#include <ossimSpot5Model.h>

Inheritance diagram for ossimSpot5Model:

Public Types
enum	AdjustParamIndex { ROLL_OFFSET = 0, PITCH_OFFSET, YAW_OFFSET, ROLL_RATE, PITCH_RATE, YAW_RATE, FOCAL_LEN_OFFSET, NUM_ADJUSTABLE_PARAMS }

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 }

Public Member Functions
	ossimSpot5Model ()

	ossimSpot5Model (ossimSpotDimapSupportData *sd)

	ossimSpot5Model (const ossimFilename &init_file)

	ossimSpot5Model (const ossimKeywordlist &geom_kwl)

	ossimSpot5Model (const ossimSpot5Model &rhs)

virtual	~ossimSpot5Model ()

virtual ossimObject *	dup () const

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

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

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

virtual void	lineSampleHeightToWorld (const ossimDpt &image_point, const ossim_float64 &heightEllipsoid, ossimGpt &worldPoint) const

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

virtual void	updateModel ()

virtual bool	useForward () const

virtual bool	setupOptimizer (const ossimString &init_file)
	image to ground faster More...

bool	initFromMetadata (ossimSpotDimapSupportData *sd)
	uses file path to init model 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 void	lineSampleToWorld (const ossimDpt &image_point, ossimGpt &world_point) const

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

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

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

void	setImageRect (const ossimDrect &imageRect)

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

ossimDpt	imageSize () const

void	setImageSize (const ossimDpt &size)

virtual void	adjustableParametersChanged ()

virtual bool	insideImage (const ossimDpt &p) const

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

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

const ossimDrect &	getImageClipRect () const

virtual ossim_uint32	degreesOfFreedom () const

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

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

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

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

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

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

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

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

Public Member Functions inherited from ossimProjection
	ossimProjection ()

virtual	~ossimProjection ()

virtual ossimDpt	forward (const ossimGpt &wp) const

virtual ossimGpt	inverse (const ossimDpt &pp) const

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

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

virtual void	getGroundClipPoints (ossimGeoPolygon &gpts) const

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

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

Public Member Functions inherited from ossimObject
	ossimObject ()

virtual	~ossimObject ()

virtual ossimString	getShortName () const

virtual ossimString	getLongName () const

virtual ossimString	getDescription () const

virtual ossimString	getClassName () const

virtual RTTItypeid	getType () const

virtual bool	canCastTo (ossimObject *obj) const

virtual bool	canCastTo (const RTTItypeid &id) const

virtual bool	canCastTo (const ossimString &parentClassName) const

virtual void	accept (ossimVisitor &visitor)

Public Member Functions inherited from ossimReferenced
	ossimReferenced ()

	ossimReferenced (const ossimReferenced &)

ossimReferenced &	operator= (const ossimReferenced &)

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

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

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

int	referenceCount () const

Public Member Functions inherited from ossimErrorStatusInterface
	ossimErrorStatusInterface ()

virtual	~ossimErrorStatusInterface ()

virtual ossimErrorCode	getErrorStatus () const

virtual ossimString	getErrorStatusString () const

virtual void	setErrorStatus (ossimErrorCode error_status) const

virtual void	setErrorStatus () const

virtual void	clearErrorStatus () const

bool	hasError () const

Public Member Functions inherited from ossimOptimizableProjection
	ossimOptimizableProjection ()

	ossimOptimizableProjection (const ossimOptimizableProjection &source)

virtual	~ossimOptimizableProjection ()

virtual ossimOptimizableProjection &	operator= (const ossimOptimizableProjection &source)

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...

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

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

Protected Member Functions
void	initAdjustableParameters ()

void	loadGeometry (FILE *)

void	loadSupportData ()

void	computeSatToOrbRotation (NEWMAT::Matrix &result, ossim_float64 t) const

Protected Member Functions inherited from ossimSensorModel
virtual	~ossimSensorModel ()

virtual ossimDpt	extrapolate (const ossimGpt &gp) const

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

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

NEWMAT::ColumnVector	getResidue (const ossimTieGptSet &tieSet)

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

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

Protected Member Functions inherited from ossimReferenced
virtual	~ossimReferenced ()

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

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

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

Protected Attributes
ossimRefPtr< ossimSpotDimapSupportData >	theSupportData

ossimFilename	theMetaDataFile

ossim_float64	theIllumAzimuth

ossim_float64	theIllumElevation

ossim_float64	thePositionError

ossim_float64	theRefImagingTime

ossim_float64	theRefImagingTimeLine
	relative to full image More...

