for(int p1=0;p1<np;++p1)
         {        
            //proj residue: J * residue
            projResidue.element(p1) += imDerp[p1].x * resIm.x + imDerp[p1].y * resIm.y;

            //normal matrix A = transpose(J)*J
            for(int p2=p1;p2<np;++p2)
            {
               A.element(p1,p2) += imDerp[p1].x * imDerp[p2].x + imDerp[p1].y * imDerp[p2].y;
            }
         }
      }
   }
   else
   {
      // ground observations
      std::vector<ossimGpt>  gdDerp(np);
      ossimGpt gd, resGd;
      // loop on tie points
      for (tit = theTPV.begin() ; tit != theTPV.end() ; ++tit)
      {
         //compute residue
         gd = inverse((*tit)->tie);
         residue(c++) = resGd.lon = ((*tit)->lon - gd.lon) * 100000.0;
         residue(c++) = resGd.lat = ((*tit)->lat - gd.lat) * 100000.0 * cos(gd.lat / 180.0 * M_PI);
         residue(c++) = resGd.hgt = (*tit)->hgt - gd.hgt; //TBD : normalize to meters?

         //compute all image derivatives regarding parametres for the tie point position
         for(int p=0;p<np;++p)
         {
            gdDerp[p] = getInverseDeriv( p , (*tit)->tie, pstep_scale);
         }

         //compute influence of tie point on all sytem elements
         for(int p1=0;p1<np;++p1)
         {        
            //proj residue: J * residue
            projResidue.element(p1) += gdDerp[p1].lon * resGd.lon + gdDerp[p1].lat * resGd.lat + gdDerp[p1].hgt * resGd.hgt; //TBC

            //normal matrix A = transpose(J)*J
            for(int p2=p1;p2<np;++p2)
            {
               A.element(p1,p2) += gdDerp[p1].lon * gdDerp[p2].lon + gdDerp[p1].lat * gdDerp[p2].lat + gdDerp[p1].hgt * gdDerp[p2].hgt;
            }
         }
      }

   } //end of if (useImageObs)
}

computeGsd()

void ossimSensorModel::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.

Returns

Nothing but throws ossimException on error.

Definition at line 1204 of file ossimSensorModel.cpp.

References ossimGpt::distanceTo(), ossimIpt::hasNans(), ossimDpt::hasNans(), ossimGpt::hasNans(), ossimDrect::hasNans(), ossimDrect::height(), ossimGpt::hgt, lineSampleHeightToWorld(), lineSampleToWorld(), ossimDrect::midPoint(), ossimNotify(), ossimNotifyLevel_DEBUG, theGSD, theImageClipRect, theImageSize, theMeanGSD, theRefImgPt, ossimDrect::width(), ossimIpt::x, ossimDpt::x, ossimIpt::y, and ossimDpt::y.

Referenced by ossimQuickbirdRpcModel::finishConstruction(), ossimplugins::ossimPleiadesModel::finishConstruction(), ossimplugins::ossimSpot6Model::finishConstruction(), ossimIpodSensor::loadState(), ossimSkyBoxLearSensor::loadState(), ossimSonomaSensor::loadState(), ossimApplanixEcefModel::ossimApplanixEcefModel(), ossimRpcModel::setAttributes(), ossimIpodSensor::updateModel(), ossimSkyBoxLearSensor::updateModel(), and ossimSonomaSensor::updateModel().

{
   static const char MODULE[] = "ossimSensorModel::computeGsd";

   if (theImageSize.hasNans())
   {
      std::string e = MODULE;
      e += "Error image size has nans!";
      throw ossimException(e);
   }

   //---
   // Compute gsd in the x direction from left to right points across the middle of image.
   // Compute gsd in the y direction from top to bottom points across the middle of image.
   //---

   // ossim_float64 midLine = 0.0;
   // ossim_float64 midSamp = 0.0;
   // ossim_float64 endLine = 1.0;
   // ossim_float64 endSamp = 1.0;
   // if (theImageSize.x > 2)
   // {
   //    midSamp = (theImageSize.x-1)/2.0;
   //    endSamp = theImageSize.x-1;
         
   // }
   // if (theImageSize.y > 2)
   // {
   //    midLine = (theImageSize.y-1)/2.0;
   //    endLine = theImageSize.y-1;
   // }

   ossimDpt centerImagePoint = theRefImgPt;
   ossimDpt quarterSize;
   if(!theImageSize.hasNans())
   {
      quarterSize = ossimDpt(theImageSize.x/4.0, theImageSize.y/4.0);
   }
   else if(!theImageClipRect.hasNans())
   {
      ossim_float32 w = theImageClipRect.width();
      ossim_float32 h = theImageClipRect.height();

      quarterSize = ossimDpt(w/4.0, h/4.0);
   }
   else
   {
      quarterSize = ossimDpt(1.0,1.0);      
   }
   if(centerImagePoint.hasNans()&&(!theImageSize.hasNans()))
   {
      centerImagePoint.x = (theImageSize.x)/2.0;
      centerImagePoint.y = (theImageSize.y-1.0)/2.0;
   }
   else if(centerImagePoint.hasNans()&&!theImageClipRect.hasNans())
   {
      centerImagePoint = theImageClipRect.midPoint();
   }
   
   if(!centerImagePoint.hasNans())
   {
      ossimDpt leftDpt(centerImagePoint.x-quarterSize.x, centerImagePoint.y);//  (0.0,     midLine);
      ossimDpt rightDpt(centerImagePoint.x+quarterSize.y, centerImagePoint.y);// (endSamp, midLine);
      ossimDpt topDpt(centerImagePoint.x, centerImagePoint.y-quarterSize.y);//   (midSamp, 0.0);
      ossimDpt bottomDpt(centerImagePoint.x, centerImagePoint.y+quarterSize.y);//(midSamp, endLine);

      ossimGpt leftGpt;
      ossimGpt rightGpt;
      ossimGpt topGpt;
      ossimGpt bottomGpt;

      //---
      // Left point.
      // For the first point use lineSampleToWorld to get the height.
      //---
      lineSampleToWorld(leftDpt, leftGpt);
      if (leftGpt.hasNans())
      {
         std::string e = MODULE;
         e += "Error leftGpt has nans!";
         throw ossimException(e);
      }

      //---
      // Right point:
      // Use lineSampleHeightToWorld using the left height since we want the horizontal distance.
      //---
      lineSampleHeightToWorld(rightDpt, leftGpt.hgt, rightGpt);
      if (rightGpt.hasNans())
      {
         std::string e = MODULE;
         e += "Error rightGpt has nans!";
         throw ossimException(e);
      }

      //---
      // Top point:
      // Use lineSampleHeightToWorld using the left height since we want the horizontal distance.
      //---
      lineSampleHeightToWorld(topDpt, leftGpt.hgt, topGpt);
      if (topGpt.hasNans())
      {
         std::string e = MODULE;
         e += "Error topGpt has nans!";
         throw ossimException(e);
      }
      
      //---
      // Bottom point:
      // Use lineSampleHeightToWorld using the left height since we want the horizontal distance.
      //---
      lineSampleHeightToWorld(bottomDpt, leftGpt.hgt, bottomGpt);
      if (bottomGpt.hasNans())
      {
         std::string e = MODULE;
         e += "Error bottomGpt has nans!";
         throw ossimException(e);
      }

#if 0 /* Please leave for debug. (drb) */
      ossimNotify(ossimNotifyLevel_DEBUG)
         << "image size:    " << theImageSize
         << "\nleftDpt:   " << leftDpt
         << "\nrightDpt:  " << rightDpt
         << "\ntopDpt:    " << topDpt
         << "\nbottomDpt: " << bottomDpt      
         << "\nleftGpt:   " << leftGpt
         << "\nrightGpt:  " << rightGpt
         << "\ntopGpt:    " << topGpt
         << "\nbottomGpt: " << bottomGpt      
         << "\n";
#endif
         
      theGSD.x   = leftGpt.distanceTo(rightGpt)/(rightDpt.x-leftDpt.x);
      theGSD.y   = topGpt.distanceTo(bottomGpt)/(bottomDpt.y-topDpt.y);
      theMeanGSD = (theGSD.x + theGSD.y)/2.0;

   }
   else
   {
         std::string e = MODULE;
         e += "Error center has nans!";
         throw ossimException(e);
   }

   if (traceDebug())
   {
      ossimNotify(ossimNotifyLevel_DEBUG)
         << "ossimSensorModel::computGsd DEBUG:"
         << "\ntheGSD:     " << theGSD
         << "\ntheMeanGSD: " << theMeanGSD << std::endl;
   }
}

degreesOfFreedom()

ossim_uint32 ossimSensorModel::degreesOfFreedom ( ) const

virtual

optimizableProjection implementation

Implements ossimOptimizableProjection.

Definition at line 1405 of file ossimSensorModel.cpp.

References ossimAdjustableParameterInterface::getNumberOfAdjustableParameters(), and ossimAdjustableParameterInterface::isParameterLocked().

{
   ossim_uint32 dof = 0;
   ossim_uint32 idx = 0;
   ossim_uint32 numAdj = getNumberOfAdjustableParameters();
   for(idx = 0; idx < numAdj; ++idx)
   {
      if(!isParameterLocked(idx))
      {
         ++dof;
      }
   }
   
   return dof;
}

extrapolate() [1/2]

ossimDpt ossimSensorModel::extrapolate ( const ossimGpt &  gp ) const

protectedvirtual

METHOD: extrapolate() Extrapolates solutions for points outside of the image. The second version accepts a height value – if left at the default, the elevation will be looked up via theElevation object.

Reimplemented in ossimH5GridModel.

Definition at line 1048 of file ossimSensorModel.cpp.

Referenced by ossimSonomaSensor::lineSampleHeightToWorld(), ossimSpot5Model::lineSampleHeightToWorld(), and worldToLineSample().

