#include <ossimSpectraboticsRedEdgeModel.h>

Inheritance diagram for ossimSpectraboticsRedEdgeModel:

Public Member Functions
	ossimSpectraboticsRedEdgeModel ()

	ossimSpectraboticsRedEdgeModel (const ossimDrect &imageRect, const ossimGpt &platformPosition, double roll, double pitch, double heading, const ossimDpt &principalPoint, double focalLength, const ossimDpt &pixelSize)

	ossimSpectraboticsRedEdgeModel (const ossimSpectraboticsRedEdgeModel &src)

virtual ossimObject *	dup () const

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

void	lineSampleToWorld (const ossimDpt &image_point, ossimGpt &gpt) const

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

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

virtual void	updateModel ()

void	setPrincipalPoint (ossimDpt principalPoint)

virtual bool	insideImage (const ossimDpt &p) const

void	setRollPitchHeading (double roll, double pitch, double heading)

void	setPixelSize (const ossimDpt &pixelSize)

void	setImageRect (const ossimDrect &rect)

void	setFocalLength (double focalLength)

void	setPlatformPosition (const ossimGpt &gpt)

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

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

virtual void	initAdjustableParameters ()

virtual bool	useForward () const

virtual bool	setupOptimizer (const ossimString &init_file)
	ground to image faster (you don't need DEM) More...

Public Member Functions inherited from ossimSensorModel
	ossimSensorModel ()

	ossimSensorModel (const ossimSensorModel &copy_this)

	ossimSensorModel (const ossimKeywordlist &geom_kwl)

const ossimSensorModel &	operator= (const ossimSensorModel &rhs)
	assignment operator More...

virtual ossimObject *	getBaseObject ()

virtual const ossimObject *	getBaseObject () const

virtual ossimGpt	origin () const

virtual ossimDpt	getMetersPerPixel () const

virtual const double &	getNominalPosError () const
	Returns the estimated Absolute horizontal position error (CE90) of the sensor model. More...

virtual const double &	getRelativePosError () const
	Returns the estimated RELATIVE horizontal position error (CE90) of the sensor model. More...

virtual void	setNominalPosError (const double &ce90)
	Assigns the absolute image position error uncertainty (abs CE90) More...

virtual void	setRelativePosError (const double &ce90)
	Assigns the relative image position error uncertainty (rel CE90) More...

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

void	setRefImgPt (const ossimDpt &pt)
	Sets the center line sampe of the image. More...

void	setRefGndPt (const ossimGpt &pt)
	Sets the center latitude, longitude, height of the image. More...

void	setImageRect (const ossimDrect &imageRect)

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

ossimDpt	imageSize () const

void	setImageSize (const ossimDpt &size)

virtual void	adjustableParametersChanged ()

virtual bool	operator== (const ossimProjection &proj) const

const ossimString &	getImageID () const
	Access methods: More...

const ossimDrect &	getImageClipRect () const

virtual ossim_uint32	degreesOfFreedom () const

virtual bool	needsInitialState () const
	needsInitialState() More...

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

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

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

virtual ossimSensorModel::CovMatStatus	getObsCovMat (const ossimDpt &ipos, NEWMAT::SymmetricMatrix &Cov, const ossim_float64 defPointingSigma=0.5) const
	Gives 2X2 covariance matrix of observations. More...

virtual bool	isAffectedByElevation () const
	Implementation of pure virtual ossimProjection::isAffectedByElevation method. More...

void	computeGsd ()
	This method computes the ground sample distance(gsd) and sets class attributes theGSD and theMeanGSD by doing a lineSampleHeightToWorld on four points and calculating the distance from them. More...

virtual bool	getImageGeometry (const ossimString &, const ossimString &, ossimKeywordlist &) const
	Extracts geometry info from a non-ossim key,value pair to an ossim keyword list. More...

Public Member Functions inherited from ossimProjection
	ossimProjection ()

virtual	~ossimProjection ()

virtual ossimDpt	forward (const ossimGpt &wp) const

virtual ossimGpt	inverse (const ossimDpt &pp) const

virtual void	getRoundTripError (const ossimDpt &imagePoint, ossimDpt &errorResult) const

virtual void	getRoundTripError (const ossimGpt &groundPoint, ossimDpt &errorResult) const

virtual void	getGroundClipPoints (ossimGeoPolygon &gpts) const

virtual bool	isEqualTo (const ossimObject &obj, ossimCompareType compareType=OSSIM_COMPARE_FULL) const

virtual bool	operator!= (const ossimProjection &projection) const

Public Member Functions inherited from ossimObject
	ossimObject ()

virtual	~ossimObject ()

virtual ossimString	getShortName () const

virtual ossimString	getLongName () const

virtual ossimString	getDescription () const

virtual ossimString	getClassName () const

virtual RTTItypeid	getType () const

virtual bool	canCastTo (ossimObject *obj) const

virtual bool	canCastTo (const RTTItypeid &id) const

virtual bool	canCastTo (const ossimString &parentClassName) const

virtual void	accept (ossimVisitor &visitor)

Public Member Functions inherited from ossimReferenced
	ossimReferenced ()

	ossimReferenced (const ossimReferenced &)

ossimReferenced &	operator= (const ossimReferenced &)

void	ref () const
	increment the reference count by one, indicating that this object has another pointer which is referencing it. More...

void	unref () const
	decrement the reference count by one, indicating that a pointer to this object is referencing it. More...

void	unref_nodelete () const
	decrement the reference count by one, indicating that a pointer to this object is referencing it. More...

int	referenceCount () const

Public Member Functions inherited from ossimErrorStatusInterface
	ossimErrorStatusInterface ()

virtual	~ossimErrorStatusInterface ()

virtual ossimErrorCode	getErrorStatus () const

virtual ossimString	getErrorStatusString () const

virtual void	setErrorStatus (ossimErrorCode error_status) const

virtual void	setErrorStatus () const

virtual void	clearErrorStatus () const

bool	hasError () const

Public Member Functions inherited from ossimOptimizableProjection
	ossimOptimizableProjection ()

	ossimOptimizableProjection (const ossimOptimizableProjection &source)

virtual	~ossimOptimizableProjection ()

virtual ossimOptimizableProjection &	operator= (const ossimOptimizableProjection &source)