ossim_float64	theLineSamplingPeriod

ossimDpt	theSpotSubImageOffset

ossim_float64	theRollOffset

ossim_float64	thePitchOffset

ossim_float64	theYawOffset

ossim_float64	theRollRate

ossim_float64	thePitchRate

ossim_float64	theYawRate

ossim_float64	theFocalLenOffset

Protected Attributes inherited from ossimSensorModel
ossimIpt	theImageSize

ossimDpt	theSubImageOffset

ossimString	theImageID

ossimString	theSensorID

ossimDpt	theGSD

ossim_float64	theMeanGSD

ossimGpt	theRefGndPt

ossimDpt	theRefImgPt

ossimPolygon	theBoundGndPolygon

ossimDrect	theImageClipRect

ossim_float64	theRelPosError

ossim_float64	theNominalPosError

ossimDpt	theParWRTx
	Partials for current point. More...

ossimDpt	theParWRTy

ossimDpt	theParWRTz

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

ossimDpt	theResid

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

bool	theExtrapolateImageFlag

bool	theExtrapolateGroundFlag

Protected Attributes inherited from ossimErrorStatusInterface
ossimErrorCode	theErrorStatus

Detailed Description

Definition at line 31 of file ossimSpot5Model.h.

Member Enumeration Documentation

◆ AdjustParamIndex

enum ossimSpot5Model::AdjustParamIndex

Enumerator
ROLL_OFFSET
PITCH_OFFSET
YAW_OFFSET
ROLL_RATE
PITCH_RATE
YAW_RATE
FOCAL_LEN_OFFSET
NUM_ADJUSTABLE_PARAMS

Definition at line 45 of file ossimSpot5Model.h.

    {
       ROLL_OFFSET = 0,
       PITCH_OFFSET,
       YAW_OFFSET,
       ROLL_RATE,
       PITCH_RATE,
       YAW_RATE,
       FOCAL_LEN_OFFSET,
       NUM_ADJUSTABLE_PARAMS // not an index
    };   

Constructor & Destructor Documentation

◆ ossimSpot5Model() [1/5]

ossimSpot5Model::ossimSpot5Model ( )

CONSTRUCTORS:

Definition at line 68 of file ossimSpot5Model.cpp.

References initAdjustableParameters().

Referenced by dup().

    :
    ossimSensorModel      (),
    theSupportData        (NULL),
    theMetaDataFile       ("NOT ASSIGNED"),
    theIllumAzimuth       (0.0),
    theIllumElevation     (0.0),
    thePositionError      (0.0),
    theRefImagingTime     (0.0),
    theRefImagingTimeLine (0.0),
    theLineSamplingPeriod (0.0),
 //   theSatToOrbRotation   (3, 3),
 //   theOrbToEcfRotation   (3, 3),
    theRollOffset         (0.0),
    thePitchOffset        (0.0),
    theYawOffset          (0.0),
    theRollRate           (0.0),
    thePitchRate          (0.0),
    theYawRate            (0.0),
    theFocalLenOffset     (0.0)
 {
    initAdjustableParameters();
 }

◆ ossimSpot5Model() [2/5]

ossimSpot5Model::ossimSpot5Model ( ossimSpotDimapSupportData * sd )

Definition at line 92 of file ossimSpot5Model.cpp.

    :
    ossimSensorModel      (),
    theSupportData        (sd),
    theMetaDataFile       ("NOT ASSIGNED"),
    theIllumAzimuth       (0.0),
    theIllumElevation     (0.0),
    thePositionError      (0.0),
    theRefImagingTime     (0.0),
    theRefImagingTimeLine (0.0),
    theLineSamplingPeriod (0.0),
 //   theSatToOrbRotation   (3, 3),
 //   theOrbToEcfRotation   (3, 3),
    theRollOffset         (0.0),
    thePitchOffset        (0.0),
    theYawOffset          (0.0),
    theRollRate           (0.0),
    thePitchRate          (0.0),
    theYawRate            (0.0),
    theFocalLenOffset     (0.0)
 {
    if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimSpot5Model(dimap_file) Constructor: entering..." << std::endl;
 
    //---
    // Instantiate the support data classes after establishing the filenames:
    //---
    loadSupportData();
    if (getErrorStatus() != ossimErrorCodes::OSSIM_OK)
    {
       if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimSpot5Model(dimap_file) Constructor: returning with error..." << std::endl;
       return;
    }
 
    //---
    // initialize remaining data members:
    //---
    initAdjustableParameters();
    updateModel();
 
    if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimSpot5Model(dimap_file) Constructor: returning..." << std::endl;
 }

◆ ossimSpot5Model() [3/5]

ossimSpot5Model::ossimSpot5Model ( const ossimFilename & init_file )

◆ ossimSpot5Model() [4/5]

ossimSpot5Model::ossimSpot5Model ( const ossimKeywordlist & geom_kwl )

◆ ossimSpot5Model() [5/5]

ossimSpot5Model::ossimSpot5Model ( const ossimSpot5Model & rhs )

Definition at line 147 of file ossimSpot5Model.cpp.

References ossimSpotDimapSupportData::dup(), loadSupportData(), theSupportData, updateModel(), and ossimRefPtr< T >::valid().