{
   if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) <<  "DEBUG ossimSensorModel::extrapolate: entering... " << std::endl;
   theExtrapolateGroundFlag = true;
   double height = 0.0;
   //---
   // If ground point supplied has NaN components, return now with a NaN point.
   //---
   if ( (ossim::isnan(gpt.lat)) || (ossim::isnan(gpt.lon)) )
//       (gpt.hgt==OSSIM_DBL_NAN))
   {
      theExtrapolateGroundFlag = false;
      if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimSensorModel::extrapolate: returning..." << std::endl;
      return ossimDpt(ossim::nan(), ossim::nan());
   }
   if(ossim::isnan(gpt.hgt) == false)
   {
      height = gpt.hgt;
   }
   
   if(theSeedFunction.valid())
   {
      ossimDpt ipt;

      theSeedFunction->worldToLineSample(gpt, ipt);

      theExtrapolateGroundFlag = false;
     return ipt;
   }
   //***
   // Determine which edge is intersected by the radial, and establish
   // intersection:
   //***
   ossimDpt edgePt (gpt);
   ossimDpt image_center (theRefGndPt);
   theBoundGndPolygon.clipLineSegment(image_center, edgePt);

   //---
   // Compute an epsilon perturbation in the direction away from edgePt for
   // later computing directional derivative:
   //---
   const double  DEG_PER_MTR =  8.983152841e-06; // Equator WGS-84...
   double epsilon = theMeanGSD*DEG_PER_MTR; //degrees (latitude) per pixel
   ossimDpt deltaPt (edgePt-image_center);
   ossimDpt epsilonPt (deltaPt*epsilon/deltaPt.length());
   edgePt -= epsilonPt;
   ossimDpt edgePt_prime (edgePt - epsilonPt);
       
   //***
   // Establish image point corresponding to edge point and edgePt+epsilon:
   //***
      ossimGpt edgeGP       (edgePt.lat,       edgePt.lon,       height);//gpt.hgt);
      ossimGpt edgeGP_prime (edgePt_prime.lat, edgePt_prime.lon, height);//gpt.hgt);

   worldToLineSample(edgeGP, edgePt);
   worldToLineSample(edgeGP_prime, edgePt_prime);

   //***
   // Compute approximate directional derivatives of line and sample along
   // radial at the edge:
   //***
   double dsamp_drad = (edgePt.samp - edgePt_prime.samp)/epsilon;
   double dline_drad = (edgePt.line - edgePt_prime.line)/epsilon;

   //***
   // Now extrapolate to point of interest:
   //***
   double delta = (ossimDpt(gpt) - ossimDpt(edgeGP)).length();

   
   ossimDpt extrapolated_ip (edgePt.samp + delta*dsamp_drad,
                             edgePt.line + delta*dline_drad);

   if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimSensorModel::extrapolate: returning..." << std::endl;

   theExtrapolateGroundFlag = false;
   return extrapolated_ip;
}

extrapolate() [2/2]

ossimGpt ossimSensorModel::extrapolate ( const ossimDpt &  ip, const double &  height = ossim::nan()  ) const

protectedvirtual

Reimplemented in ossimCoarseGridModel.

Definition at line 951 of file ossimSensorModel.cpp.

References theExtrapolateImageFlag.

{
   theExtrapolateImageFlag = true;
   if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) <<  "DEBUG ossimSensorModel::extrapolate: entering... " << std::endl;

   //---
   // If image point supplied has NaN components, return now with a NaN point.
   // This prevents an infinite recursion between model worldToLineSample
   // and this method:
   //---
   if (imagePoint.hasNans())
   {
      theExtrapolateImageFlag = false;
      if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimSensorModel::extrapolate: returning..." << std::endl;
      return ossimGpt(ossim::nan(), ossim::nan(), ossim::nan());
   }

   if(theSeedFunction.valid())
   {
      ossimGpt wpt;

      theSeedFunction->lineSampleToWorld(imagePoint, wpt);
      theExtrapolateImageFlag = false;
      return wpt;
   }
   //***
   // Determine which edge is intersected by the radial, and establish
   // intersection:
   //***
   ossimGpt gpt;
   ossimDpt edgePt (imagePoint);
   ossimDpt image_center (theRefImgPt);
   theImageClipRect.clip(image_center, edgePt);

   //***
   // Need edgePt relative to image center. Compute an epsilon perturbation in
   // the direction of edgePt for later computing directional derivative,
   // and back out the offset to origin:
   //***
   ossimDpt deltaPt (edgePt - image_center);
   ossimDpt epsilon (deltaPt/deltaPt.length());
   edgePt -= epsilon;  // insure that we are inside the image
   ossimDpt edgePt_prime (edgePt - epsilon); // epsilon=1pixel
       
   //***
   // Establish ground point corresponding to edge point and edgePt+epsilon:
   //***
   ossimGpt edgeGP;
   ossimGpt edgeGP_prime;

   if (ossim::isnan(height))
   {
      lineSampleToWorld(edgePt, edgeGP);
      lineSampleToWorld(edgePt_prime, edgeGP_prime);
   }
   else
   {
      lineSampleHeightToWorld(edgePt, height, edgeGP);
      lineSampleHeightToWorld(edgePt_prime, height, edgeGP_prime);
   }
   
   //***
   // Compute approximate directional derivatives of lat and lon along radial
   // at the edge:
   //***
   double dpixel    = (edgePt-edgePt_prime).length();
   double dlat_drad = (edgeGP.lat - edgeGP_prime.lat)/dpixel;
   double dlon_drad = (edgeGP.lon - edgeGP_prime.lon)/dpixel;

   //***
   // Now extrapolate to image point of interest:
   //***
   double delta_pixel = (imagePoint - edgePt).length();

   gpt.lat = edgeGP.lat + dlat_drad*delta_pixel;
   gpt.lon = edgeGP.lon + dlon_drad*delta_pixel;
   if ( ossim::isnan(height) )
   {
      gpt.hgt = ossimElevManager::instance()->getHeightAboveEllipsoid(gpt);
   }
   else
   {
      gpt.hgt = height;
   }
   theExtrapolateImageFlag = false;
   if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimSensorModel::extrapolate: returning..." << std::endl;
   return gpt;
}

getBaseObject() [1/2]

ossimObject * ossimSensorModel::getBaseObject ( )

virtual

Implements ossimAdjustableParameterInterface.

Definition at line 262 of file ossimSensorModel.cpp.

{
   return this;
}

getBaseObject() [2/2]

const ossimObject * ossimSensorModel::getBaseObject ( ) const

virtual

Implements ossimAdjustableParameterInterface.

Definition at line 267 of file ossimSensorModel.cpp.

{
   return this;
}

getForwardDeriv()

ossimDpt ossimSensorModel::getForwardDeriv ( int  parmIdx, const ossimGpt &  gpos, double  hdelta = 1e-11  )

virtual

METHOD: getForwardDeriv() gives forward() partial derivative regarding parameter parmIdx (>=0) default implementation is centered finite difference -should be reimplemented with formal derivative in child class

Reimplemented in ossimRpcModel, and ossimSarModel.

Definition at line 1682 of file ossimSensorModel.cpp.

References ossimProjection::forward(), ossimAdjustableParameterInterface::getAdjustableParameter(), and ossimAdjustableParameterInterface::setAdjustableParameter().

Referenced by buildNormalEquation(), ossimSarModel::getForwardDeriv(), and ossimRpcModel::getForwardDeriv().

{   
   static double den = 0.5/hdelta;
   ossimDpt res;

   double middle = getAdjustableParameter(parmIdx);
   //set parm to high value
   setAdjustableParameter(parmIdx, middle + hdelta, true);
   res = forward(gpos);
   //set parm to low value and gte difference
   setAdjustableParameter(parmIdx, middle - hdelta, true);
   res -= forward(gpos);
   //get partial derivative
   res = res*den;

   //reset parm
   setAdjustableParameter(parmIdx, middle, true);

   return res;
}

getImageClipRect()

const ossimDrect& ossimSensorModel::getImageClipRect ( ) const

inline

Definition at line 224 of file ossimSensorModel.h.

{ return theImageClipRect; }

getImageGeometry()

virtual bool ossimSensorModel::getImageGeometry ( const ossimString &  , const ossimString &  , ossimKeywordlist &    ) const

inlinevirtual

Extracts geometry info from a non-ossim key,value pair to an ossim keyword list.

Parameters

key	non-ossim-based input ossimString
value	non-ossim-based input ossimString
geomKwl	The keyword list to fill in.

Definition at line 282 of file ossimSensorModel.h.

                                  { return false; }

getImageID()

const ossimString& ossimSensorModel::getImageID ( ) const

inline

Access methods:

Definition at line 223 of file ossimSensorModel.h.

{ return theImageID; }

getInverseDeriv()

ossimGpt ossimSensorModel::getInverseDeriv ( int  parmIdx, const ossimDpt &  ipos, double  hdelta = 1e-11  )

virtual

METHOD: getInverseDeriv() gives inverse() partial derivative regarding parameter parmIdx (>=0) default implementation is centered finite difference -should be reimplemented with formal derivative in child class

Definition at line 1657 of file ossimSensorModel.cpp.

References ossimAdjustableParameterInterface::getAdjustableParameter(), ossimGpt::hgt, ossimProjection::inverse(), ossimGpt::lat, ossimGpt::lon, M_PI, and ossimAdjustableParameterInterface::setAdjustableParameter().

Referenced by buildNormalEquation().

{   
   double den = 0.5/hdelta;
   ossimGpt res,gd;

   double middle = getAdjustableParameter(parmIdx);
   //set parm to high value
   setAdjustableParameter(parmIdx, middle + hdelta, true);
   res = inverse(ipos);
   //set parm to low value and gte difference
   setAdjustableParameter(parmIdx, middle - hdelta, true);
   gd = inverse(ipos);

   //reset parm
   setAdjustableParameter(parmIdx, middle, true);

   res.lon = den*(res.lon - gd.lon) * 100000.0; //TBC : approx meters
   res.lat = den*(res.lat - gd.lat) * 100000.0 * cos(gd.lat / 180.0 * M_PI);
   res.hgt = den*(res.hgt - gd.hgt);

   return res;
}

getMetersPerPixel()

virtual ossimDpt ossimSensorModel::getMetersPerPixel ( ) const

inlinevirtual

ACCESS METHODS:

Implements ossimProjection.

Reimplemented in ossimAdjMapModel.

Definition at line 93 of file ossimSensorModel.h.

                                              {return ossimDpt(fabs(theGSD.x),
                                                               fabs(theGSD.y));}

getNominalPosError()

virtual const double& ossimSensorModel::getNominalPosError ( ) const

inlinevirtual

Returns the estimated Absolute horizontal position error (CE90) of the sensor model.

Definition at line 97 of file ossimSensorModel.h.

Referenced by ATP::ossimCorrelationSource::initialize(), and ATP::ossimDescriptorSource::initialize().

{ return theNominalPosError; }

getObsCovMat()

ossimSensorModel::CovMatStatus ossimSensorModel::getObsCovMat ( const ossimDpt &  ipos, NEWMAT::SymmetricMatrix &  Cov, const ossim_float64  defPointingSigma = 0.5  ) const

virtual

Gives 2X2 covariance matrix of observations.

METHOD: getObsCovMat()

Definition at line 1162 of file ossimSensorModel.cpp.