Public Member Functions inherited from ossimAdjustableParameterInterface
	ossimAdjustableParameterInterface ()

	ossimAdjustableParameterInterface (const ossimAdjustableParameterInterface &rhs)

virtual	~ossimAdjustableParameterInterface ()

void	newAdjustment (ossim_uint32 numberOfParameters=0)

void	setAdjustmentDescription (const ossimString &description)

ossimString	getAdjustmentDescription () const

ossimString	getAdjustmentDescription (ossim_uint32 adjustmentIdx) const
	Returns adjustmentDescription of specific adjustmentInfo. More...

void	setCurrentAdjustment (ossim_uint32 adjustmentIndex, bool notify=false)

bool	setCurrentAdjustment (const ossimString &description, bool notify=false)
	Sets the current adjustment to the adjustment with a matching description. More...

void	eraseAdjustment (bool notify)

void	eraseAdjustment (ossim_uint32 idx, bool notify)

void	resetAdjustableParameters (bool notify=false)

void	copyAdjustment (ossim_uint32 idx, bool notify)

void	copyAdjustment (bool notify=false)

void	keepAdjustment (ossim_uint32 idx, bool createCopy)

virtual void	keepAdjustment (bool createCopy=true)

const ossimAdjustableParameterInterface &	operator= (const ossimAdjustableParameterInterface &rhs)

void	removeAllAdjustments ()

ossim_uint32	getNumberOfAdjustableParameters () const

double	getAdjustableParameter (ossim_uint32 idx) const

virtual void	setAdjustableParameter (ossim_uint32 idx, double value, bool notify=false)

virtual void	setAdjustableParameter (ossim_uint32 idx, double value, double sigma, bool notify=false)

double	getParameterSigma (ossim_uint32 idx) const

void	setParameterSigma (ossim_uint32 idx, double value, bool notify=false)

ossimUnitType	getParameterUnit (ossim_uint32 idx) const

void	setParameterUnit (ossim_uint32 idx, ossimUnitType unit)

void	setParameterUnit (ossim_uint32 idx, const ossimString &unit)

void	setParameterCenter (ossim_uint32 idx, double center, bool notify=false)

double	getParameterCenter (ossim_uint32 idx) const

double	computeParameterOffset (ossim_uint32 idx) const

void	setParameterOffset (ossim_uint32 idx, ossim_float64 value, bool notify=false)

ossimString	getParameterDescription (ossim_uint32 idx) const

void	setParameterDescription (ossim_uint32 idx, const ossimString &descrption)

ossim_int32	findParameterIdxGivenDescription (ossim_uint32 adjustmentIdx, const ossimString &name) const

ossim_int32	findParameterIdxContainingDescription (ossim_uint32 adjustmentIdx, const ossimString &name) const

bool	isParameterLocked (ossim_uint32 idx) const

void	setParameterLockFlag (ossim_uint32 idxParam, bool flag)

bool	getParameterLockFlag (ossim_uint32 idx) const

void	lockAllParametersCurrentAdjustment ()

void	unlockAllParametersCurrentAdjustment ()

void	lockAllParameters (ossim_uint32 idxAdjustment)

void	unlockAllParameters (ossim_uint32 idxAdjustment)

void	resizeAdjustableParameterArray (ossim_uint32 numberOfParameters)

void	setAdjustment (const ossimAdjustmentInfo &adj, bool notify=false)

void	setAdjustment (ossim_uint32 idx, const ossimAdjustmentInfo &adj, bool notify=false)

void	addAdjustment (const ossimAdjustmentInfo &adj, bool notify)

void	getAdjustment (ossimAdjustmentInfo &adj) const

void	getAdjustment (ossim_uint32 idx, ossimAdjustmentInfo &adj) const

ossim_uint32	getNumberOfAdjustments () const

ossim_uint32	getCurrentAdjustmentIdx () const

void	setDirtyFlag (bool flag=true)

void	setAllDirtyFlag (bool flag=true)

bool	hasDirtyAdjustments () const

virtual void	saveCurrentAdjustmentOnly (ossimKeywordlist &kwl, const ossimString &prefix=ossimString(""))
	Saves the current active adjustment to the KWL file. More...

bool	saveAdjustments (ossimKeywordlist &kwl, const ossimString &prefix=ossimString("")) const
	Save all adjustments to the KWL file. More...

bool	loadAdjustments (const ossimKeywordlist &kwl, const ossimString &prefix=ossimString(""))

std::ostream &	print (std::ostream &out) const
	Dumps the currently active adjustment to ostream. More...

Protected Attributes
NEWMAT::Matrix	m_compositeMatrix
	uses file path to init model More...

NEWMAT::Matrix	m_compositeMatrixInverse

double	m_roll

double	m_pitch

double	m_heading

double	m_fov

ossimDpt	m_principalPoint

ossimDpt	m_calibratedCenter

ossimDpt	m_pixelSize

double	m_focalLength

double	m_norm

double	m_focalX

double	m_focalY

ossimEcefPoint	m_ecefPlatformPosition

ossimRefPtr< ossimTangentialRadialLensDistortion >	m_lensDistortion

ossimEcefPoint	m_adjEcefPlatformPosition

Protected Attributes inherited from ossimSensorModel
ossimIpt	theImageSize

ossimDpt	theSubImageOffset

ossimString	theImageID

ossimString	theSensorID

ossimDpt	theGSD

ossim_float64	theMeanGSD

ossimGpt	theRefGndPt

ossimDpt	theRefImgPt

ossimPolygon	theBoundGndPolygon

ossimDrect	theImageClipRect

ossim_float64	theRelPosError

ossim_float64	theNominalPosError

ossimDpt	theParWRTx
	Partials for current point. More...

ossimDpt	theParWRTy

ossimDpt	theParWRTz

ossimDpt	theObs
	Observations & residuals for current point. More...

ossimDpt	theResid

ossimRefPtr< ossimProjection >	theSeedFunction
	Used as an initial guess for iterative solutions and a guess for points outside the support bounds. More...

bool	theExtrapolateImageFlag

bool	theExtrapolateGroundFlag

Protected Attributes inherited from ossimErrorStatusInterface
ossimErrorCode	theErrorStatus

Additional Inherited Members
Public Types inherited from ossimSensorModel
enum	CovMatStatus { COV_INVALID = 0, COV_PARTIAL = 1, COV_FULL = 2 }

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

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

Protected Member Functions inherited from ossimSensorModel
virtual	~ossimSensorModel ()

virtual ossimDpt	extrapolate (const ossimGpt &gp) const

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

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

NEWMAT::ColumnVector	getResidue (const ossimTieGptSet &tieSet)

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

NEWMAT::Matrix	invert (const NEWMAT::Matrix &m) const
	stable invert stolen from ossimRpcSolver More...