    :ossimSensorModel(rhs)
 {
    if(rhs.theSupportData.valid())
    {
       theSupportData = (ossimSpotDimapSupportData*)rhs.theSupportData->dup();
    }
    loadSupportData();
    updateModel();
 }

◆ ~ossimSpot5Model()

ossimSpot5Model::~ossimSpot5Model ( )

virtual

Definition at line 138 of file ossimSpot5Model.cpp.

 {
    if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG DESTRUCTOR: ~ossimSpot5Model(): entering..." << std::endl;
 
    theSupportData = 0;
    
    if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG DESTRUCTOR: ~ossimSpot5Model(): returning..." << std::endl;
 }

Member Function Documentation

◆ computeSatToOrbRotation()

void ossimSpot5Model::computeSatToOrbRotation	(	NEWMAT::Matrix &	result,
		ossim_float64	t
	)		const

protected

Definition at line 159 of file ossimSpot5Model.cpp.

 {
    if (traceExec())
    {
       ossimNotify(ossimNotifyLevel_DEBUG)
       << "DEBUG ossimSpot5Model::computeSatToOrbRotation(): entering..."
       << std::endl;
    }
    //---
    // Linearly interpolate attitudes angles:
    //---
    ossimDpt3d att;
    theSupportData->getAttitude(t, att);
 
    //---
    // Apply the attitude adjustable parameters:
    //---
    double dt = theRefImagingTime - t;
    att.x     += thePitchOffset + dt*thePitchRate;
    att.y     += theRollOffset  + dt*theRollRate;
    att.z     += theYawOffset   + dt*theYawRate;
 
    //---
    // Compute trig functions to populate rotation matrices: ANGLES IN RADIANS
    //---
    double cp = cos(att.x);
    double sp = sin(att.x);
    double cr = cos(att.y);
    double sr = sin(att.y);
    double cy = cos(att.z);
    double sy = sin(att.z);
 
    //---
    // Populate rotation matrix:
    //---
    result = NEWMAT::Matrix(3,3);
    result << (cr*cy) << (-cr*sy) << (-sr)
    << (cp*sy+sp*sr*cy) << (cp*cy-sp*sr*sy) << (sp*cr)
    << (-sp*sy+cp*sr*cy) << (-sp*cy-cp*sr*sy) <<  cp*cr;
 
 
    if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimSpot5Model::computeSatToOrbRotation(): returning..." << std::endl;
 }

◆ dup()

ossimObject * ossimSpot5Model::dup ( ) const

virtual

Returns pointer to a new instance, copy of this. Not implemented yet! Returns NULL...

Implements ossimProjection.

Definition at line 443 of file ossimSpot5Model.cpp.

References ossimSpot5Model().

 {
    return new ossimSpot5Model(*this);
 }

◆ imagingRay()

void ossimSpot5Model::imagingRay	(	const ossimDpt &	image_point,
		ossimEcefRay &	image_ray
	)		const

virtual

Given an image point, returns a ray originating at some arbitrarily high point (ideally at the sensor position) and pointing towards the target.

Reimplemented from ossimSensorModel.

Definition at line 527 of file ossimSpot5Model.cpp.

References ossimDpt::line, ossimDpt::samp, theLineSamplingPeriod, theRefImagingTime, theRefImagingTimeLine, and theSpotSubImageOffset.

 {
    bool runtime_dbflag = 0;
    NEWMAT::Matrix satToOrbit;
    ossimDpt iPt = image_point;
    iPt.samp += theSpotSubImageOffset.samp;
    iPt.line += theSpotSubImageOffset.line;
 
    //
    // 1. Establish time of line imaging:
    //
    double t_line = theRefImagingTime +
                    theLineSamplingPeriod*(iPt.line - theRefImagingTimeLine);
    if (traceDebug() || runtime_dbflag)
    {
       ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG Spot5Model::imagingRay():------------ BEGIN DEBUG PASS ---------------" << std::endl;
       ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG Spot5Model::imagingRay(): t_line = " << t_line << std::endl;
    }
 
    //
    // 2. Interpolate ephemeris position and velocity (in ECF):
    //
    ossimEcefPoint  tempEcefPoint;
    ossimEcefPoint  P_ecf;
    theSupportData->getPositionEcf(t_line, P_ecf);
    theSupportData->getVelocityEcf(t_line, tempEcefPoint);
    ossimEcefVector V_ecf(tempEcefPoint.x(),
                          tempEcefPoint.y(),
                          tempEcefPoint.z());
    if (traceDebug() || runtime_dbflag)
    {
       ossimNotify(ossimNotifyLevel_DEBUG)
          << "DEBUG:\n\tP_ecf = " << P_ecf
          << "\n\t V_ecf = " << V_ecf << std::endl;
    }
 