{
   // ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
   // Mensuration error contribution
   // ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
   //  Sensitivity matrix
   NEWMAT::SymmetricMatrix B(2);
   B = 0.0;
   B(1,1) = 1.0;
   B(2,2) = B(1,1);

   //  Pointing covariance matrix
   NEWMAT::SymmetricMatrix P(2);
   P = 0.0;
   P(1,1) = defPointingSigma*defPointingSigma;
   P(2,2) = P(1,1);

   //  Propagate
   NEWMAT::SymmetricMatrix Cm;
   Cm << B * P * B.t();

   // ~~~~~~~~~~~~~~~~~~~~
   // Sum total covariance
   // ~~~~~~~~~~~~~~~~~~~~
   NEWMAT::SymmetricMatrix Ctot = Cm; //+ other contributors as identified

   // ~~~~~~~~~~~~~~~~~~
   // Propagate to image
   // ~~~~~~~~~~~~~~~~~~
   NEWMAT::SymmetricMatrix Bi(2);
   Bi = 0.0;
   Bi(1,1) = 1.0;
   Bi(2,2) = Bi(1,1);

   Cov << Bi * Ctot * Bi.t();

   return ossimSensorModel::COV_PARTIAL;
}

getRelativePosError()

virtual const double& ossimSensorModel::getRelativePosError ( ) const

inlinevirtual

Returns the estimated RELATIVE horizontal position error (CE90) of the sensor model.

Definition at line 100 of file ossimSensorModel.h.

{ return theRelPosError; }

getResidue()

NEWMAT::ColumnVector ossimSensorModel::getResidue ( const ossimTieGptSet &  tieSet )

protected

METHOD: getResidue() returns ground opr image residue

Definition at line 1704 of file ossimSensorModel.cpp.

References ossimProjection::forward(), ossimTieGptSet::getTiePoints(), ossimGpt::hgt, ossimProjection::inverse(), ossimGpt::lat, ossimGpt::lon, M_PI, ossimTieGptSet::size(), ossimOptimizableProjection::useForward(), ossimDpt::x, and ossimDpt::y.

Referenced by optimizeFit().

{
   //init
   NEWMAT::ColumnVector residue;
   int dimObs;

   bool useImageObs = useForward(); //caching
   if (useImageObs)
   {
      dimObs = 2; //image observation
   } else {
      dimObs = 3; //ground observations
   }
   int no = dimObs * tieSet.size(); //number of observations

   residue.ReSize(no);

   const vector<ossimRefPtr<ossimTieGpt> >& theTPV = tieSet.getTiePoints();
   vector<ossimRefPtr<ossimTieGpt> >::const_iterator tit;
   unsigned long c=1;

   if (useImageObs)
   { 
     //image observations 
     ossimDpt resIm;
     // loop on tie points
      for (tit = theTPV.begin() ; tit != theTPV.end() ; ++tit)
      {
         //compute residue
         resIm = (*tit)->tie - forward(**tit);
         residue(c++) = resIm.x;
         residue(c++) = resIm.y;
      }
   } else {
      // ground observations
      ossimGpt gd;
      // loop on tie points
      for (tit = theTPV.begin() ; tit != theTPV.end() ; ++tit)
      {
         //compute residue
         gd = inverse((*tit)->tie);
         residue(c++) = ((*tit)->lon - gd.lon) * 100000.0; //approx meters //TBC TBD
         residue(c++) = ((*tit)->lat - gd.lat) * 100000.0 * cos(gd.lat / 180.0 * M_PI);
         residue(c++) = (*tit)->hgt - gd.hgt; //meters
      }
   } //end of if (useImageObs)

   return residue;
}

imageSize()

ossimDpt ossimSensorModel::imageSize ( ) const

inline

METHOD: imageSize() Returns the maximum line/sample rigorously defined by this model.

Definition at line 166 of file ossimSensorModel.h.

Referenced by ossimCoarseGridModel::buildGrid(), ossimAlphaSensorHRI::initialize(), ossimAlphaSensorHSI::initialize(), and ossimEnviCgModel::loadEnviGeocFile().

{ return theImageSize; }

imagingRay()

void ossimSensorModel::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 in ossimRpcModel, ossimFcsiModel, ossimSarModel, ossimLandSatModel, ossimplugins::ossimFormosatModel, ossimCoarseGridModel, ossimSpot5Model, ossimRS1SarModel, ossimSonomaSensor, ossimRsmModel, ossimIpodSensor, ossimSkyBoxLearSensor, ossimApplanixEcefModel, ossimAlphaSensorHRI, ossimAlphaSensorHSI, ossimPpjFrameSensor, ossimSpectraboticsRedEdgeModel, and ossimApplanixUtmModel.

Definition at line 1134 of file ossimSensorModel.cpp.

Referenced by ossimCoarseGridModel::imagingRay(), ossimAlphaSensor::lineSampleHeightToWorld(), and ossimAlphaSensor::lineSampToWorld().

{
   if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimSensorModel::imagingRay: entering..." << std::endl;

   ossimGpt start;
   ossimGpt end;

   lineSampleHeightToWorld(image_point, RAY_ORIGIN_HEIGHT, start);
   lineSampleHeightToWorld(image_point, 0.0, end);

   image_ray = ossimEcefRay(start, end);

   if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimSensorModel::imagingRay: returning..." << std::endl;
   return;
}

insideImage()

virtual bool ossimSensorModel::insideImage ( const ossimDpt &  p ) const

inlinevirtual

METHOD: insideImage(image_point) Returns true if the image_point lies inside the image rectangle.

Reimplemented in ossimApplanixEcefModel, and ossimSpectraboticsRedEdgeModel.

Definition at line 199 of file ossimSensorModel.h.

Referenced by ossimIpodSensor::lineSampleHeightToWorld(), ossimSonomaSensor::lineSampleHeightToWorld(), and ossimCoarseGridModel::lineSampleToWorld().

      {
/*          return( (p.u>=(0.0-FLT_EPSILON)) && */
/*                  (p.u<=(double)(theImageSize.u-(1-FLT_EPSILON))) && */
/*                  (p.v>=(0.0-FLT_EPSILON)) && */
/*                  (p.v<=(double)(theImageSize.v-(1-FLT_EPSILON))) ); */
         // if it's close to the edge we will consider it inside the image
         //
         return theImageClipRect.pointWithin(p, 2.0);
      }

invert()

NEWMAT::Matrix ossimSensorModel::invert ( const NEWMAT::Matrix &  m ) const

protected

stable invert stolen from ossimRpcSolver

stable invert stolen from ossimRpcSolver

Definition at line 1770 of file ossimSensorModel.cpp.

References SVD().

Referenced by solveLeastSquares().

{
   ossim_uint32 idx = 0;
   NEWMAT::DiagonalMatrix d;
   NEWMAT::Matrix u;
   NEWMAT::Matrix v;

   // decompose m.t*m which is stored in Temp into the singular values and vectors.
   //
   NEWMAT::SVD(m, d, u, v, true, true);
   
   // invert the diagonal
   // this is just doing the reciprical fo all diagonal components and store back int
   // d.  ths compute d inverse.
   //
   for(idx=0; idx < (ossim_uint32)d.Ncols(); ++idx)
   {
      if(d[idx] > 1e-14) //TBC : use DBL_EPSILON ?
      {
         d[idx] = 1.0/d[idx];
      }
      else
      {
         d[idx] = 0.0;

//DEBUG TBR
cout<<"warning: singular matrix in SVD"<<endl;

      }
   }

   //compute inverse of decomposed m;
   return v*d*u.t();
}

isAffectedByElevation()

virtual bool ossimSensorModel::isAffectedByElevation ( ) const

inlinevirtual

Implementation of pure virtual ossimProjection::isAffectedByElevation method.

Returns

true.

Implements ossimProjection.

Reimplemented in ossimCoarseGridModel.

Definition at line 263 of file ossimSensorModel.h.

{ return true; }

lineSampleHeightToWorld()

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

pure 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 ossimProjection.

Implemented in ossimRpcModel, ossimFcsiModel, ossimplugins::ossimRadarSat2RPCModel, ossimCoarseGridModel, ossimLandSatModel, ossimSarModel, ossimplugins::ossimFormosatModel, ossimplugins::ossimTileMapModel, ossimSpot5Model, ossimplugins::ossimGeometricSarSensorModel, ossimSonomaSensor, ossimAdjMapModel, ossimRS1SarModel, ossimNitfMapModel, ossimNitfRpcModel, ossimSkyBoxLearSensor, ossimRsmModel, ossimIpodSensor, ossimApplanixEcefModel, ossimSpectraboticsRedEdgeModel, ossimPpjFrameSensor, ossimApplanixUtmModel, and ossimAlphaSensor.

Referenced by computeGsd(), and worldToLineSample().

lineSampleToWorld()

void ossimSensorModel::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.

Implements ossimProjection.

Reimplemented in ossimplugins::ossimGeometricSarSensorModel, ossimRpcModel, ossimCoarseGridModel, ossimSarModel, ossimplugins::ossimTileMapModel, ossimSonomaSensor, ossimAdjMapModel, ossimRsmModel, ossimApplanixEcefModel, ossimPpjFrameSensor, ossimSpectraboticsRedEdgeModel, and ossimApplanixUtmModel.

Definition at line 280 of file ossimSensorModel.cpp.

Referenced by computeGsd(), ossimCoarseGridModel::lineSampleToWorld(), ossimIpodSensor::updateModel(), and ossimSkyBoxLearSensor::updateModel().

{
   bool debug = false;  // setable via interactive debugger
   if (traceExec() || debug)  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimSensorModel::lineSampleToWorld:entering..." << std::endl;
   
   if(image_point.hasNans())
   {
      gpt.makeNan();
      return;
   }
   //***
   // Extrapolate if image point is outside image:
   //***
   if (!insideImage(image_point)&&(!theExtrapolateImageFlag))
   {
      gpt = extrapolate(image_point);
      return;
   }

   //***
   // Determine imaging ray and invoke elevation source object's services to
   // intersect ray with terrain model:
   //***
   ossimEcefRay ray;
   imagingRay(image_point, ray);
   ossimElevManager::instance()->intersectRay(ray, gpt);

   if (traceDebug() || debug)
   {
      ossimNotify(ossimNotifyLevel_DEBUG) << "image_point = " << image_point << std::endl;
      ossimNotify(ossimNotifyLevel_DEBUG) << "ray = " << ray << std::endl;
      ossimNotify(ossimNotifyLevel_DEBUG) << "gpt = " << gpt << std::endl;
   }

   if (traceExec() || debug)  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimSensorModel::lineSampleToWorld: returning..." << std::endl;
   return;
}

loadState()

bool ossimSensorModel::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 ossimProjection.

Reimplemented in ossimplugins::ossimGeometricSarSensorModel, ossimRpcModel, ossimFcsiModel, ossimSonomaSensor, ossimplugins::ossimRadarSat2Model, ossimplugins::ossimTerraSarModel, ossimplugins::ossimRadarSat2RPCModel, ossimplugins::ossimAlosPalsarModel, ossimRsmModel, ossimplugins::ossimRadarSatModel, ossimplugins::ossimEnvisatAsarModel, ossimplugins::ossimErsSarModel, ossimLandSatModel, ossimSkyBoxLearSensor, ossimIpodSensor, ossimH5GridModel, ossimCoarseGridModel, ossimplugins::ossimFormosatModel, ossimplugins::ossimPleiadesModel, ossimplugins::ossimSpot6Model, ossimplugins::ossimTileMapModel, ossimSpot5Model, ossimRS1SarModel, ossimApplanixEcefModel, ossimAdjMapModel, ossimNitfRpcModel, ossimSpectraboticsRedEdgeModel, ossimSarModel, ossimNitfMapModel, ossimNitfRsmModel, ossimPpjFrameSensor, ossimIkonosRpcModel, ossimApplanixUtmModel, ossimQuickbirdRpcModel, ossimAlphaSensor, ossimAlphaSensorHRI, and ossimAlphaSensorHSI.