Protected Member Functions inherited from ossimReferenced
virtual	~ossimReferenced ()

Protected Member Functions inherited from ossimAdjustableParameterInterface
bool	paramChanged (ossim_uint32 param_idx) const
	Returns true if specified parameter has been modified since last setAllChangeFlag(false) call. More...

void	setAllChangeFlags (bool areChanged)
	Sets all the change flags to the boolean indicated to indicate parameters are changed (TRUE) or not (FALSE). More...

void	initChangeFlags ()
	Initializes the change flags to TRUE. More...

Detailed Description

Definition at line 9 of file ossimSpectraboticsRedEdgeModel.h.

Constructor & Destructor Documentation

◆ ossimSpectraboticsRedEdgeModel() [1/3]

ossimSpectraboticsRedEdgeModel::ossimSpectraboticsRedEdgeModel ( )

Definition at line 29 of file ossimSpectraboticsRedEdgeModel.cpp.

References ossimMatrix4x4::createIdentity(), initAdjustableParameters(), m_adjEcefPlatformPosition, m_compositeMatrix, m_compositeMatrixInverse, m_ecefPlatformPosition, m_focalLength, m_fov, m_heading, m_lensDistortion, m_pitch, m_pixelSize, m_roll, ossimSensorModel::theGSD, ossimSensorModel::theMeanGSD, ossimDpt::x, and ossimDpt::y.

Referenced by dup().

 {
    m_compositeMatrix          = ossimMatrix4x4::createIdentity();
    m_compositeMatrixInverse   = ossimMatrix4x4::createIdentity();
    m_roll                     = 0.0;
    m_pitch                    = 0.0;
    m_heading                  = 0.0;
    m_focalLength              = 5.5;
    m_pixelSize = ossimDpt(0.003, 0.003);
    m_ecefPlatformPosition = ossimGpt(0.0,0.0, 1000.0);
    m_adjEcefPlatformPosition = ossimGpt(0.0,0.0, 1000.0);
    theGSD.x   = 0.076;
    theGSD.y   = 0.076;
    theMeanGSD = 0.076;
    m_fov = 48.8; // degrees
    m_lensDistortion = new ossimTangentialRadialLensDistortion();
    initAdjustableParameters();
 
    if (traceDebug())
    {
       ossimNotify(ossimNotifyLevel_DEBUG)
          << "ossimSpectraboticsRedEdgeModel::ossimSpectrabotics DEBUG:" << endl;
 #ifdef OSSIM_ID_ENABLED
       ossimNotify(ossimNotifyLevel_DEBUG)<< "OSSIM_ID:  " << OSSIM_ID << endl;
 #endif
    }
 }

◆ ossimSpectraboticsRedEdgeModel() [2/3]

ossimSpectraboticsRedEdgeModel::ossimSpectraboticsRedEdgeModel	(	const ossimDrect &	imageRect,
		const ossimGpt &	platformPosition,
		double	roll,
		double	pitch,
		double	heading,
		const ossimDpt &	principalPoint,
		double	focalLength,
		const ossimDpt &	pixelSize
	)

Definition at line 56 of file ossimSpectraboticsRedEdgeModel.cpp.

References ossimMatrix4x4::createIdentity(), initAdjustableParameters(), m_adjEcefPlatformPosition, m_compositeMatrix, m_compositeMatrixInverse, m_ecefPlatformPosition, m_focalLength, m_heading, m_lensDistortion, m_pitch, m_pixelSize, m_roll, ossimDrect::midPoint(), ossimNotify(), ossimNotifyLevel_WARN, ossimSensorModel::theImageClipRect, ossimSensorModel::theRefImgPt, updateModel(), and ossimException::what().

 {
    theImageClipRect = imageRect;
    theRefImgPt      = theImageClipRect.midPoint();
    m_compositeMatrix          = ossimMatrix4x4::createIdentity();
    m_compositeMatrixInverse   = ossimMatrix4x4::createIdentity();
    m_roll                     = roll;
    m_pitch                    = pitch;
    m_heading                  = heading;
    m_focalLength              = focalLength;
    m_pixelSize                = pixelSize;
    m_ecefPlatformPosition     = platformPosition;
    m_adjEcefPlatformPosition  = platformPosition;
    m_lensDistortion           = new ossimTangentialRadialLensDistortion();
    initAdjustableParameters();
    updateModel();
 
    try
    {
       // Method throws ossimException.
      // computeGsd();
    }
    catch (const ossimException& e)
    {
       ossimNotify(ossimNotifyLevel_WARN)
          << "ossimSpectrabotics Constructor caught Exception:\n"
          << e.what() << std::endl;
    }
    
    if (traceDebug())
    {
       ossimNotify(ossimNotifyLevel_DEBUG)
       << "ossimSpectraboticsRedEdgeModel::ossimSpectrabotics DEBUG:" << endl;
 #ifdef OSSIM_ID_ENABLED
       ossimNotify(ossimNotifyLevel_DEBUG)<< "OSSIM_ID:  " << OSSIM_ID << endl;
 #endif
    }
 }

◆ ossimSpectraboticsRedEdgeModel() [3/3]

ossimSpectraboticsRedEdgeModel::ossimSpectraboticsRedEdgeModel ( const ossimSpectraboticsRedEdgeModel & src )

Definition at line 102 of file ossimSpectraboticsRedEdgeModel.cpp.

References ossimRefPtr< T >::get(), initAdjustableParameters(), m_lensDistortion, and ossimRefPtr< T >::valid().