    //
    // 3. Establish the look direction in Vehicle LSR space (S_sat).
    //    ANGLES IN RADIANS
    //
     ossim_float64 Psi_x;
     theSupportData->getPixelLookAngleX(iPt.samp, Psi_x);
     ossim_float64 Psi_y;
     theSupportData->getPixelLookAngleY(iPt.samp, Psi_y);
     if (traceDebug() || runtime_dbflag)
     {
        ossimNotify(ossimNotifyLevel_DEBUG)
           << "DEBUG:\n\t Psi_x = " << Psi_x
           << "\n\t Psi_y = " << Psi_y << endl;
     }
 
     ossimColumnVector3d u_sat (-tan(Psi_y), tan(Psi_x), -(1.0 + theFocalLenOffset));
     if (traceDebug() || runtime_dbflag)
     {
        ossimNotify(ossimNotifyLevel_DEBUG)
           << "DEBUG \n\t u_sat = " << u_sat << endl;
     }
 
    //
    // 4. Transform vehicle LSR space look direction vector to orbital LSR space
    //    (S_orb):
    //
     computeSatToOrbRotation(satToOrbit, t_line);
 
     ossimColumnVector3d u_orb = (satToOrbit*u_sat).unit();
     if (traceDebug() || runtime_dbflag)
     {
        ossimNotify(ossimNotifyLevel_DEBUG)
           << "DEBUG:\n\t theSatToOrbRotation = " << satToOrbit
           << "\n\t u_orb = " << u_orb << endl;
     }
 
    //
    // 5. Transform orbital LSR space look direction vector to ECF.
    //
    //   a. S_orb space Z-axis (Z_orb) is || to the ECF radial vector (P_ecf),
    //   b. X_orb axis is computed as cross-product between velocity and radial,
    //   c. Y_orb completes the orthogonal S_orb coordinate system.
    //
     ossimColumnVector3d Z_orb (P_ecf.x(),
                                P_ecf.y(),
                                P_ecf.z());
     Z_orb = Z_orb.unit();
 
     ossimColumnVector3d X_orb = ossimColumnVector3d(V_ecf.x(),
                                                     V_ecf.y(),
                                                     V_ecf.z()).cross(Z_orb).unit();
     ossimColumnVector3d Y_orb = Z_orb.cross(X_orb);
 
     NEWMAT::Matrix orbToEcfRotation = NEWMAT::Matrix(3, 3);
     orbToEcfRotation << X_orb[0] << Y_orb[0] << Z_orb[0]
                         << X_orb[1] << Y_orb[1] << Z_orb[1]
                         << X_orb[2] << Y_orb[2] << Z_orb[2];
 
 
    ossimColumnVector3d u_ecf  = (orbToEcfRotation*u_orb);
     if (traceDebug() || runtime_dbflag)
     {
        ossimNotify(ossimNotifyLevel_DEBUG)
           << "DEBUG:\n\t orbToEcfRotation = " << orbToEcfRotation
           << "\n\t u_ecf = " << u_ecf << endl;
     }
 
    //
    // Establish the imaging ray given direction and origin:
    //
     image_ray = ossimEcefRay(P_ecf, ossimEcefVector(u_ecf[0], u_ecf[1], u_ecf[2]));
 
     if (traceExec())
     {
        ossimNotify(ossimNotifyLevel_DEBUG)
           << "DEBUG Spot5Model::imagingRay(): returning..." << std::endl;
     }
 }

◆ initAdjustableParameters()

void ossimSpot5Model::initAdjustableParameters ( )

protectedvirtual

Sets adjustables to default values.

Reimplemented from ossimAdjustableParameterInterface.

Definition at line 310 of file ossimSpot5Model.cpp.

Referenced by ossimSpot5Model().

 {
    if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimSpot5Model::initAdjustableParameters(): entering..." << std::endl;
 
    //---
    // Allocate storage for adjustables and assign their names and units
    // strings.
    //---
    resizeAdjustableParameterArray(7);
    ossim_uint32 numParams = getNumberOfAdjustableParameters();
 
    //---
    // Initialize base-class adjustable parameter array:
    //---
    for (ossim_uint32 i=0; i<numParams; ++i)
    {
       setAdjustableParameter(i, 0.0);
       setParameterDescription(i, PARAM_NAMES[i]);
       setParameterUnit(i,PARAM_UNITS[i]);
       setParameterSigma(i, SIGMA[i]);
    }
 
    if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimSpot5Model::initAdjustableParameters(): returning..." << std::endl;
 }

◆ initFromMetadata()

bool ossimSpot5Model::initFromMetadata ( ossimSpotDimapSupportData * sd )

uses file path to init model

Definition at line 751 of file ossimSpot5Model.cpp.

References ossimErrorStatusInterface::getErrorStatus(), loadSupportData(), ossimErrorCodes::OSSIM_OK, theFocalLenOffset, theIllumAzimuth, theIllumElevation, theLineSamplingPeriod, theMetaDataFile, thePitchOffset, thePitchRate, thePositionError, theRefImagingTime, theRollOffset, theRollRate, theSupportData, theYawOffset, and theYawRate.

Referenced by setupOptimizer().