Definition at line 719 of file ossimSensorModel.cpp.

Referenced by ossimSarModel::loadState(), ossimSpot5Model::loadState(), ossimplugins::ossimTileMapModel::loadState(), ossimplugins::ossimFormosatModel::loadState(), ossimIpodSensor::loadState(), ossimSkyBoxLearSensor::loadState(), ossimSonomaSensor::loadState(), and ossimplugins::ossimGeometricSarSensorModel::loadState().

{
   if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimSensorModel::loadState: entering..." << std::endl;

   const char* keyword;
   const char* value;
//   int nconv;
   ossimDpt v[4]; // temporarily holds vertices for ground polygon

   //***
   // Read each keyword, breaking out if error occurs:
   //***
   keyword = IMAGE_ID_KW;
   value = kwl.find(prefix, keyword);
   if (value)
      theImageID = value;
   else
      theImageID = NULL_STRING;
   
   keyword = SENSOR_ID_KW;
   value = kwl.find(prefix, keyword);
   if (value)
      theSensorID = value;
   else
      theSensorID = NULL_STRING;
      
   keyword = ossimKeywordNames::NUMBER_LINES_KW;//IMAGE_SIZE_LINES_KW;
   value = kwl.find(prefix, keyword);
   if (value)
   {
      theImageSize.line = ossimString(value).toLong();
   }

   keyword = ossimKeywordNames::NUMBER_SAMPLES_KW;// IMAGE_SIZE_SAMPS_KW;
   value = kwl.find(prefix, keyword);
   if (value)
   {
      theImageSize.samp = ossimString(value).toLong();
   }

   keyword = REF_IPT_LINE_KW;
   value = kwl.find(prefix, keyword);
   if (value)
   {
      theRefImgPt.line = ossimString(value).toDouble();
   }

   keyword = REF_IPT_SAMP_KW;
   value = kwl.find(prefix, keyword);
   if (value)
   {
      theRefImgPt.samp = ossimString(value).toDouble();
   }

   keyword = REF_GPT_LAT_KW;
   value = kwl.find(prefix, keyword);
   if(value)
   {
      theRefGndPt.latd(ossimString(value).toDouble());
   }
   

   keyword = REF_GPT_LON_KW;
   value = kwl.find(prefix, keyword);
   if(value)
   {
      theRefGndPt.lond(ossimString(value).toDouble());
   }
   

   keyword = REF_GPT_HGT_KW;
   value = kwl.find(prefix, keyword);
   if(value)
   {
      theRefGndPt.hgt = ossimString(value).toDouble();
   }
   

   keyword = ossimKeywordNames::METERS_PER_PIXEL_Y_KW;// GSD_LINE_DIR_KW;
   value = kwl.find(prefix, keyword);
   if (value)
   {
      theGSD.line = ossimString(value).toDouble();
   }

   keyword = ossimKeywordNames::METERS_PER_PIXEL_X_KW;//GSD_SAMP_DIR_KW;
   value = kwl.find(prefix, keyword);
   if (value)
   {
      theGSD.samp = ossimString(value).toDouble();
   }

   theMeanGSD = (fabs(theGSD.line) + fabs(theGSD.samp))/2.0;

   keyword = ossimKeywordNames::UL_LAT_KW;
   value = kwl.find(prefix, keyword);
   if (value)
   {
      v[0].lat = ossimString(value).toDouble();
   }

   keyword = ossimKeywordNames::UL_LON_KW;
   value = kwl.find(prefix, keyword);
   if (value)
   {
      v[0].lon = ossimString(value).toDouble();
   }

   keyword = ossimKeywordNames::UR_LAT_KW;
   value = kwl.find(prefix, keyword);
   if (value)
   {
      v[1].lat = ossimString(value).toDouble();
   }

   keyword = ossimKeywordNames::UR_LON_KW;
   value = kwl.find(prefix, keyword);
   if (value)
   {
      v[1].lon = ossimString(value).toDouble();
   }

   keyword = ossimKeywordNames::LR_LAT_KW;
   value = kwl.find(prefix, keyword);
   if (value)
   {
      v[2].lat = ossimString(value).toDouble();
   }

   keyword = ossimKeywordNames::LR_LON_KW;
   value = kwl.find(prefix, keyword);
   if (value)
   {
      v[2].lon = ossimString(value).toDouble();
   }

   keyword = ossimKeywordNames::LL_LAT_KW;
   value = kwl.find(prefix, keyword);
   if (value)
   {
      v[3].lat = ossimString(value).toDouble();
   }

   keyword = ossimKeywordNames::LL_LON_KW;
   value = kwl.find(prefix, keyword);
   if (value)
   {
      v[3].lon = ossimString(value).toDouble();
   }

   keyword = ossimKeywordNames::CE90_ABSOLUTE_KW;
   value = kwl.find(prefix, keyword);
   if (!value)
   {
      // Try old keyword for legacy purposes:
      keyword = ossimKeywordNames::IMAGE_CE90_KW;
      value = kwl.find(prefix, keyword);
   }
   if (value)
      theNominalPosError = atof(value);
   else
      theNominalPosError = 0.0;

   keyword = ossimKeywordNames::CE90_RELATIVE_KW;
   value = kwl.find(prefix, keyword);
   if (value)
      theRelPosError = atof(value);
   else
      theRelPosError = theNominalPosError;

   //***
   // Initialize other data members given quantities read in KWL:
   //***
   theBoundGndPolygon = ossimPolygon(4, v);

   const char* rect = kwl.find(prefix, "rect");
   if(rect)
   {
      std::vector<ossimString> splitArray;
      ossimString rectString(rect);
      rectString = rectString.trim();
      rectString.split(splitArray, " ");
      if(splitArray.size() == 4)
      {
         theImageClipRect = ossimDrect(splitArray[0].toDouble(),
                                       splitArray[1].toDouble(),
                                       splitArray[2].toDouble(),
                                       splitArray[3].toDouble());
      }
      else
      {
         theImageClipRect = ossimDrect(0.0, 0.0,
                                       theImageSize.samp-1, theImageSize.line-1);
      }
   }
   else
   {
      theImageClipRect = ossimDrect(0.0, 0.0,
                                    theImageSize.samp-1, theImageSize.line-1);
   }
   
   // theSeedFunction: This is in the base class ossimSensorModel but is not
   // in the ossimSensorModel::loadState so do it here.
   ossimString seedPrefix = prefix;
   seedPrefix += ".seed_projection.";
   value = kwl.find( seedPrefix.chars(), ossimKeywordNames::TYPE_KW );
   if ( value )
   {
      // Only do expensive factory call if key is found...
      theSeedFunction = ossimProjectionFactoryRegistry::instance()->
         createProjection(kwl, seedPrefix.chars());
   }

   // Avoid passing null char* to method that takes an ossimString.
   ossimString tmpStr;
   if (prefix)
   {
      tmpStr = prefix;
   }
   loadAdjustments(kwl, tmpStr);

   if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimSensorModel::loadState: returning..." << std::endl;
   return ossimProjection::loadState(kwl, prefix);;
}

needsInitialState()

virtual bool ossimSensorModel::needsInitialState ( ) const

inlinevirtual

needsInitialState()

Returns

This implementation returns false. Sub classes should true if the projection needs to be initialized to be optimized, eg: sensor models.

Reimplemented from ossimOptimizableProjection.

Definition at line 230 of file ossimSensorModel.h.

{return true;}

operator=()

const ossimSensorModel & ossimSensorModel::operator=

(

const ossimSensorModel &

rhs

)

assignment operator

Definition at line 221 of file ossimSensorModel.cpp.

References ossimOptimizableProjection::operator=(), ossimAdjustableParameterInterface::operator=(), theBoundGndPolygon, theExtrapolateGroundFlag, theExtrapolateImageFlag, theGSD, theImageClipRect, theImageID, theImageSize, theMeanGSD, theNominalPosError, theObs, theParWRTx, theParWRTy, theParWRTz, theRefGndPt, theRefImgPt, theRelPosError, theResid, theSensorID, and theSubImageOffset.

Referenced by ossimRsmModel::operator=().

{
   if (this != &rhs)
   {
      // ossimProjection base has no data members.
      ossimOptimizableProjection::operator=(rhs);
      ossimAdjustableParameterInterface::operator=(rhs);
      theImageSize             = rhs.theImageSize;
      theSubImageOffset        = rhs.theSubImageOffset;
      theImageID               = rhs.theImageID;
      theSensorID              = rhs.theSensorID;
      theGSD                   = rhs.theGSD;
      theMeanGSD               = rhs.theMeanGSD;
      theRefGndPt              = rhs.theRefGndPt;
      theRefImgPt              = rhs.theRefImgPt;
      theBoundGndPolygon       = rhs.theBoundGndPolygon;
      theImageClipRect         = rhs.theImageClipRect;
      theRelPosError           = rhs.theRelPosError;
      theNominalPosError       = rhs.theNominalPosError;
      theParWRTx               = rhs.theParWRTx;
      theParWRTy               = rhs.theParWRTy;
      theParWRTz               = rhs.theParWRTz;
      theObs                   = rhs.theObs;
      theResid                 = rhs.theResid;
      theExtrapolateImageFlag  = rhs.theExtrapolateImageFlag;
      theExtrapolateGroundFlag = rhs.theExtrapolateGroundFlag;
   }
   return *this;
}

operator==()

bool ossimSensorModel::operator== ( const ossimProjection &  proj ) const

inlinevirtual

OPERATORS:

Implements ossimProjection.

Definition at line 379 of file ossimSensorModel.h.

References theImageID, theSensorID, and theSubImageOffset.

{
   // const  ossimSensorModel* model
   //    = PTR_CAST(ossimSensorModel, (const ossimProjection*) &proj);
   const ossimSensorModel* model = dynamic_cast<const ossimSensorModel*>( &proj );
   if ( (!model) ||
    (theSensorID != model->theSensorID) ||
    (theImageID != model->theImageID) ||
    (theSubImageOffset != model->theSubImageOffset) )
      return false;

   return true;
}

optimizeFit()

double ossimSensorModel::optimizeFit ( const ossimTieGptSet &  tieSet, double *  targetVariance = 0  )

virtual

optimizeFit() adjusts projection to GLOBALLY fit best to ALL tie points (no outlier rejection) can select an optional threshold for accuracy

RETURNS : resulting image error variance of fitted model, or negative value for error

IMPORTANT : the unit for *targetVariance and the returned value is : meters^2 when useForward() is true OR pixel^2 if useForward() is false

Implements ossimOptimizableProjection.