    :ossimSensorModel(src)
 {
    initAdjustableParameters();
    
    if(src.m_lensDistortion.valid())
    {
       m_lensDistortion = new ossimTangentialRadialLensDistortion(*(src.m_lensDistortion.get()));
    }
    else
    {
       m_lensDistortion = new ossimTangentialRadialLensDistortion();
    }
 }

Member Function Documentation

◆ dup()

ossimObject * ossimSpectraboticsRedEdgeModel::dup ( ) const

virtual

Implements ossimProjection.

Definition at line 117 of file ossimSpectraboticsRedEdgeModel.cpp.

References ossimSpectraboticsRedEdgeModel().

 {
    return new ossimSpectraboticsRedEdgeModel(*this);
 }

◆ imagingRay()

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

virtual

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

Reimplemented from ossimSensorModel.

Definition at line 122 of file ossimSpectraboticsRedEdgeModel.cpp.

Referenced by lineSampleHeightToWorld().

 {
     if(traceDebug())
     {
        ossimNotify(ossimNotifyLevel_DEBUG) << "ossimSpectraboticsRedEdgeModel::imagingRay: ..... entered" << std::endl;
     }
     ossimDpt film (image_point.x-m_calibratedCenter.x,
                    m_calibratedCenter.y - image_point.y); //- theRefImgPt);
 //    ossimDpt film (image_point-m_calibratedCenter); //- theRefImgPt);
     if(m_lensDistortion.valid())
     {
       ossimDpt tempFilm(film.x/m_norm, film.y/m_norm);
       ossimDpt filmOut;
       m_lensDistortion->undistort(tempFilm, filmOut);
       film.x = filmOut.x*m_norm;
       film.y = filmOut.y*m_norm;
     }
     film.x *= m_pixelSize.x; // pixel size on the film
     film.y *= m_pixelSize.y; // pixel size on the film
     ossimColumnVector3d cam_ray_dir (film.x,
                                      film.y,
                                      -m_focalLength);
     ossimEcefVector     ecf_ray_dir (m_compositeMatrix*cam_ray_dir);
     ecf_ray_dir = ecf_ray_dir*(1.0/ecf_ray_dir.magnitude());
 
     image_ray.setOrigin(m_adjEcefPlatformPosition);
     image_ray.setDirection(ecf_ray_dir);
 }

◆ initAdjustableParameters()

void ossimSpectraboticsRedEdgeModel::initAdjustableParameters ( )

virtual

Reimplemented from ossimAdjustableParameterInterface.

Definition at line 298 of file ossimSpectraboticsRedEdgeModel.cpp.

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

Referenced by ossimSpectraboticsRedEdgeModel().

 {
    
    resizeAdjustableParameterArray(6);
    
    setAdjustableParameter(0, 0.0);
    setParameterDescription(0, "x_offset");
    setParameterUnit(0, "pixels");
 
    setAdjustableParameter(1, 0.0);
    setParameterDescription(1, "y_offset");
    setParameterUnit(1, "pixels");
 
    setAdjustableParameter(2, 0.0);
    setParameterDescription(2, "roll");
    setParameterUnit(2, "degrees");
 
    setAdjustableParameter(3, 0.0);
    setParameterDescription(3, "pitch");
    setParameterUnit(3, "degrees");
 
    setAdjustableParameter(4, 0.0);
    setParameterDescription(4, "heading");
    setParameterUnit(4, "degrees");
 
    setAdjustableParameter(5, 0.0);
    setParameterDescription(5, "altitude");
    setParameterUnit(5, "meters");
    
    
    setParameterSigma(0, 50.0);
    setParameterSigma(1, 50.0);
    setParameterSigma(2, 1);
    setParameterSigma(3, 1);
    setParameterSigma(4, 10);
    setParameterSigma(5, 50);
 }

◆ insideImage()

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

inlinevirtual

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

Reimplemented from ossimSensorModel.

Definition at line 41 of file ossimSpectraboticsRedEdgeModel.h.

    {
       /*          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, theImageClipRect.width());
    }

◆ lineSampleHeightToWorld()

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

virtual

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

Implements ossimSensorModel.

Definition at line 191 of file ossimSpectraboticsRedEdgeModel.cpp.

References imagingRay(), and ossimEcefRay::intersectAboveEarthEllipsoid().

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

◆ lineSampleToWorld()

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

virtual

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

Reimplemented from ossimSensorModel.

Definition at line 152 of file ossimSpectraboticsRedEdgeModel.cpp.

Referenced by updateModel().

 {
    if (traceDebug())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimSpectraboticsRedEdgeModel::lineSampleToWorld:entering..." << std::endl;
    
    if(image_point.hasNans())
    {
       gpt.makeNan();
       return;
    }
    //***
    // Extrapolate if image point is outside image:
    //***
 //   if (!insideImage(image_point))
 //   {
 //      gpt.makeNan();
 //       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())
    {
       ossimNotify(ossimNotifyLevel_DEBUG) << "image_point = " << image_point << std::endl;
       ossimNotify(ossimNotifyLevel_DEBUG) << "ray = " << ray << std::endl;
       ossimNotify(ossimNotifyLevel_DEBUG) << "gpt = " << gpt << std::endl;
    }
 
    if (traceDebug())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimSensorModel::lineSampleToWorld: returning..." << std::endl;
    return;
 }

◆ loadState()

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

virtual

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

Reimplemented from ossimSensorModel.

Definition at line 408 of file ossimSpectraboticsRedEdgeModel.cpp.

Referenced by setupOptimizer().