 {
    // init parms
    theSupportData        = sd;
    theMetaDataFile       = "NOT ASSIGNED";
    theIllumAzimuth       = 0.0;
    theIllumElevation     = 0.0;
    thePositionError      = 0.0;
    theRefImagingTime     = 0.0;
    theLineSamplingPeriod = 0.0;
 //   theSatToOrbRotation   = 0.0; //matrix
 //   theOrbToEcfRotation   = 0.0; //matrix
    theRollOffset         = 0.0;
    thePitchOffset        = 0.0;
    theYawOffset          = 0.0;
    theRollRate           = 0.0;
    thePitchRate          = 0.0;
    theYawRate            = 0.0;
    theFocalLenOffset     = 0.0;
 
    //---
    // Instantiate the support data classes after establishing the filenames:
    //---
    loadSupportData();
    if (getErrorStatus() != ossimErrorCodes::OSSIM_OK)
    {
       if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimSpot5Model::initFromMetadata(dimap_file): returning with error..." << std::endl;
       return false;
    }
 
    //---
    // initialize remaining data members:
    //---
    initAdjustableParameters();
    updateModel();
    return true;
 }

◆ lineSampleHeightToWorld()

void ossimSpot5Model::lineSampleHeightToWorld	(	const ossimDpt &	image_point,
		const ossim_float64 &	heightEllipsoid,
		ossimGpt &	worldPoint
	)		const

virtual

Given an image point and height, initializes worldPoint.

Implements ossimSensorModel.

Definition at line 643 of file ossimSpot5Model.cpp.

References ossimSensorModel::extrapolate(), FLT_EPSILON, ossimProjection::lineSampleToWorld(), ossimDrect::pointWithin(), ossimSensorModel::theImageClipRect, ossimSensorModel::theSeedFunction, and ossimRefPtr< T >::valid().

 {
 //   if (!insideImage(image_point))
    if ( !theImageClipRect.pointWithin(image_point, 1.0-FLT_EPSILON) )   
    {
       if(theSeedFunction.valid())
       {
          theSeedFunction->lineSampleToWorld(image_point, worldPoint);
       }
       else
       {
          worldPoint = extrapolate(image_point, heightEllipsoid);
       }
       if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimSpot5Model::lineSampleHeightToWorld(): returning..." << std::endl;
       return;
    }
    //***
    // First establish imaging ray from image point:
    //***
    ossimEcefRay imaging_ray;
    imagingRay(image_point, imaging_ray);
    ossimEcefPoint Pecf (imaging_ray.intersectAboveEarthEllipsoid(heightEllipsoid));
    worldPoint = ossimGpt(Pecf);
 }

◆ loadGeometry()

void ossimSpot5Model::loadGeometry ( FILE * )

protected

◆ loadState()

bool ossimSpot5Model::loadState	(	const ossimKeywordlist &	kwl,
		const char *	prefix = `NULL`
	)

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 499 of file ossimSpot5Model.cpp.

References ossimErrorStatusInterface::getErrorStatus(), ossimSpotDimapSupportData::loadState(), ossimSensorModel::loadState(), loadSupportData(), ossimErrorCodes::OSSIM_OK, theSupportData, and updateModel().

Referenced by setupOptimizer().

 {
    ossimString supportPrefix = ossimString(prefix) + "support_data.";
 
    if(!theSupportData)
    {
       theSupportData = new ossimSpotDimapSupportData;
    }
 
    if(theSupportData->loadState(kwl, supportPrefix))
    {
       if(!ossimSensorModel::loadState(kwl, prefix))
       {
          return false;
       }
    }
    else
    {
       return false;
    }
 
    loadSupportData();
    updateModel();
 
    return (getErrorStatus()==ossimErrorCodes::OSSIM_OK);
 }

◆ loadSupportData()

void ossimSpot5Model::loadSupportData ( )

protected

Definition at line 335 of file ossimSpot5Model.cpp.

Referenced by initFromMetadata(), loadState(), and ossimSpot5Model().

 {
    if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "ossimSpot5Model::loadSupportData(): entering..." << std::endl;
 
    //---
    // Check for good support data:
    //---
    if (!theSupportData)
    {
       setErrorStatus();
       ossimNotify(ossimNotifyLevel_FATAL) << "FATAL ossimSpot5Model::loadSupportData(): Null SpotDimapSupportData pointer passed to"
                                           << " constructor! Aborting..." << std::endl;
       if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimSpot5Model::loadSupportData(): returning..." << std::endl;
       return;
    }
 
    if (theSupportData->getErrorStatus() != ossimErrorCodes::OSSIM_OK)
    {
       setErrorStatus();
       ossimNotify(ossimNotifyLevel_FATAL) << "FATAL ossimSpot5Model::loadSupportData(): Bad SpotDimapSupportData detected. Aborting..."
                                           << std::endl;
       if (traceExec()) ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimSpot5Model::loadSupportData(): returning..." << std::endl;
       return;
    }
 
    //---
    // Initialize some member variables from the support data:
    //---
    theSensorID     = theSupportData->getSensorID();
    theImageID      = theSupportData->getImageID();
    theMetaDataFile = theSupportData->getMetadataFile();
 