Definition at line 1422 of file ossimSensorModel.cpp.

References A, buildNormalEquation(), ossimAdjustableParameterInterface::getAdjustment(), ossimAdjustableParameterInterface::getNumberOfAdjustableParameters(), ossimAdjustmentInfo::getParameterList(), getResidue(), max, n, ossimAdjustableParameterInterface::setAdjustableParameter(), ossimTieGptSet::size(), solveLeastSquares(), and updateModel().

{
   //use a simple Levenberg-Marquardt non-linear optimization
   //note : please limit the number of tie points
   //
   //INPUTS: requires Jacobian matrix (partial derivatives with regards to parameters)
   //OUTPUTS: will also compute parameter covariance matrix
   //
   //TBD: use targetVariance!
 
   int np = getNumberOfAdjustableParameters();
   int nobs = tieSet.size();

   //setup initail values
   int iter=0;
   int iter_max = 200;
   double minResidue = 1e-10; //TBC
   double minDelta = 1e-10; //TBC

   //build Least Squares initial normal equation
   // don't waste memory, add samples one at a time
   NEWMAT::SymmetricMatrix A;
   NEWMAT::ColumnVector residue;
   NEWMAT::ColumnVector projResidue;
   double deltap_scale = 1e-4; //step_Scale is 1.0 because we expect parameters to be between -1 and 1
   buildNormalEquation(tieSet, A, residue, projResidue, deltap_scale);
   double ki2=residue.SumSquare();

   //get current adjustment (between -1 and 1 normally) and convert to ColumnVector
   ossimAdjustmentInfo cadj;
   getAdjustment(cadj);
   std::vector< ossimAdjustableParameterInfo >& parmlist = cadj.getParameterList();
   NEWMAT::ColumnVector cparm(np), nparm(np);
   for(int n=0;n<np;++n)
   {
      cparm(n+1) = parmlist[n].getParameter();
   }

   double damping_speed = 2.0;
   //find max diag element for A
   double maxdiag=0.0;
   for(int d=1;d<=np;++d) {
      if (maxdiag < A(d,d)) maxdiag=A(d,d);
   }
   double damping = 1e-3 * maxdiag;
   double olddamping = 0.0;
   bool found = false;

   //DEBUG TBR
   // cout<<"rms="<<sqrt(ki2/nobs)<<" ";
   // cout.flush();

   while ( (!found) && (iter < iter_max) ) //non linear optimization loop
   {
      bool decrease = false;

      do
      {
         //add damping update to normal matrix
         for(int d=1;d<=np;++d) A(d,d) += damping - olddamping;
         olddamping = damping;

         NEWMAT::ColumnVector deltap = solveLeastSquares(A, projResidue);

         if (deltap.NormFrobenius() <= minDelta) 
         {
            found = true;
         } else {
            //update adjustment
            nparm = cparm + deltap;
            for(int n=0;n<np;++n)
            {
               setAdjustableParameter(n, nparm(n+1), false); //do not update now, wait
            }
            updateModel();

            //check residue is reduced
            NEWMAT::ColumnVector newresidue = getResidue(tieSet);
            double newki2=newresidue.SumSquare();
            double res_reduction = (ki2 - newki2) / (deltap.t()*(deltap*damping + projResidue)).AsScalar();
 //DEBUG TBR
       cout<<sqrt(newki2/nobs)<<" ";
       cout.flush();

            if (res_reduction > 0)
            {
               //accept new parms
               cparm = nparm;
               ki2=newki2;

               deltap_scale = max(1e-15, deltap.NormInfinity()*1e-4);

               buildNormalEquation(tieSet, A, residue, projResidue, deltap_scale);
               olddamping = 0.0;

               found = ( projResidue.NormInfinity() <= minResidue );
               //update damping factor
               damping *= std::max( 1.0/3.0, 1.0-std::pow((2.0*res_reduction-1.0),3));
               damping_speed = 2.0;
               decrease = true;
            } else {
               //cancel parameter update
               for(int n=0;n<np;++n)
               {
                  setAdjustableParameter(n, nparm(n+1), false); //do not update right now
               }
               updateModel();

               damping *= damping_speed;
               damping_speed *= 2.0;
            }
         }
      } while (!decrease && !found);
      ++iter;
   }

//DEBUG TBR
cout<<endl;

   //compute parameter correlation
   // use normal matrix inverse
   //TBD

   return ki2/nobs;
}

origin()

virtual ossimGpt ossimSensorModel::origin ( ) const

inlinevirtual

ACCESS METHODS:

Implements ossimProjection.

Definition at line 92 of file ossimSensorModel.h.

Referenced by ossimSonomaSensor::intersectRay(), ossimSonomaSensor::intersectRayWithHeight(), ossimSonomaSensor::lineSampleHeightToWorld(), and ossimSonomaSensor::lineSampleToWorld().

{return theRefGndPt; }

print()

std::ostream & ossimSensorModel::print ( std::ostream &  out ) const

virtual

METHOD: print() Fulfills base-class pure virtual. Dumps contents of object to ostream.

Reimplemented from ossimProjection.

Reimplemented in ossimplugins::ossimGeometricSarSensorModel, ossimRpcModel, ossimFcsiModel, ossimplugins::ossimRadarSat2Model, ossimplugins::ossimTerraSarModel, ossimplugins::ossimRadarSat2RPCModel, ossimplugins::ossimEnvisatAsarModel, ossimSarModel, ossimLandSatModel, ossimRsmModel, ossimCoarseGridModel, ossimplugins::ossimFormosatModel, ossimplugins::ossimPleiadesModel, ossimplugins::ossimSpot6Model, ossimSpot5Model, ossimAdjMapModel, ossimplugins::ossimTileMapModel, and ossimNitfMapModel.

Definition at line 501 of file ossimSensorModel.cpp.

References ossimProjection::print(), theBoundGndPolygon, theGSD, theImageClipRect, theImageID, theImageSize, theMeanGSD, theNominalPosError, theRefGndPt, theRefImgPt, theRelPosError, theSensorID, and theSubImageOffset.

Referenced by ossimNitfMapModel::print(), ossimplugins::ossimTileMapModel::print(), ossimAdjMapModel::print(), ossimSpot5Model::print(), ossimplugins::ossimFormosatModel::print(), ossimSarModel::print(), and ossimFcsiModel::print().

{
   out << setprecision(15) << setiosflags(ios::fixed)
       << "\n ossimSensorModel base-class data members:\n"
       << "\n         theImageID: " << theImageID
       << "\n        theSensorID: " << theSensorID
       << "\n       theImageSize: " << theImageSize
       << "\n  theSubImageOffset: " << theSubImageOffset
       << "\n             theGSD: " << theGSD
       << "\n         theMeanGSD: " << theMeanGSD
       << "\n        theRefGndPt: " << theRefGndPt
       << "\n        theRefImgPt: " << theRefImgPt
       << "\n theBoundGndPolygon: \n" << theBoundGndPolygon
       << "\n   theImageClipRect: " << theImageClipRect
       << "\n theNominalPosError: " << theNominalPosError
       << "\n     theRelPosError: " << theRelPosError
       << endl;

   //---
   // Note:
   // need ossimAdjustableParameterInterface::print(os);
   //---
   return ossimProjection::print(out);
}

saveState()

bool ossimSensorModel::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 ossimProjection.

Reimplemented in ossimplugins::ossimGeometricSarSensorModel, ossimRpcModel, ossimFcsiModel, ossimSonomaSensor, ossimplugins::ossimRadarSat2Model, ossimplugins::ossimTerraSarModel, ossimplugins::ossimRadarSat2RPCModel, ossimSkyBoxLearSensor, ossimplugins::ossimAlosPalsarModel, ossimLandSatModel, ossimRsmModel, ossimplugins::ossimRadarSatModel, ossimIpodSensor, ossimplugins::ossimEnvisatAsarModel, ossimplugins::ossimErsSarModel, ossimplugins::ossimFormosatModel, ossimplugins::ossimPleiadesModel, ossimplugins::ossimSpot6Model, ossimCoarseGridModel, ossimplugins::ossimTileMapModel, ossimH5GridModel, ossimSpot5Model, ossimSarModel, ossimAdjMapModel, ossimApplanixEcefModel, ossimRS1SarModel, ossimNitfRpcModel, ossimSpectraboticsRedEdgeModel, ossimPpjFrameSensor, ossimNitfMapModel, ossimHdf5GridModel, ossimApplanixUtmModel, ossimQuickbirdRpcModel, ossimNitfRsmModel, ossimIkonosRpcModel, ossimAlphaSensor, ossimAlphaSensorHRI, ossimAlphaSensorHSI, and ossimEnviCgModel.

Definition at line 561 of file ossimSensorModel.cpp.

Referenced by ossim::Image::saveJSON(), ossimAlphaSensor::saveState(), ossimApplanixUtmModel::saveState(), ossimPpjFrameSensor::saveState(), ossimSpectraboticsRedEdgeModel::saveState(), ossimApplanixEcefModel::saveState(), ossimAdjMapModel::saveState(), ossimSpot5Model::saveState(), ossimplugins::ossimTileMapModel::saveState(), ossimplugins::ossimFormosatModel::saveState(), ossimIpodSensor::saveState(), ossimSkyBoxLearSensor::saveState(), ossimSonomaSensor::saveState(), and ossimplugins::ossimGeometricSarSensorModel::saveState().

