#include <ossimFcsiModel.h>

Inheritance diagram for ossimFcsiModel:

Public Types
enum	AdjustParamIndex { X_POS = 0, Y_POS, Z_POS, X_ROT, Y_ROT, Z_ROT, FOCAL_LEN, SCAN_SKEW, 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
	ossimFcsiModel ()

	ossimFcsiModel (const ossimFilename &init_file)

	ossimFcsiModel (const ossimKeywordlist &geom_kwl)

	ossimFcsiModel (const ossimFcsiModel &rhs)

virtual ossimObject *	dup () const

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

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

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

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

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

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

virtual void	updateModel ()

virtual bool	useForward () const

Public Member Functions inherited from ossimSensorModel
	ossimSensorModel ()

	ossimSensorModel (const ossimSensorModel &copy_this)

	ossimSensorModel (const ossimKeywordlist &geom_kwl)

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

virtual ossimObject *	getBaseObject ()

virtual const ossimObject *	getBaseObject () const

virtual ossimGpt	origin () const

virtual ossimDpt	getMetersPerPixel () const

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

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

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

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

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

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

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

void	setImageRect (const ossimDrect &imageRect)

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

ossimDpt	imageSize () const

void	setImageSize (const ossimDpt &size)

virtual void	adjustableParametersChanged ()

virtual bool	insideImage (const ossimDpt &p) const

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

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

const ossimDrect &	getImageClipRect () const

virtual ossim_uint32	degreesOfFreedom () const

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

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

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

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

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

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

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

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

Public Member Functions inherited from ossimProjection
	ossimProjection ()

virtual	~ossimProjection ()

virtual ossimDpt	forward (const ossimGpt &wp) const

virtual ossimGpt	inverse (const ossimDpt &pp) const

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

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

virtual void	getGroundClipPoints (ossimGeoPolygon &gpts) const

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

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

Public Member Functions inherited from ossimObject
	ossimObject ()

virtual	~ossimObject ()

virtual ossimString	getShortName () const

virtual ossimString	getLongName () const

virtual ossimString	getDescription () const

virtual ossimString	getClassName () const

virtual RTTItypeid	getType () const

virtual bool	canCastTo (ossimObject *obj) const

virtual bool	canCastTo (const RTTItypeid &id) const

virtual bool	canCastTo (const ossimString &parentClassName) const

virtual void	accept (ossimVisitor &visitor)

Public Member Functions inherited from ossimReferenced
	ossimReferenced ()

	ossimReferenced (const ossimReferenced &)

ossimReferenced &	operator= (const ossimReferenced &)

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

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

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

int	referenceCount () const

Public Member Functions inherited from ossimErrorStatusInterface
	ossimErrorStatusInterface ()

virtual	~ossimErrorStatusInterface ()

virtual ossimErrorCode	getErrorStatus () const

virtual ossimString	getErrorStatusString () const

virtual void	setErrorStatus (ossimErrorCode error_status) const

virtual void	setErrorStatus () const

virtual void	clearErrorStatus () const

bool	hasError () const

Public Member Functions inherited from ossimOptimizableProjection
	ossimOptimizableProjection ()

	ossimOptimizableProjection (const ossimOptimizableProjection &source)

virtual	~ossimOptimizableProjection ()

virtual ossimOptimizableProjection &	operator= (const ossimOptimizableProjection &source)

virtual bool	setupOptimizer (const ossimString &setup)
	setupFromString() Derived classes should implement as needed. Initialize parameters needed for optimizeFit and degreesOfFreedom More...

Public Member Functions inherited from ossimAdjustableParameterInterface
	ossimAdjustableParameterInterface ()

	ossimAdjustableParameterInterface (const ossimAdjustableParameterInterface &rhs)

virtual	~ossimAdjustableParameterInterface ()

void	newAdjustment (ossim_uint32 numberOfParameters=0)

void	setAdjustmentDescription (const ossimString &description)

ossimString	getAdjustmentDescription () const

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

void	setCurrentAdjustment (ossim_uint32 adjustmentIndex, bool notify=false)