    // Center of frame, sub image if we have one.
    theSupportData->getRefGroundPoint(theRefGndPt);
 
    theSupportData->getSunAzimuth(theIllumAzimuth);
    theSupportData->getSunElevation(theIllumElevation);
    ossimDpt sz;
    theSupportData->getImageSize(sz);
    theImageSize = sz;
    theSupportData->getRefLineTime(theRefImagingTime);
    theSupportData->getRefLineTimeLine(theRefImagingTimeLine);
 
    theSupportData->getLineSamplingPeriod(theLineSamplingPeriod);
    theSupportData->getSubImageOffset(theSpotSubImageOffset);
 
    //---
    // We make this zero base as the base ossimSensorModel does not know about
    // any sub image we have.
    //---
    theSupportData->getImageRect(theImageClipRect);
    theSupportData->getRefImagePoint(theRefImgPt);
 
    ossimGpt p1;
    ossimGpt p2;
    ossimGpt p3;
    ossimGpt p4;
 
 
    // I need to find the nominal scale of the spot 5 dataset
 
    //---
    // Position error is a function of whether star tracker information was
    // available:
    //---
    if (theSupportData->isStarTrackerUsed())
    {
       thePositionError = 50.0;
    }
    else
    {
       thePositionError = 200.0; // meters
    }
    updateModel();
    lineSampleToWorld(theImageClipRect.ul(), p1);
    lineSampleToWorld(theImageClipRect.ur(), p2);
    lineSampleToWorld(theImageClipRect.lr(), p3);
    lineSampleToWorld(theImageClipRect.ll(), p4);
 
 //    theSupportData->getUlCorner(p1);
 //    theSupportData->getUrCorner(p2);
 //    theSupportData->getLrCorner(p3);
 //    theSupportData->getLlCorner(p4);
 
    ossimDpt v[4]; // temporarily holds vertices for ground polygon
    v[0] = p1;
    v[1] = p2;
    v[2] = p3;
    v[3] = p4;
    theBoundGndPolygon = ossimPolygon(4, v);
 
 
    ossimGpt cgpt, hgpt, vgpt;
    // ossimEcefPoint hVector, vVector;
    ossimDpt midpt = theImageClipRect.midPoint();
 
    lineSampleToWorld(midpt, cgpt);
    lineSampleToWorld(midpt + ossimDpt(1,0), hgpt);
    lineSampleToWorld(midpt + ossimDpt(0,1), vgpt);
 
    theGSD     = ossimDpt((ossimEcefPoint(cgpt) - ossimEcefPoint(hgpt)).magnitude(),
              (ossimEcefPoint(cgpt) - ossimEcefPoint(vgpt)).magnitude());
 
    theMeanGSD = (theGSD.x+theGSD.y)/2.0;
 
    if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimSpot5Model::loadSupportData(): returning..." << std::endl;
 }

◆ print()

std::ostream & ossimSpot5Model::print ( std::ostream & out ) const

virtual

Extends base-class implementation. Dumps contents of object to ostream.

Reimplemented from ossimSensorModel.

Definition at line 448 of file ossimSpot5Model.cpp.

References ossimSensorModel::print(), theFocalLenOffset, theIllumAzimuth, theIllumElevation, ossimSensorModel::theImageID, ossimSensorModel::theImageSize, theLineSamplingPeriod, theMetaDataFile, thePitchOffset, thePitchRate, thePositionError, ossimSensorModel::theRefGndPt, theRefImagingTime, theRefImagingTimeLine, ossimSensorModel::theRefImgPt, theRollOffset, theRollRate, theYawOffset, and theYawRate.

 {
    // Capture stream flags since we are going to mess with them.
    std::ios_base::fmtflags f = out.flags();
 
    out << "\nDump of ossimSpot5Model at address " << (hex) << this
        << (dec)
        << "\n------------------------------------------------"
        << "\n  theImageID            = " << theImageID
        << "\n  theMetadataFile       = " << theMetaDataFile
        << "\n  theIllumAzimuth       = " << theIllumAzimuth
        << "\n  theIllumElevation     = " << theIllumElevation
        << "\n  thePositionError      = " << thePositionError
        << "\n  theImageSize          = " << theImageSize
        << "\n  theRefGndPt           = " << theRefGndPt
        << "\n  theRefImgPt           = " << theRefImgPt
        << "\n  theRefImagingTime     = " << theRefImagingTime
        << "\n  theRefImagingTimeLine = " << theRefImagingTimeLine
        << "\n  theLineSamplingPeriod = " << theLineSamplingPeriod
        << "\n  theRollOffset         = " << theRollOffset
        << "\n  thePitchOffset        = " << thePitchOffset
        << "\n  theYawOffset          = " << theYawOffset
        << "\n  theRollRate           = " << theRollRate
        << "\n  thePitchRate          = " << thePitchRate
        << "\n  theYawRate            = " << theYawRate
        << "\n  theFocalLenOffset     = " << theFocalLenOffset
        << "\n------------------------------------------------"
        << "\n  " << endl;
 
    // Set the flags back.
    out.flags(f);
 
    return ossimSensorModel::print(out);
 }

◆ saveState()

bool ossimSpot5Model::saveState	(	ossimKeywordlist &	kwl,
		const char *	prefix = `NULL`
	)		const

virtual

Fulfills ossimObject base-class pure virtuals. Loads and saves geometry KWL files. Returns true if successful.