{
   if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimSensorModel::saveState: entering..." << std::endl;

   kwl.add(prefix, IMAGE_ID_KW, theImageID.chars());
   kwl.add(prefix, SENSOR_ID_KW, theSensorID.chars());
   
   kwl.add(prefix,
           ossimKeywordNames::NUMBER_LINES_KW,
           theImageSize.line,
           true);
   kwl.add(prefix,
           ossimKeywordNames::NUMBER_SAMPLES_KW,
           theImageSize.samp,
           true);
   
   kwl.add(prefix,
           REF_GPT_LAT_KW,
           theRefGndPt.lat,
           true);
   
   kwl.add(prefix,
           REF_GPT_LON_KW,
           theRefGndPt.lon,
           true);
   
   kwl.add(prefix,
           REF_GPT_HGT_KW,
           theRefGndPt.hgt,
           true);
   
   kwl.add(prefix,
           REF_IPT_LINE_KW,
           theRefImgPt.line,
           true);
      
   kwl.add(prefix,
           REF_IPT_SAMP_KW,
           theRefImgPt.samp,
           true);
   
   kwl.add(prefix,
           ossimKeywordNames::METERS_PER_PIXEL_Y_KW,
           theGSD.line,
           true);
   
   kwl.add(prefix,
           ossimKeywordNames::METERS_PER_PIXEL_X_KW,
           theGSD.samp,
           true);
   
   ossimDpt corner;
   if(!theBoundGndPolygon.vertex(0, corner))
   {
      corner = ossimDpt(0,0);
   }
   
   kwl.add(prefix,
           ossimKeywordNames::UL_LAT_KW,
           corner.lat,
           true);
   
   kwl.add(prefix,
           ossimKeywordNames::UL_LON_KW,
           corner.lon,
           true);
   
   if(!theBoundGndPolygon.nextVertex(corner))
   {
      corner = ossimDpt(0,0);
   }
   kwl.add(prefix,
           ossimKeywordNames::UR_LAT_KW,
           corner.lat,
           true);
   
   kwl.add(prefix,
           ossimKeywordNames::UR_LON_KW,
           corner.lon,
           true);
   
   if(!theBoundGndPolygon.nextVertex(corner))
   {
      corner = ossimDpt(0,0);
   }
   kwl.add(prefix,
           ossimKeywordNames::LR_LAT_KW,
           corner.lat,
           true);
   kwl.add(prefix,
           ossimKeywordNames::LR_LON_KW,
           corner.lon,
           true);
   
   
   if(!theBoundGndPolygon.nextVertex(corner))
   {
      corner = ossimDpt(0,0);
   }
   kwl.add(prefix,
           ossimKeywordNames::LL_LAT_KW,
           corner.lat,
           true);
   kwl.add(prefix,
           ossimKeywordNames::LL_LON_KW,
           corner.lon,
           true);

   kwl.add(prefix,
           ossimKeywordNames::CE90_ABSOLUTE_KW,
           theNominalPosError,
           true, 20);

   kwl.add(prefix,
           ossimKeywordNames::CE90_RELATIVE_KW,
           theRelPosError,
           true, 20);

   kwl.add(prefix,
           "rect",
           ossimString::toString(theImageClipRect.ul().x)
           + " " + ossimString::toString(theImageClipRect.ul().y) + " " +
           ossimString::toString(theImageClipRect.lr().x) + " " +
           ossimString::toString(theImageClipRect.lr().y),
           true);

   if ( theSeedFunction.valid() )
   {
      ossimString seedPrefix = prefix;
      seedPrefix += "seed_projection.";
      theSeedFunction->saveState(kwl, seedPrefix.c_str());
   }

   // Avoid passing null char* to method that takes an ossimString.
   ossimString tmpStr;
   if (prefix)
   {
      tmpStr = prefix;
   }
   saveAdjustments(kwl, tmpStr);
      
   //
   // Also save the state of the elevation object:
   //
//   ossimElevManager::instance()->saveState(kwl, prefix);
   
   
   if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimSensorModel::saveState:returning..." << std::endl;
   return ossimProjection::saveState(kwl, prefix);;
}

setGroundRect()

void ossimSensorModel::setGroundRect	(	const ossimGpt &	ul,
		const ossimGpt &	ur,
		const ossimGpt &	lr,
		const ossimGpt &	ll
	)

Definition at line 542 of file ossimSensorModel.cpp.

References ossimPolygon::addPoint(), ossimPolygon::clear(), and theBoundGndPolygon.

Referenced by ossimplugins::ossimRadarSatModel::open(), ossimplugins::ossimRadarSat2RPCModel::open(), and ossimplugins::ossimRadarSat2Model::open().

{
   theBoundGndPolygon.clear();
   theBoundGndPolygon.addPoint(ul);
   theBoundGndPolygon.addPoint(ur);
   theBoundGndPolygon.addPoint(lr);
   theBoundGndPolygon.addPoint(ll);
}

setImageRect()

void ossimSensorModel::setImageRect

(

const ossimDrect &

imageRect

)

Definition at line 536 of file ossimSensorModel.cpp.

References ossimDrect::midPoint(), ossimDrect::size(), theImageClipRect, theImageSize, and theRefImgPt.

Referenced by ossimAlphaSensorHRI::initialize(), and ossimAlphaSensorHSI::initialize().

{
   theImageClipRect = imageRect;
   theRefImgPt = imageRect.midPoint();
   theImageSize = imageRect.size();
}

setImageSize()

void ossimSensorModel::setImageSize ( const ossimDpt &  size )

inline

Definition at line 167 of file ossimSensorModel.h.

References size.

Referenced by ossimAlphaSensorHRI::initialize(), and ossimAlphaSensorHSI::initialize().

{theImageSize = size;}

setNominalPosError()

virtual void ossimSensorModel::setNominalPosError ( const double &  ce90 )

inlinevirtual

Assigns the absolute image position error uncertainty (abs CE90)

Definition at line 103 of file ossimSensorModel.h.

{ theNominalPosError = ce90; }

setRefGndPt()

void ossimSensorModel::setRefGndPt

(

const ossimGpt &

pt

)

Sets the center latitude, longitude, height of the image.

Parameters

pt	Image center point.

Definition at line 531 of file ossimSensorModel.cpp.

References theRefGndPt.

{
   theRefGndPt = pt;
}

setRefImgPt()

void ossimSensorModel::setRefImgPt

(

const ossimDpt &

pt

)

Sets the center line sampe of the image.

Parameters

pt	Image center point (x = sample, y = line).

Definition at line 526 of file ossimSensorModel.cpp.

References theRefImgPt.

Referenced by ossimAlphaSensorHRI::initialize(), and ossimAlphaSensorHSI::initialize().

{
   theRefImgPt = pt;
}

setRelativePosError()

virtual void ossimSensorModel::setRelativePosError ( const double &  ce90 )

inlinevirtual

Assigns the relative image position error uncertainty (rel CE90)

Definition at line 106 of file ossimSensorModel.h.

{ theRelPosError = ce90; }

solveLeastSquares()

NEWMAT::ColumnVector ossimSensorModel::solveLeastSquares ( NEWMAT::SymmetricMatrix &  A, NEWMAT::ColumnVector &  r  ) const

protected

solves Ax = r , with A symmetric positive definite A can be rank deficient size of A is typically between 10 and 100 rows

Definition at line 1760 of file ossimSensorModel.cpp.

References A, invert(), and x.

Referenced by optimizeFit().

{
   NEWMAT::ColumnVector x = invert(A)*r;
   return x;
}

updateModel()

virtual void ossimSensorModel::updateModel ( )

inlinevirtual

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 ossimAdjustableParameterInterface.

Reimplemented in ossimRpcModel, ossimFcsiModel, ossimSarModel, ossimLandSatModel, ossimplugins::ossimFormosatModel, ossimSpot5Model, ossimAdjMapModel, ossimSonomaSensor, ossimRsmModel, ossimSkyBoxLearSensor, ossimIpodSensor, ossimApplanixEcefModel, ossimPpjFrameSensor, ossimSpectraboticsRedEdgeModel, ossimApplanixUtmModel, ossimAlphaSensor, ossimAlphaSensorHRI, and ossimAlphaSensorHSI.

Definition at line 182 of file ossimSensorModel.h.

Referenced by ossimplugins::ossimTileMapModel::loadState(), and optimizeFit().

{}

worldToLineSample()

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

virtual

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

Implements ossimProjection.

Reimplemented in ossimFcsiModel, ossimRpcModel, ossimplugins::ossimRadarSat2RPCModel, ossimSarModel, ossimH5GridModel, ossimAdjMapModel, ossimplugins::ossimTileMapModel, ossimNitfRpcModel, ossimApplanixEcefModel, ossimRsmModel, ossimPpjFrameSensor, ossimSpectraboticsRedEdgeModel, ossimApplanixUtmModel, ossimAlphaSensorHRI, and ossimAlphaSensorHSI.

Definition at line 325 of file ossimSensorModel.cpp.

References ossim::almostEqual(), DBL_EPSILON, extrapolate(), ossimPolygon::getNumberOfVertices(), ossimPolygon::hasNans(), ossimGpt::hgt, ossimGpt::isLatNan(), ossimGpt::isLonNan(), ossim::isnan(), ossimGpt::lat, lineSampleHeightToWorld(), ossimGpt::lon, ossimDpt::makeNan(), ossimPolygon::pointWithin(), theBoundGndPolygon, theExtrapolateGroundFlag, theRefImgPt, theSeedFunction, theSubImageOffset, ossimDpt::u, ossimDpt::v, ossimRefPtr< T >::valid(), and ossimProjection::worldToLineSample().

Referenced by ossimplugins::ossimGeometricSarSensorModel::optimizeModel().

{
   //   static bool recursionFlag = false;

   static const double PIXEL_THRESHOLD    = .1; // acceptable pixel error
   static const int    MAX_NUM_ITERATIONS = 20;


   if(worldPoint.isLatNan() || worldPoint.isLonNan())
   {
      ip.makeNan();
      return;
   }
      
   //***
   // First check if the world point is inside bounding rectangle:
   //***
   int iters = 0;
   ossimDpt wdp (worldPoint);
   //   if ((!recursionFlag)&&!(theBoundGndPolygon.pointWithin(wdp)))

   if((theBoundGndPolygon.getNumberOfVertices() > 0)&&
      (!theBoundGndPolygon.hasNans()))
   {
      if (!(theBoundGndPolygon.pointWithin(wdp)))
      {
         if(theSeedFunction.valid())
         {
            theSeedFunction->worldToLineSample(worldPoint, ip);
         }
         else if(!theExtrapolateGroundFlag) // if I am not already in the extrapolation routine

         {
         //      recursionFlag = true;
            ip = extrapolate(worldPoint);
         //      recursionFlag = false;
         }
         return;
      }         
   }

   //***
   // Substitute zero for null elevation if present:
   //***
   double height = worldPoint.hgt;
   if ( ossim::isnan(height) )
   {
      height = 0.0;
   }

   //
   // Utilize iterative scheme for arriving at image point. Begin with guess
   // at image center:
   //
   if(theSeedFunction.valid())
   {
      theSeedFunction->worldToLineSample(worldPoint, ip);
   }
   else
   {
      ip.u = theRefImgPt.u;
      ip.v = theRefImgPt.v;
   }
   
   ossimDpt ip_du;
   ossimDpt ip_dv;

   ossimGpt gp, gp_du, gp_dv;
   double dlat_du, dlat_dv, dlon_du, dlon_dv;
   double delta_lat, delta_lon, delta_u, delta_v;
   double inverse_norm;
   bool done = false;
   //***
   // Begin iterations:
   //***
   do
   {
      //***
      // establish perturbed image points about the guessed point:
      //***
      ip_du.u = ip.u + 1.0;
      ip_du.v = ip.v;
      ip_dv.u = ip.u;
      ip_dv.v = ip.v + 1.0;
      
      //***
      // Compute numerical partials at current guessed point:
      //***
      lineSampleHeightToWorld(ip,    height, gp);
      lineSampleHeightToWorld(ip_du, height, gp_du);
      lineSampleHeightToWorld(ip_dv, height, gp_dv);

      if(gp.isLatNan() || gp.isLonNan())
      {
         gp = extrapolate(ip);
      }
      if(gp_du.isLatNan() || gp_du.isLonNan())
      {
         gp_du = extrapolate(ip_du);
      }
      if(gp_dv.isLatNan() | gp_dv.isLonNan())
      {
         gp_dv = extrapolate(ip_dv);
         