 {
    if(traceDebug())
    {
       std::cout << "ossimSpectraboticsRedEdgeModel::loadState: ......... entered" << std::endl;
    }
    //ossimSensorModel::loadState(kwl,prefix);
 
    ossimSensorModel::loadState(kwl, prefix);
    if(getNumberOfAdjustableParameters() < 1)
    {
 
       initAdjustableParameters();
    }
    m_ecefPlatformPosition    = ossimGpt(0.0,0.0,1000.0);
    m_adjEcefPlatformPosition = ossimGpt(0.0,0.0,1000.0);
    m_roll    = 0.0;
    m_pitch   = 0.0;
    m_heading = 0.0;
 
 
    // bool computeGsdFlag = false;
    const char* roll              = kwl.find(prefix, "Roll");
    const char* pitch             = kwl.find(prefix, "Pitch");
    const char* heading           = kwl.find(prefix, "Yaw");
    const char* focalLength       = kwl.find(prefix, "Focal Length");
    const char* imageWidth        = kwl.find(prefix, "Image Width");
    const char* imageHeight       = kwl.find(prefix, "Image Height");
    const char* fov               = kwl.find(prefix, "Field Of View");
    const char* gpsPos            = kwl.find(prefix, "GPS Position");
    const char* gpsAlt            = kwl.find(prefix, "GPS Altitude");
    const char* imageCenter       = kwl.find(prefix, "Image Center");
    const char* fx                = kwl.find(prefix, "fx");
    const char* fy                = kwl.find(prefix, "fy");
    const char* cx                = kwl.find(prefix, "cx");
    const char* cy                = kwl.find(prefix, "cy");
    const char* k                 = kwl.find(prefix, "k");
    const char* p                 = kwl.find(prefix, "p");
 
    bool result = true;
 
 #if 0
    std::cout << "roll: " << roll << "\n";
    std::cout << "pitch: " << pitch << "\n";
    std::cout << "heading: " << heading << "\n";
    std::cout << "focalLength: " << focalLength << "\n";
    std::cout << "imageWidth: " << imageWidth << "\n";
    std::cout << "imageHeight: " << imageHeight << "\n";
   // std::cout << "fov: " << fov << "\n";
    std::cout << "gpsPos: " << gpsPos << "\n";
    std::cout << "gpsAlt: " << gpsAlt << "\n";
    #endif
    //
   if(k&&p)
   {
     m_lensDistortion = new ossimTangentialRadialLensDistortion();
     m_lensDistortion->loadState(kwl, prefix);
   }
 
    if(roll&&
       pitch&&
       heading&&
       focalLength&&
       imageWidth&&
       imageHeight&&
       gpsPos&&
       gpsAlt)
    {
       theSensorID = "MicaSense RedEdge";
       m_roll = ossimString(roll).toDouble();
       m_pitch = ossimString(pitch).toDouble();
       m_heading = ossimString(heading).toDouble();
       m_focalLength = ossimString(focalLength).toDouble();
       m_fov = fov?ossimString(fov).toDouble():48.8;
       theImageSize.x = ossimString(imageWidth).toDouble();
       theImageSize.y = ossimString(imageHeight).toDouble();
 
 
       theImageClipRect = ossimDrect(0,0,theImageSize.x-1,theImageSize.y-1);
       theRefImgPt      = ossimDpt(theImageSize.x/2.0, theImageSize.y/2.0);
      
      m_calibratedCenter = theImageClipRect.midPoint();
       // now lets use the field of view and the focal length to 
       // calculate the pixel size on the ccd in millimeters
       double d = tan((m_fov*0.5)*M_PI/180.0)*m_focalLength;
       d*=2.0;
       double tempRadiusPixel = theImageSize.length();
       m_pixelSize.x = (d)/tempRadiusPixel;
       m_pixelSize.y = m_pixelSize.x;
       if(imageCenter)
       {
          std::vector<ossimString> splitString;
          ossimString tempString(imageCenter);
          tempString.split(splitString, ossimString(" "));
          if(splitString.size() == 2)
          {
             theRefImgPt = ossimDpt(splitString[0].toDouble(), splitString[1].toDouble());
          }
       }
       else
       {
          if(traceDebug())
          {
             ossimNotify(ossimNotifyLevel_DEBUG) << "No Image Center found" << std::endl;
         //    result = false;
          }
       }
 
       // now extract the GPS position and shift it to the ellipsoidal height.
       std::vector<ossimString> splitArray;
 
       ossimString(gpsPos).split(splitArray, ",");
       splitArray[0] = splitArray[0].replaceAllThatMatch("deg", " ");
       splitArray[1] = splitArray[1].replaceAllThatMatch("deg", " ");
 
       ossimDms dmsLat;
       ossimDms dmsLon;
       double h = ossimString(gpsAlt).toDouble();
       dmsLat.setDegrees(splitArray[0]);
       dmsLon.setDegrees(splitArray[1]);
       double lat = dmsLat.getDegrees();
       double lon = dmsLon.getDegrees();
 
       h = h+ossimGeoidManager::instance()->offsetFromEllipsoid(ossimGpt(lat,lon));
       m_ecefPlatformPosition = ossimGpt(lat,lon,h);
       // double height1 = ossimElevManager::instance()->getHeightAboveEllipsoid(ossimGpt(lat, lon));
      
 //std::cout << "PLATFORM HEIGHT: " << h << "\n" 
 //          << "ELEVATION: " << height1 << "\n";
      // std::cout << m_ecefPlatformPosition << std::endl;
      // std::cout << "POINT: " << ossimGpt(lat,lon,h) << std::endl;
      // std::cout << "MSL:   " << height1 << "\n";
 
       theRefGndPt = m_ecefPlatformPosition;
       theRefGndPt.height(0.0);
 
      m_norm = ossim::nan();
 
     // lens parameters
     if(m_lensDistortion.valid()&&cx&&cy&&fx&&fy)
     {
       m_focalX = ossimString(fx).toDouble();
       m_focalY = ossimString(fy).toDouble();
 
       // our lens distorion assume center point.  So
       // lets shift to center and then set calibrated relative to 
       // image center.  We will then normalize.
       //
       ossimDpt focal(m_focalX,m_focalY);
       m_norm = focal.length()*0.5; // convert from diameter to radial
       m_calibratedCenter = ossimDpt(ossimString(cx).toDouble(), ossimString(cy).toDouble());
       m_principalPoint = m_calibratedCenter-theImageClipRect.midPoint();
       m_principalPoint.x /= m_norm;
       m_principalPoint.y /= m_norm;
 