Reimplemented from ossimSensorModel.

Definition at line 483 of file ossimSpot5Model.cpp.

References ossimSpotDimapSupportData::saveState(), ossimSensorModel::saveState(), theSupportData, and ossimRefPtr< T >::valid().

 {
   if(theSupportData.valid())
   {
      ossimString supportPrefix = ossimString(prefix) + "support_data.";
      theSupportData->saveState(kwl, supportPrefix);
   }
   else
   {
      return false;
   }
 
    return ossimSensorModel::saveState(kwl, prefix);
 }

◆ setupOptimizer()

bool ossimSpot5Model::setupOptimizer ( const ossimString & init_file )

virtual

image to ground faster

Reimplemented from ossimOptimizableProjection.

Definition at line 700 of file ossimSpot5Model.cpp.

References ossimKeywordlist::addFile(), ossimString::c_str(), ossimFilename::dirCat(), ossimFilename::exists(), ossimRefPtr< T >::get(), ossimErrorStatusInterface::getErrorStatus(), initFromMetadata(), loadState(), ossimSpotDimapSupportData::loadXmlFile(), ossimFilename::path(), and ossimFilename::setExtension().

 {
    ossimFilename spot5Test = init_file;
    ossimFilename geomFile = init_file;
    geomFile = geomFile.setExtension("geom");
    bool tryKwl = false;
 
    if(!spot5Test.exists())
    {
       spot5Test = geomFile.path();
       spot5Test = spot5Test.dirCat(ossimFilename("METADATA.DIM"));
       if(spot5Test.exists() == false)
       {
          spot5Test = geomFile.path();
          spot5Test = spot5Test.dirCat(ossimFilename("metadata.dim"));
       }
    }
    if(spot5Test.exists())
    {
       ossimRefPtr<ossimSpotDimapSupportData> meta = new ossimSpotDimapSupportData;
       if(meta->loadXmlFile(spot5Test))
       {
          initFromMetadata(meta.get());
          if (getErrorStatus())
          {
             tryKwl = true;
             meta=0;
          }
          else
          {
             return true;
          }
       }
       else
       {
          meta=0;
          tryKwl = true;
       }
    }
    if(tryKwl)
    {
       ossimKeywordlist kwl;
       if(kwl.addFile(init_file.c_str()))
       {
          return loadState(kwl);
       }
    }
    return false;
 }

◆ updateModel()

void ossimSpot5Model::updateModel ( )

virtual

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 259 of file ossimSpot5Model.cpp.

References ossimErrorStatusInterface::clearErrorStatus().

Referenced by loadState(), and ossimSpot5Model().

 {
    clearErrorStatus();
 
    try
    {
       if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimSpot5Model::updateModel(): entering..." << std::endl;
 
       if(getNumberOfAdjustableParameters() < 1)
       {
          theRollOffset     = 0;
          thePitchOffset    = 0;
          theYawOffset      = 0;
          theRollRate       = 0;
          thePitchRate      = 0;
          theYawRate        = 0;
          theFocalLenOffset = 0;
       }
       else
       {
          theRollOffset     = computeParameterOffset(0);
          thePitchOffset    = computeParameterOffset(1);
          theYawOffset      = computeParameterOffset(2);
          theRollRate       = computeParameterOffset(3);
          thePitchRate      = computeParameterOffset(4);
          theYawRate        = computeParameterOffset(5);
          theFocalLenOffset = computeParameterOffset(6);
       }
       theSeedFunction = 0;
       ossimGpt ulg, urg, lrg, llg;
       lineSampleToWorld(theImageClipRect.ul(), ulg);
       lineSampleToWorld(theImageClipRect.ur(), urg);
       lineSampleToWorld(theImageClipRect.lr(), lrg);
       lineSampleToWorld(theImageClipRect.ll(), llg);
       theSeedFunction = new ossimBilinearProjection(theImageClipRect.ul(),
                                                     theImageClipRect.ur(),
                                                     theImageClipRect.lr(),
                                                     theImageClipRect.ll(),
                                                     ulg,
                                                     urg,
                                                     lrg,
                                                     llg);
 
       if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimSpot5Model::updateModel(): returning..." << std::endl;
    }
    catch(...)
    {
       setErrorStatus(ossimErrorCodes::OSSIM_ERROR);
    }
 }

◆ useForward()

virtual bool ossimSpot5Model::useForward ( ) const

inlinevirtual

ossimOptimizableProjection

Implements ossimOptimizableProjection.