      }
      dlat_du = gp_du.lat - gp.lat; //e
      dlon_du = gp_du.lon - gp.lon; //g
      dlat_dv = gp_dv.lat - gp.lat; //f
      dlon_dv = gp_dv.lon - gp.lon; //h
      
      //
      // Test for convergence:
      //
      delta_lat = worldPoint.lat - gp.lat;
      delta_lon = worldPoint.lon - gp.lon;


      //
      // Compute linearized estimate of image point given gp delta:
      //
      inverse_norm = dlat_dv*dlon_du - dlat_du*dlon_dv; // fg-eh
      
      if (!ossim::almostEqual(inverse_norm, 0.0, DBL_EPSILON))
      {
         delta_u = (-dlon_dv*delta_lat + dlat_dv*delta_lon)/inverse_norm;
         delta_v = ( dlon_du*delta_lat - dlat_du*delta_lon)/inverse_norm;
         ip.u += delta_u;
         ip.v += delta_v;
      }
      else
      {
         delta_u = 0;
         delta_v = 0;
      }
      done = ((fabs(delta_u) < PIXEL_THRESHOLD)&&
              (fabs(delta_v) < PIXEL_THRESHOLD));
      iters++;
   } while ((!done) && (iters < MAX_NUM_ITERATIONS));
   
//    } while (((fabs(delta_u) > PIXEL_THRESHOLD) ||
//              (fabs(delta_v) > PIXEL_THRESHOLD)) &&
//             (iters < MAX_NUM_ITERATIONS));

#if 0 /* Please leave for debug. */
   //---
   // Note that this error mesage appears only if max count was reached while
   // iterating. A linear (no iteration) solution would finish with iters =
   // MAX_NUM_ITERATIONS + 1:
   //---
   if (iters >= MAX_NUM_ITERATIONS)
   {
      std::cout << "MAX ITERATION!!!" << std::endl;
      std::cout << "delta_u = "   << delta_u
                << "\ndelta_v = " << delta_v << "\n";
   }
   else
   {
      std::cout << "ITERS === " << iters << std::endl;
   }
   std::cout << "iters = " << iters << "\n";
#endif

   //***
   // The image point computed this way corresponds to full image space.
   // Apply image offset in the case this is a sub-image rectangle:
   //***
   ip -= theSubImageOffset;
}

writeGeomTemplate()

void ossimSensorModel::writeGeomTemplate ( ostream &  os )

static

STATIC METHOD: writeGeomTemplate(ostream) Writes a template of keywords processed by loadState and saveState to output stream.

Definition at line 1364 of file ossimSensorModel.cpp.

Referenced by ossimAdjMapModel::writeGeomTemplate().

{
   if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimSensorModel::writeGeomTemplate:entering..." << std::endl;
   
   os << "//***\n"
      << "// Base-class ossimSensorModel Keywords:\n"
      << "//***\n"
      << ossimKeywordNames::ID_KW << ":  <string>\n"
      << SENSOR_ID_KW << ": <string>\n"
      << ossimKeywordNames::NUMBER_LINES_KW << ": <int>\n"
      << ossimKeywordNames::NUMBER_SAMPLES_KW << ": <int>\n"
      << REF_GPT_LAT_KW << ": <decimal degrees>\n"
      << REF_GPT_LON_KW << ": <decimal degrees>\n"
      << REF_GPT_HGT_KW << ": <float meters>\n"
      << REF_IPT_LINE_KW << ": <float>\n"
      << REF_IPT_SAMP_KW << ": <float>\n"
      << ossimKeywordNames::METERS_PER_PIXEL_Y_KW << ": <float meters>\n"
      << ossimKeywordNames::METERS_PER_PIXEL_X_KW << ": <float meters>\n"
      << ossimKeywordNames::UL_LAT_KW << ": <decimal degrees>\n"
      << ossimKeywordNames::UL_LON_KW << ": <decimal degrees>\n"
      << ossimKeywordNames::UR_LAT_KW << ": <decimal degrees>\n"
      << ossimKeywordNames::UR_LON_KW << ": <decimal degrees>\n"
      << ossimKeywordNames::LR_LAT_KW << ": <decimal degrees>\n"
      << ossimKeywordNames::LR_LON_KW << ": <decimal degrees>\n"
      << ossimKeywordNames::LL_LAT_KW << ": <decimal degrees>\n"
      << ossimKeywordNames::LL_LON_KW << ": <decimal degrees>\n"
      << "\n"
      << "//***\n"
      << "// Repeat following four entries for each adjustable parameter:\n"
      << "//***\n"
//       << PARAM_PREFIX << "N." << PARAM_NAME_KW << ": <string>\n" 
//       << PARAM_PREFIX << "N." << PARAM_UNITS_KW << ": <string>\n" 
//       << PARAM_PREFIX << "N." << PARAM_VALUE_KW << ": <float>\n" 
//       << PARAM_PREFIX << "N." << PARAM_SIGMA_KW << ": <float>\n"
      << std::endl;

   if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimSensorModel::writeGeomTemplate: returning..." << std::endl;
   return;
}

Member Data Documentation

theBoundGndPolygon

ossimPolygon ossimSensorModel::theBoundGndPolygon

protected

Definition at line 348 of file ossimSensorModel.h.

Referenced by ossimQuickbirdRpcModel::finishConstruction(), ossimplugins::ossimPleiadesModel::finishConstruction(), ossimplugins::ossimSpot6Model::finishConstruction(), ossimH5GridModel::initializeModelParams(), ossimCoarseGridModel::initializeModelParams(), ossimplugins::ossimRadarSat2RPCModel::loadState(), ossimplugins::ossimRadarSat2Model::loadState(), ossimplugins::ossimRadarSat2RPCModel::open(), operator=(), ossimCoarseGridModel::print(), print(), setGroundRect(), ossimApplanixUtmModel::updateModel(), ossimSpectraboticsRedEdgeModel::updateModel(), ossimApplanixEcefModel::updateModel(), ossimIpodSensor::updateModel(), ossimSkyBoxLearSensor::updateModel(), ossimSonomaSensor::updateModel(), ossimApplanixUtmModel::worldToLineSample(), ossimSpectraboticsRedEdgeModel::worldToLineSample(), ossimApplanixEcefModel::worldToLineSample(), and worldToLineSample().

theExtrapolateGroundFlag

bool ossimSensorModel::theExtrapolateGroundFlag

mutableprotected

Definition at line 369 of file ossimSensorModel.h.

Referenced by operator=(), ossimSpectraboticsRedEdgeModel::updateModel(), ossimApplanixEcefModel::updateModel(), and worldToLineSample().

theExtrapolateImageFlag

bool ossimSensorModel::theExtrapolateImageFlag

mutableprotected

Definition at line 368 of file ossimSensorModel.h.

Referenced by extrapolate(), operator=(), ossimSpectraboticsRedEdgeModel::updateModel(), and ossimApplanixEcefModel::updateModel().

theGSD

ossimDpt ossimSensorModel::theGSD

protected

Definition at line 344 of file ossimSensorModel.h.

Referenced by computeGsd(), ossimQuickbirdRpcModel::finishConstruction(), ossimplugins::ossimPleiadesModel::finishConstruction(), ossimplugins::ossimSpot6Model::finishConstruction(), ossimNitfRpcModel::getGsd(), ossimplugins::ossimRadarSat2Model::getSlantRangeFromGeoreferenced(), ossimAdjMapModel::initializeFromMap(), ossimH5GridModel::initializeModelParams(), ossimCoarseGridModel::initializeModelParams(), ossimplugins::ossimRadarSat2Model::InitRefPoint(), ossimplugins::ossimRadarSat2Model::initRefPoint(), ossimIpodSensor::loadState(), ossimSkyBoxLearSensor::loadState(), ossimSonomaSensor::loadState(), ossimplugins::ossimPleiadesModel::open(), ossimplugins::ossimSpot6Model::open(), ossimplugins::ossimRadarSat2RPCModel::open(), ossimplugins::ossimRadarSat2Model::open(), operator=(), ossimApplanixEcefModel::ossimApplanixEcefModel(), ossimApplanixUtmModel::ossimApplanixUtmModel(), ossimQuickbirdRpcModel::ossimQuickbirdRpcModel(), ossimSpectraboticsRedEdgeModel::ossimSpectraboticsRedEdgeModel(), ossimQuickbirdRpcModel::parseNitfFile(), ossimQuickbirdRpcModel::parseTiffFile(), ossimplugins::ossimTileMapModel::print(), ossimCoarseGridModel::print(), ossimLandSatModel::print(), print(), ossimPpjFrameSensor::saveState(), and ossimRpcModel::setMetersPerPixel().

theImageClipRect

ossimDrect ossimSensorModel::theImageClipRect

protected

Definition at line 349 of file ossimSensorModel.h.

Referenced by computeGsd(), ossimQuickbirdRpcModel::finishConstruction(), ossimplugins::ossimPleiadesModel::finishConstruction(), ossimplugins::ossimSpot6Model::finishConstruction(), ossimH5GridModel::initializeModelParams(), ossimCoarseGridModel::initializeModelParams(), ossimplugins::ossimCosmoSkymedModel::InitRefPoint(), ossimplugins::ossimErsSarModel::InitRefPoint(), ossimplugins::ossimAlosPalsarModel::InitRefPoint(), ossimplugins::ossimRadarSat2Model::InitRefPoint(), ossimplugins::ossimEnvisatAsarModel::InitRefPoint(), ossimplugins::ossimRadarSatModel::InitRefPoint(), ossimSpot5Model::lineSampleHeightToWorld(), ossimIpodSensor::loadState(), ossimSkyBoxLearSensor::loadState(), ossimSonomaSensor::loadState(), ossimplugins::ossimSpot6Model::open(), ossimplugins::ossimPleiadesModel::open(), ossimplugins::ossimRadarSatModel::open(), ossimplugins::ossimRadarSat2RPCModel::open(), ossimplugins::ossimRadarSat2Model::open(), operator=(), ossimApplanixEcefModel::ossimApplanixEcefModel(), ossimQuickbirdRpcModel::ossimQuickbirdRpcModel(), ossimSpectraboticsRedEdgeModel::ossimSpectraboticsRedEdgeModel(), ossimQuickbirdRpcModel::parseNitfFile(), ossimQuickbirdRpcModel::parseTiffFile(), print(), ossimRpcModel::setImageOffset(), ossimApplanixUtmModel::setImageRect(), ossimSpectraboticsRedEdgeModel::setImageRect(), ossimApplanixEcefModel::setImageRect(), setImageRect(), ossimApplanixUtmModel::updateModel(), ossimSpectraboticsRedEdgeModel::updateModel(), ossimApplanixEcefModel::updateModel(), ossimIpodSensor::updateModel(), ossimSkyBoxLearSensor::updateModel(), and ossimSonomaSensor::updateModel().

theImageID

ossimString ossimSensorModel::theImageID

protected

Definition at line 342 of file ossimSensorModel.h.