       // lets initialize the root to be about one pixel norm along the diagonal
       // and the convergence will be approximately 100th of a pixel.
       //
       double temp = m_norm;
       if(temp < FLT_EPSILON) temp = 1.0;
       else temp = 1.0/temp;
       m_lensDistortion->setCenter(m_principalPoint);
       m_lensDistortion->setDxDy(ossimDpt(temp,temp));
       m_lensDistortion->setConvergenceThreshold(temp*0.001);
     }
     else
     {
       m_lensDistortion = 0;
       m_calibratedCenter = theImageClipRect.midPoint();
       m_norm = theImageSize.length()*0.5;
       m_principalPoint = ossimDpt(0,0);
     }
      updateModel();
    }
    else // load from regular save state
    {
       const char* principal_point   = kwl.find(prefix, "principal_point");
       const char* pixel_size        = kwl.find(prefix, "pixel_size");
       const char* ecef_platform_position = kwl.find(prefix, "ecef_platform_position");
       const char* latlonh_platform_position = kwl.find(prefix, "latlonh_platform_position");
       // const char* compute_gsd_flag  = kwl.find(prefix, "compute_gsd_flag");
       roll              = kwl.find(prefix, "roll");
       pitch             = kwl.find(prefix, "pitch");
       heading           = kwl.find(prefix, "heading");
       fov               = kwl.find(prefix, "field_of_view");
       focalLength       = kwl.find(prefix, "focal_length");
 
       if(roll)
       {
          m_roll = ossimString(roll).toDouble();
       }
       if(pitch)
       {
          m_pitch = ossimString(pitch).toDouble();
       }
       if(heading)
       {
          m_heading = ossimString(heading).toDouble();
       }
 
       if(cx&&cy)
       {
          m_calibratedCenter = ossimDpt(ossimString(cx).toDouble(), ossimString(cy).toDouble());
       }
       if(principal_point)
       {
          std::vector<ossimString> splitString;
          ossimString tempString(principal_point);
          tempString.split(splitString, ossimString(" "));
          if(splitString.size() == 2)
          {
             m_principalPoint.x = splitString[0].toDouble();
             m_principalPoint.y = splitString[1].toDouble();
          }
       }
       else
       {
          if(traceDebug())
          {
             ossimNotify(ossimNotifyLevel_DEBUG) << "No principal_point found" << std::endl;
            // result = false;
          }
       }
 
       if(pixel_size)
       {
          std::vector<ossimString> splitString;
          ossimString tempString(pixel_size);
          tempString.split(splitString, ossimString(" "));
          if(splitString.size() == 1)
          {
             m_pixelSize.x = splitString[0].toDouble();
             m_pixelSize.y = m_pixelSize.x;
          }
          else if(splitString.size() == 2)
          {
             m_pixelSize.x = splitString[0].toDouble();
             m_pixelSize.y = splitString[1].toDouble();
          }
       }
       else
       {
          if(traceDebug())
          {
             ossimNotify(ossimNotifyLevel_DEBUG) << "No pixel size found" << std::endl;
            // result = false;
          }
       }
       if(ecef_platform_position)
       {
          std::vector<ossimString> splitString;
          ossimString tempString(ecef_platform_position);
          tempString.split(splitString, ossimString(" "));
          if(splitString.size() > 2)
          {
             m_ecefPlatformPosition  = ossimEcefPoint(splitString[0].toDouble(),
                                                       splitString[1].toDouble(),
                                                       splitString[2].toDouble());
          }
       }
       else if(latlonh_platform_position)
       {
          std::vector<ossimString> splitString;
          ossimString tempString(latlonh_platform_position);
          tempString.split(splitString, ossimString(" "));
          std::string datumString;
          double lat=0.0, lon=0.0, h=0.0;
          if(splitString.size() > 2)
          {
             lat = splitString[0].toDouble();
             lon = splitString[1].toDouble();
             h = splitString[2].toDouble();
          }
          
          m_ecefPlatformPosition = ossimGpt(lat,lon,h);
       }
       if(focalLength)
       {
          m_focalLength = ossimString(focalLength).toDouble();
       }
       else
       {
          if(traceDebug())
          {
             ossimNotify(ossimNotifyLevel_DEBUG) << "No focal length found" << std::endl;
             result = false;
          }
       }
       if(fov)
       {
          m_fov = ossimString(fov).toDouble();
       }
       else
       {
          if(traceDebug())
          {
             ossimNotify(ossimNotifyLevel_DEBUG) << "No field of view found" << std::endl;
             result = false;
          }
       }
       theRefGndPt = m_ecefPlatformPosition;
     if(m_lensDistortion.valid()&&cx&&cy&&fx&&fy)
     {
       m_focalX = ossimString(fx).toDouble();
       m_focalY = ossimString(fy).toDouble();
 
       // our lens distorion assume center point.  So
       // lets shift to center and then set calibrated relative to 
       // image center.  We will then normalize.
       //
       ossimDpt focal(m_focalX,m_focalY);
       m_norm = focal.length()*0.5;
       m_calibratedCenter = ossimDpt(ossimString(cx).toDouble(), ossimString(cy).toDouble());
      // m_principalPoint = m_calibratedCenter-theImageClipRect.midPoint();
      // m_principalPoint.x /= m_norm;
      // m_principalPoint.y /= m_norm;
 
       // lets initialize the root to be about one pixel norm along the diagonal
       // and the convergence will be approximately 100th of a pixel.
       //
       double temp = m_norm;
       if(temp < FLT_EPSILON) temp = 1.0;
       else temp = 1.0/temp;
       m_lensDistortion->setCenter(m_principalPoint);
       m_lensDistortion->setDxDy(ossimDpt(temp,temp));
       m_lensDistortion->setConvergenceThreshold(temp*0.001);
     }
     else
     {
       m_lensDistortion = 0;
     }
       updateModel();
    }
     try
     {
        //---
        // This will set theGSD and theMeanGSD. Method throws
        // ossimException.
        //---
        computeGsd();
     }
     catch (const ossimException& e)
     {
        ossimNotify(ossimNotifyLevel_WARN)
           << "ossimSpectraboticsRedEdgeModel::loadState Caught Exception:\n"
           << e.what() << std::endl;
     }
    // std::cout << "METERS PER PIXEL :    " << getMetersPerPixel() << std::endl;
    if(traceDebug())
    {
       ossimNotify(ossimNotifyLevel_DEBUG) << std::setprecision(15) << std::endl;
       ossimNotify(ossimNotifyLevel_DEBUG) << "roll:     " << m_roll << std::endl
                                           << "pitch:    " << m_pitch << std::endl
                                           << "heading:  " << m_heading << std::endl
                                           << "platform: " << m_ecefPlatformPosition << std::endl
                                           << "latlon Platform: " << ossimGpt(m_ecefPlatformPosition) << std::endl
                                           << "focal len: " << m_focalLength << std::endl
                                           << "FOV      : " << m_fov << std::endl
                                           << "principal: " << m_principalPoint << std::endl
                                           << "Ground:    " << ossimGpt(m_ecefPlatformPosition) << std::endl;
    }
 