Definition at line 108 of file ossimSpot5Model.h.

108 {return false;}

◆ writeGeomTemplate()

static void ossimSpot5Model::writeGeomTemplate ( ostream & os )

static

Writes a template of geom keywords processed by loadState and saveState to output stream.

Member Data Documentation

◆ theFocalLenOffset

ossim_float64 ossimSpot5Model::theFocalLenOffset

protected

Definition at line 156 of file ossimSpot5Model.h.

Referenced by initFromMetadata(), and print().

◆ theIllumAzimuth

ossim_float64 ossimSpot5Model::theIllumAzimuth

protected

Definition at line 134 of file ossimSpot5Model.h.

Referenced by initFromMetadata(), and print().

◆ theIllumElevation

ossim_float64 ossimSpot5Model::theIllumElevation

protected

Definition at line 135 of file ossimSpot5Model.h.

Referenced by initFromMetadata(), and print().

◆ theLineSamplingPeriod

ossim_float64 ossimSpot5Model::theLineSamplingPeriod

protected

Definition at line 142 of file ossimSpot5Model.h.

Referenced by imagingRay(), initFromMetadata(), and print().

◆ theMetaDataFile

ossimFilename ossimSpot5Model::theMetaDataFile

protected

Definition at line 133 of file ossimSpot5Model.h.

Referenced by initFromMetadata(), and print().

◆ thePitchOffset

ossim_float64 ossimSpot5Model::thePitchOffset

protected

Definition at line 151 of file ossimSpot5Model.h.

Referenced by initFromMetadata(), and print().

◆ thePitchRate

ossim_float64 ossimSpot5Model::thePitchRate

protected

Definition at line 154 of file ossimSpot5Model.h.

Referenced by initFromMetadata(), and print().

◆ thePositionError

ossim_float64 ossimSpot5Model::thePositionError

protected

Definition at line 136 of file ossimSpot5Model.h.

Referenced by initFromMetadata(), and print().

◆ theRefImagingTime

ossim_float64 ossimSpot5Model::theRefImagingTime

protected

Definition at line 137 of file ossimSpot5Model.h.

Referenced by imagingRay(), initFromMetadata(), and print().

◆ theRefImagingTimeLine

ossim_float64 ossimSpot5Model::theRefImagingTimeLine

protected

relative to full image

Definition at line 140 of file ossimSpot5Model.h.

Referenced by imagingRay(), and print().

◆ theRollOffset

ossim_float64 ossimSpot5Model::theRollOffset

protected

Definition at line 150 of file ossimSpot5Model.h.

Referenced by initFromMetadata(), and print().

◆ theRollRate

ossim_float64 ossimSpot5Model::theRollRate

protected

Definition at line 153 of file ossimSpot5Model.h.

Referenced by initFromMetadata(), and print().

◆ theSpotSubImageOffset

ossimDpt ossimSpot5Model::theSpotSubImageOffset

protected

Definition at line 143 of file ossimSpot5Model.h.

Referenced by imagingRay().

◆ theSupportData

ossimRefPtr<ossimSpotDimapSupportData> ossimSpot5Model::theSupportData

protected

Definition at line 128 of file ossimSpot5Model.h.

Referenced by initFromMetadata(), loadState(), ossimSpot5Model(), and saveState().

◆ theYawOffset

ossim_float64 ossimSpot5Model::theYawOffset

protected

Definition at line 152 of file ossimSpot5Model.h.

Referenced by initFromMetadata(), and print().

◆ theYawRate

ossim_float64 ossimSpot5Model::theYawRate

protected

Definition at line 155 of file ossimSpot5Model.h.

Referenced by initFromMetadata(), and print().

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

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ AdjustParamIndex

Constructor & Destructor Documentation

◆ ossimSpot5Model() [1/5]

◆ ossimSpot5Model() [2/5]

◆ ossimSpot5Model() [3/5]

◆ ossimSpot5Model() [4/5]

◆ ossimSpot5Model() [5/5]

◆ ~ossimSpot5Model()

Member Function Documentation

◆ computeSatToOrbRotation()

◆ dup()

◆ imagingRay()

◆ initAdjustableParameters()

◆ initFromMetadata()

◆ lineSampleHeightToWorld()

◆ loadGeometry()

◆ loadState()

◆ loadSupportData()

◆ print()

◆ saveState()

◆ setupOptimizer()

◆ updateModel()

◆ useForward()

◆ writeGeomTemplate()

Member Data Documentation

◆ theFocalLenOffset

◆ theIllumAzimuth

◆ theIllumElevation

◆ theLineSamplingPeriod

◆ theMetaDataFile

◆ thePitchOffset

◆ thePitchRate

◆ thePositionError

◆ theRefImagingTime

◆ theRefImagingTimeLine

◆ theRollOffset

◆ theRollRate

◆ theSpotSubImageOffset

◆ theSupportData

◆ theYawOffset

◆ theYawRate