Referenced by ossimplugins::ossimPleiadesModel::open(), ossimplugins::ossimSpot6Model::open(), ossimplugins::ossimRadarSat2RPCModel::open(), ossimplugins::ossimRadarSat2Model::open(), operator=(), operator==(), ossimQuickbirdRpcModel::parseRpcData(), ossimplugins::ossimTileMapModel::print(), ossimSpot5Model::print(), ossimplugins::ossimPleiadesModel::print(), ossimplugins::ossimSpot6Model::print(), ossimCoarseGridModel::print(), ossimLandSatModel::print(), and print().

theImageSize

ossimIpt ossimSensorModel::theImageSize

protected

Definition at line 335 of file ossimSensorModel.h.

Referenced by computeGsd(), ossimH5GridModel::debugDump(), ossimQuickbirdRpcModel::finishConstruction(), ossimplugins::ossimSpot6Model::finishConstruction(), ossimplugins::ossimPleiadesModel::finishConstruction(), ossimH5GridModel::getWktFootprint(), ossimAlphaSensorHRI::imagingRay(), ossimAlphaSensorHSI::imagingRay(), ossimRS1SarModel::imagingRay(), ossimHdf5GridModel::initialize(), ossimH5GridModel::initializeModelParams(), ossimCoarseGridModel::initializeModelParams(), ossimplugins::ossimCosmoSkymedModel::InitRefPoint(), ossimplugins::ossimErsSarModel::InitRefPoint(), ossimplugins::ossimAlosPalsarModel::InitRefPoint(), ossimplugins::ossimRadarSat2Model::InitRefPoint(), ossimplugins::ossimEnvisatAsarModel::InitRefPoint(), ossimplugins::ossimRadarSatModel::InitRefPoint(), ossimplugins::ossimRadarSat2Model::initRefPoint(), ossimIpodSensor::loadState(), ossimSkyBoxLearSensor::loadState(), ossimSonomaSensor::loadState(), ossimplugins::ossimPleiadesModel::open(), ossimplugins::ossimSpot6Model::open(), ossimplugins::ossimRadarSat2RPCModel::open(), ossimplugins::ossimRadarSat2Model::open(), operator=(), ossimAdjMapModel::ossimAdjMapModel(), ossimplugins::ossimTileMapModel::print(), ossimSpot5Model::print(), ossimplugins::ossimPleiadesModel::print(), ossimplugins::ossimSpot6Model::print(), ossimCoarseGridModel::print(), ossimLandSatModel::print(), print(), ossimAlphaSensor::saveState(), ossimPpjFrameSensor::saveState(), ossimIpodSensor::saveState(), ossimSkyBoxLearSensor::saveState(), ossimAlphaSensor::setFov(), ossimRpcModel::setImageOffset(), setImageRect(), ossimplugins::ossimRadarSat2Model::setModelRefPoint(), ossimIpodSensor::updateModel(), ossimSkyBoxLearSensor::updateModel(), ossimSonomaSensor::updateModel(), ossimAlphaSensorHSI::worldToLineSample(), and ossimAlphaSensorHRI::worldToLineSample().

theMeanGSD

ossim_float64 ossimSensorModel::theMeanGSD

protected

Definition at line 345 of file ossimSensorModel.h.

Referenced by computeGsd(), ossimAdjMapModel::initializeFromMap(), ossimH5GridModel::initializeModelParams(), ossimCoarseGridModel::initializeModelParams(), ossimplugins::ossimRadarSat2RPCModel::open(), ossimplugins::ossimRadarSat2Model::open(), operator=(), ossimApplanixEcefModel::ossimApplanixEcefModel(), ossimApplanixUtmModel::ossimApplanixUtmModel(), ossimSpectraboticsRedEdgeModel::ossimSpectraboticsRedEdgeModel(), print(), ossimRpcModel::setMetersPerPixel(), ossimApplanixUtmModel::updateModel(), ossimSpectraboticsRedEdgeModel::updateModel(), and ossimApplanixEcefModel::updateModel().

theNominalPosError

ossim_float64 ossimSensorModel::theNominalPosError

protected

Definition at line 351 of file ossimSensorModel.h.

Referenced by ossimplugins::ossimRadarSat2RPCModel::open(), operator=(), print(), and ossimRpcModel::setPositionError().

theObs

ossimDpt ossimSensorModel::theObs

protected

Observations & residuals for current point.

Definition at line 359 of file ossimSensorModel.h.

Referenced by ossimSarModel::getForwardDeriv(), ossimRpcModel::getForwardDeriv(), and operator=().

theParWRTx

ossimDpt ossimSensorModel::theParWRTx

protected

Partials for current point.

Definition at line 354 of file ossimSensorModel.h.

Referenced by ossimSarModel::getForwardDeriv(), ossimRpcModel::getForwardDeriv(), and operator=().

theParWRTy

ossimDpt ossimSensorModel::theParWRTy

protected

Definition at line 355 of file ossimSensorModel.h.

Referenced by ossimSarModel::getForwardDeriv(), ossimRpcModel::getForwardDeriv(), and operator=().

theParWRTz

ossimDpt ossimSensorModel::theParWRTz

protected

Definition at line 356 of file ossimSensorModel.h.

Referenced by ossimSarModel::getForwardDeriv(), ossimRpcModel::getForwardDeriv(), and operator=().

theRefGndPt

ossimGpt ossimSensorModel::theRefGndPt

protected

Definition at line 346 of file ossimSensorModel.h.

Referenced by ossimQuickbirdRpcModel::finishConstruction(), ossimplugins::ossimPleiadesModel::finishConstruction(), ossimplugins::ossimSpot6Model::finishConstruction(), ossimAdjMapModel::initializeFromMap(), ossimH5GridModel::initializeModelParams(), ossimCoarseGridModel::initializeModelParams(), ossimplugins::ossimRadarSat2RPCModel::open(), operator=(), ossimplugins::ossimTileMapModel::print(), ossimSpot5Model::print(), ossimplugins::ossimPleiadesModel::print(), ossimplugins::ossimSpot6Model::print(), ossimCoarseGridModel::print(), ossimLandSatModel::print(), print(), ossimplugins::ossimRadarSat2Model::setModelRefPoint(), ossimApplanixUtmModel::setPlatformPosition(), ossimSpectraboticsRedEdgeModel::setPlatformPosition(), ossimApplanixEcefModel::setPlatformPosition(), setRefGndPt(), ossimIpodSensor::updateModel(), ossimSkyBoxLearSensor::updateModel(), and ossimSonomaSensor::updateModel().

theRefImgPt

ossimDpt ossimSensorModel::theRefImgPt

protected

Definition at line 347 of file ossimSensorModel.h.

Referenced by computeGsd(), ossimQuickbirdRpcModel::finishConstruction(), ossimplugins::ossimPleiadesModel::finishConstruction(), ossimplugins::ossimSpot6Model::finishConstruction(), ossimApplanixUtmModel::imagingRay(), ossimApplanixEcefModel::imagingRay(), ossimIpodSensor::imagingRay(), ossimSkyBoxLearSensor::imagingRay(), ossimSonomaSensor::imagingRay(), ossimH5GridModel::initializeModelParams(), ossimCoarseGridModel::initializeModelParams(), ossimplugins::ossimRadarSat2Model::initRefPoint(), ossimIpodSensor::loadState(), ossimSkyBoxLearSensor::loadState(), ossimSonomaSensor::loadState(), ossimplugins::ossimRadarSat2RPCModel::open(), operator=(), ossimApplanixEcefModel::ossimApplanixEcefModel(), ossimSpectraboticsRedEdgeModel::ossimSpectraboticsRedEdgeModel(), ossimplugins::ossimTileMapModel::print(), ossimSpot5Model::print(), ossimplugins::ossimSpot6Model::print(), ossimplugins::ossimPleiadesModel::print(), ossimCoarseGridModel::print(), ossimLandSatModel::print(), print(), ossimApplanixUtmModel::setImageRect(), ossimSpectraboticsRedEdgeModel::setImageRect(), ossimApplanixEcefModel::setImageRect(), setImageRect(), ossimplugins::ossimRadarSat2Model::setModelRefPoint(), setRefImgPt(), ossimIpodSensor::updateModel(), ossimSkyBoxLearSensor::updateModel(), ossimSonomaSensor::updateModel(), ossimApplanixUtmModel::worldToLineSample(), ossimApplanixEcefModel::worldToLineSample(), ossimH5GridModel::worldToLineSample(), and worldToLineSample().

theRelPosError

ossim_float64 ossimSensorModel::theRelPosError

protected

Definition at line 350 of file ossimSensorModel.h.

Referenced by operator=(), and print().

theResid

ossimDpt ossimSensorModel::theResid

protected

Definition at line 360 of file ossimSensorModel.h.

Referenced by operator=().

theSeedFunction

ossimRefPtr<ossimProjection> ossimSensorModel::theSeedFunction

protected

Used as an initial guess for iterative solutions and a guess for points outside the support bounds.

Definition at line 366 of file ossimSensorModel.h.

Referenced by ossimHdf5GridModel::initialize(), ossimSpot5Model::lineSampleHeightToWorld(), ossimH5GridModel::loadState(), ossimH5GridModel::setGridNodes(), ossimH5GridModel::worldToLineSample(), and worldToLineSample().

theSensorID

ossimString ossimSensorModel::theSensorID

protected

Definition at line 343 of file ossimSensorModel.h.

Referenced by ossimNitfRpcModel::getSensorID(), ossimAdjMapModel::initializeFromMap(), ossimplugins::ossimSpot6Model::open(), ossimplugins::ossimPleiadesModel::open(), ossimplugins::ossimRadarSat2RPCModel::open(), ossimplugins::ossimRadarSat2Model::open(), operator=(), operator==(), ossimIpodSensor::ossimIpodSensor(), ossimSkyBoxLearSensor::ossimSkyBoxLearSensor(), ossimSonomaSensor::ossimSonomaSensor(), ossimQuickbirdRpcModel::parseMetaData(), ossimCoarseGridModel::print(), print(), ossimplugins::ossimSpot6Model::saveState(), and ossimplugins::ossimPleiadesModel::saveState().

theSubImageOffset

ossimDpt ossimSensorModel::theSubImageOffset

protected

Support sub-image of larger full image by maintaining offset to UL corner

Definition at line 340 of file ossimSensorModel.h.

Referenced by ossimH5GridModel::initializeModelParams(), ossimCoarseGridModel::initializeModelParams(), ossimplugins::ossimRadarSat2RPCModel::open(), ossimplugins::ossimRadarSat2Model::open(), operator=(), operator==(), print(), ossimH5GridModel::worldToLineSample(), and worldToLineSample().

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

• ossimSensorModel.h
• ossimSensorModel.cpp