    // ossimGpt wpt;
    // ossimDpt dpt(100,100);
    // lineSampleToWorld(dpt, wpt);
    // std::cout << "dpt: " << dpt << "\n"
    //           << "wpt: " << wpt << "\n";
    // worldToLineSample(wpt,dpt);
    // std::cout << "dpt: " << dpt << "\n"
    //           << "wpt: " << wpt << "\n";
    return result;
 }

◆ saveState()

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

virtual

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

Reimplemented from ossimSensorModel.

Definition at line 376 of file ossimSpectraboticsRedEdgeModel.cpp.

References ossimKeywordlist::add(), m_calibratedCenter, m_ecefPlatformPosition, m_focalLength, m_focalX, m_focalY, m_fov, m_heading, m_lensDistortion, m_pitch, m_pixelSize, m_principalPoint, m_roll, ossimTangentialRadialLensDistortion::saveState(), ossimSensorModel::saveState(), ossimString::toString(), ossimRefPtr< T >::valid(), ossimEcefPoint::x(), ossimDpt::x, ossimEcefPoint::y(), ossimDpt::y, and ossimEcefPoint::z().

 {
    ossimSensorModel::saveState(kwl, prefix);
    
    kwl.add(prefix, "type", "ossimSpectraboticsRedEdgeModel", true);
 
    kwl.add(prefix, "roll", m_roll, true);
    kwl.add(prefix, "pitch", m_pitch, true);
    kwl.add(prefix, "heading", m_heading, true);
    kwl.add(prefix, "principal_point", ossimString::toString(m_principalPoint.x) + " " + ossimString::toString(m_principalPoint.y));
    kwl.add(prefix, "pixel_size",      ossimString::toString(m_pixelSize.x) + " " + ossimString::toString(m_pixelSize.y));
    kwl.add(prefix, "focal_length", m_focalLength);
    kwl.add(prefix, "field_of_view", m_fov);
    kwl.add(prefix, "cx", m_calibratedCenter.x);
    kwl.add(prefix, "cy", m_calibratedCenter.y);
    kwl.add(prefix, "fx", m_focalX);
    kwl.add(prefix, "fy", m_focalY);
    kwl.add(prefix, "ecef_platform_position",
            ossimString::toString(m_ecefPlatformPosition.x()) + " " +
            ossimString::toString(m_ecefPlatformPosition.y()) + " " +
            ossimString::toString(m_ecefPlatformPosition.z()));
 
    if(m_lensDistortion.valid())
    {
       m_lensDistortion->saveState(kwl,
                                    prefix);
    }
    
    return true;
 }

◆ setFocalLength()

void ossimSpectraboticsRedEdgeModel::setFocalLength ( double focalLength )

Definition at line 363 of file ossimSpectraboticsRedEdgeModel.cpp.

References m_focalLength.

 {
    m_focalLength = focalLength;
 }

◆ setImageRect()

void ossimSpectraboticsRedEdgeModel::setImageRect ( const ossimDrect & rect )

Definition at line 357 of file ossimSpectraboticsRedEdgeModel.cpp.

References ossimDrect::midPoint(), ossimSensorModel::theImageClipRect, and ossimSensorModel::theRefImgPt.

 {
    theImageClipRect = rect;
    theRefImgPt = rect.midPoint();
 }

◆ setPixelSize()

void ossimSpectraboticsRedEdgeModel::setPixelSize ( const ossimDpt & pixelSize )

Definition at line 352 of file ossimSpectraboticsRedEdgeModel.cpp.

References m_pixelSize.

 {
    m_pixelSize = pixelSize;
 }

◆ setPlatformPosition()

void ossimSpectraboticsRedEdgeModel::setPlatformPosition ( const ossimGpt & gpt )

Definition at line 368 of file ossimSpectraboticsRedEdgeModel.cpp.

References m_ecefPlatformPosition, ossimSensorModel::theRefGndPt, and updateModel().

 {
    theRefGndPt            = gpt;
    m_ecefPlatformPosition = gpt;
    updateModel();
    
 }

◆ setPrincipalPoint()

void ossimSpectraboticsRedEdgeModel::setPrincipalPoint ( ossimDpt principalPoint )

Definition at line 336 of file ossimSpectraboticsRedEdgeModel.cpp.

References m_principalPoint.

 {
    m_principalPoint = principalPoint;
 }

◆ setRollPitchHeading()

void ossimSpectraboticsRedEdgeModel::setRollPitchHeading	(	double	roll,
		double	pitch,
		double	heading
	)

Definition at line 341 of file ossimSpectraboticsRedEdgeModel.cpp.

References m_heading, m_pitch, m_roll, and updateModel().

 {
    m_roll    = roll;
    m_pitch   = pitch;
    m_heading = heading;
    
    updateModel();
 }

◆ setupOptimizer()

bool ossimSpectraboticsRedEdgeModel::setupOptimizer ( const ossimString & init_file )

virtual

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

Reimplemented from ossimOptimizableProjection.

Definition at line 782 of file ossimSpectraboticsRedEdgeModel.cpp.

References ossimKeywordlist::addFile(), ossimString::c_str(), and loadState().

 {
    ossimKeywordlist kwl;
    kwl.addFile(init_file.c_str());
 
    return loadState(kwl);
 }

◆ updateModel()

void ossimSpectraboticsRedEdgeModel::updateModel ( )

virtual

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

Reimplemented from ossimSensorModel.

Definition at line 256 of file ossimSpectraboticsRedEdgeModel.cpp.

References ossimAdjustableParameterInterface::computeParameterOffset(), ossimMatrix4x4::createRotationXMatrix(), ossimMatrix4x4::createRotationYMatrix(), ossimMatrix4x4::createRotationZMatrix(), ossimGpt::height(), ossimGpt::latd(), lineSampleToWorld(), ossimDrect::ll(), ossimGpt::lond(), ossimDrect::lr(), ossimLsrSpace::lsrToEcefRotMatrix(), m_adjEcefPlatformPosition, m_compositeMatrix, m_compositeMatrixInverse, m_ecefPlatformPosition, m_heading, m_pitch, m_roll, ossimGpt::metersPerDegree(), OSSIM_LEFT_HANDED, OSSIM_RIGHT_HANDED, ossimPolygon::resize(), ossimSensorModel::theBoundGndPolygon, ossimSensorModel::theExtrapolateGroundFlag, ossimSensorModel::theExtrapolateImageFlag, ossimSensorModel::theImageClipRect, ossimSensorModel::theMeanGSD, ossimDrect::ul(), ossimDrect::ur(), and ossimDpt::x.

Referenced by ossimSpectraboticsRedEdgeModel(), setPlatformPosition(), and setRollPitchHeading().

 {
    ossimGpt gpt;
    ossimGpt wgs84Pt;
    double metersPerDegree = wgs84Pt.metersPerDegree().x;
    double degreePerMeter = 1.0/metersPerDegree;
    double latShift = computeParameterOffset(1)*theMeanGSD*degreePerMeter;
    double lonShift = computeParameterOffset(0)*theMeanGSD*degreePerMeter;
 
    gpt = m_ecefPlatformPosition;
    double height = gpt.height();
    gpt.height(height + computeParameterOffset(5));
    gpt.latd(gpt.latd() + latShift);
    gpt.lond(gpt.lond() + lonShift);
    m_adjEcefPlatformPosition = gpt;
    ossimLsrSpace lsrSpace(m_adjEcefPlatformPosition);
 
    NEWMAT::Matrix heading = ossimMatrix4x4::createRotationZMatrix(m_heading+computeParameterOffset(4), OSSIM_RIGHT_HANDED);
    NEWMAT::Matrix roll = ossimMatrix4x4::createRotationYMatrix(m_roll+computeParameterOffset(2), OSSIM_RIGHT_HANDED);
    NEWMAT::Matrix pitch = ossimMatrix4x4::createRotationXMatrix(m_pitch+computeParameterOffset(3), OSSIM_LEFT_HANDED);
    ossimMatrix4x4 lsrMatrix(lsrSpace.lsrToEcefRotMatrix());
    NEWMAT::Matrix orientation = heading*pitch*roll;//roll*pitch*heading;
    m_compositeMatrix        = (lsrMatrix.getData()*orientation);
    m_compositeMatrixInverse = m_compositeMatrix.i();
 
    theBoundGndPolygon.resize(4);
    // ossim_float64 w = theImageClipRect.width()*2.0;
    // ossim_float64 h = theImageClipRect.height()*2.0;
    theExtrapolateImageFlag = false;
    theExtrapolateGroundFlag = false;
 
 
    lineSampleToWorld(theImageClipRect.ul(),gpt);//+ossimDpt(-w, -h), gpt);
    theBoundGndPolygon[0] = gpt;
    lineSampleToWorld(theImageClipRect.ur(),gpt);//+ossimDpt(w, -h), gpt);
    theBoundGndPolygon[1] = gpt;
    lineSampleToWorld(theImageClipRect.lr(),gpt);//+ossimDpt(w, h), gpt);
    theBoundGndPolygon[2] = gpt;
    lineSampleToWorld(theImageClipRect.ll(),gpt);//+ossimDpt(-w, h), gpt);
    theBoundGndPolygon[3] = gpt;
 }

◆ useForward()

virtual bool ossimSpectraboticsRedEdgeModel::useForward ( ) const

inlinevirtual

ossimOptimizableProjection

Implements ossimOptimizableProjection.

Definition at line 73 of file ossimSpectraboticsRedEdgeModel.h.

73 {return false;}

◆ worldToLineSample()

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

virtual

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

Reimplemented from ossimSensorModel.

Definition at line 212 of file ossimSpectraboticsRedEdgeModel.cpp.

References ossimEcefVector::data(), ossimLensDistortion::distort(), ossimPolygon::getNumberOfVertices(), ossimPolygon::hasNans(), m_adjEcefPlatformPosition, m_calibratedCenter, m_compositeMatrixInverse, m_focalLength, m_lensDistortion, m_norm, m_pixelSize, ossimPolygon::pointWithin(), ossimSensorModel::theBoundGndPolygon, ossimRefPtr< T >::valid(), ossimDpt::x, and ossimDpt::y.

 {
    #if 0
    if((theBoundGndPolygon.getNumberOfVertices() > 0)&&
       (!theBoundGndPolygon.hasNans()))
    {
       if (!(theBoundGndPolygon.pointWithin(world_point)))
       {
 //         image_point.makeNan();
 //          image_point = extrapolate(world_point);
 //         return;
       }         
    }
    #endif
    ossimEcefPoint g_ecf(world_point);
    ossimEcefVector ecfRayDir(g_ecf - m_adjEcefPlatformPosition);
    ossimColumnVector3d camRayDir (m_compositeMatrixInverse*ecfRayDir.data());
    
       
     double scale = -m_focalLength/camRayDir[2];
     ossimDpt film (scale*camRayDir[0], scale*camRayDir[1]);
     film.x /= m_pixelSize.x; // get into pixel coordinates
     film.y /= m_pixelSize.y;
 
 
     // now distort to find the true image coordinate location
     if (m_lensDistortion.valid())
     {
       ossimDpt filmOut;
       film.x /= m_norm; // normalize radial
       film.y /= m_norm;
        m_lensDistortion->distort(film, filmOut);
       film = filmOut;//+m_lensDistortion->getCenter();
       film.x *= m_norm;
       film.y *= m_norm; 
     }
 
     // invert Y to get back to left handed image space
     ossimDpt f1(film.x+m_calibratedCenter.x, m_calibratedCenter.y-film.y);
     
     image_point = f1;
 }