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

void	eraseAdjustment (bool notify)

void	eraseAdjustment (ossim_uint32 idx, bool notify)

void	resetAdjustableParameters (bool notify=false)

void	copyAdjustment (ossim_uint32 idx, bool notify)

void	copyAdjustment (bool notify=false)

void	keepAdjustment (ossim_uint32 idx, bool createCopy)

virtual void	keepAdjustment (bool createCopy=true)

const ossimAdjustableParameterInterface &	operator= (const ossimAdjustableParameterInterface &rhs)

void	removeAllAdjustments ()

ossim_uint32	getNumberOfAdjustableParameters () const

double	getAdjustableParameter (ossim_uint32 idx) const

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

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

double	getParameterSigma (ossim_uint32 idx) const

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

ossimUnitType	getParameterUnit (ossim_uint32 idx) const

void	setParameterUnit (ossim_uint32 idx, ossimUnitType unit)

void	setParameterUnit (ossim_uint32 idx, const ossimString &unit)

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

double	getParameterCenter (ossim_uint32 idx) const

double	computeParameterOffset (ossim_uint32 idx) const

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

ossimString	getParameterDescription (ossim_uint32 idx) const

void	setParameterDescription (ossim_uint32 idx, const ossimString &descrption)

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

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

bool	isParameterLocked (ossim_uint32 idx) const

void	setParameterLockFlag (ossim_uint32 idxParam, bool flag)

bool	getParameterLockFlag (ossim_uint32 idx) const

void	lockAllParametersCurrentAdjustment ()

void	unlockAllParametersCurrentAdjustment ()

void	lockAllParameters (ossim_uint32 idxAdjustment)

void	unlockAllParameters (ossim_uint32 idxAdjustment)

void	resizeAdjustableParameterArray (ossim_uint32 numberOfParameters)

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

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

void	addAdjustment (const ossimAdjustmentInfo &adj, bool notify)

void	getAdjustment (ossimAdjustmentInfo &adj) const

void	getAdjustment (ossim_uint32 idx, ossimAdjustmentInfo &adj) const

ossim_uint32	getNumberOfAdjustments () const

ossim_uint32	getCurrentAdjustmentIdx () const

void	setDirtyFlag (bool flag=true)

void	setAllDirtyFlag (bool flag=true)

bool	hasDirtyAdjustments () const

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

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

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

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

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

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

Static Public Attributes
static const char *	PRINCIPAL_POINT_X_KW = "principal_point_x"

static const char *	PRINCIPAL_POINT_Y_KW = "principal_point_y"

static const char *	SCAN_SCALE_MATRIX_00_KW = "scan_scale_matrix_00"

static const char *	SCAN_SCALE_MATRIX_01_KW = "scan_scale_matrix_01"

static const char *	SCAN_SCALE_MATRIX_10_KW = "scan_scale_matrix_10"

static const char *	SCAN_SCALE_MATRIX_11_KW = "scan_scale_matrix_11"

static const char *	SCAN_SKEW_ANGLE_KW = "scan_skew_angle"

static const char *	SCAN_ROTATION_ANGLE_KW = "scan_rotation_angle"

static const char *	FOCAL_LENGTH_KW = "focal_length"

static const char *	PLATFORM_POSITION_X_KW = "platform_position_x"

static const char *	PLATFORM_POSITION_Y_KW = "platform_position_y"

static const char *	PLATFORM_POSITION_Z_KW = "platform_position_z"

static const char *	CAMERA_ORIENTATION_MATRIX_ELEM_KW = "camera_orientation_matrix_elem_"

Protected Member Functions
virtual	~ossimFcsiModel ()
	ground to image faster (you don't need DEM) More...

void	initAdjustableParameters ()

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
ossimDpt	thePrincipalPoint

double	theScanScaleMatrix [4]

double	theScanSkew

double	theScanRotation

double	theFocalLen

ossimRadialDecentLensDistortion *	theOpticalDistortion

ossimEcefPoint	thePlatformPos

NEWMAT::Matrix	theLsrToEcfRot

ossimEcefVector	theEcfOffset

double	theXrotCorr

double	theYrotCorr

double	theZrotCorr

double	theFocalOffset

double	theScanSkewCorr

ossimEcefPoint	theAdjPlatformPos

double	theAdjFocalLen

NEWMAT::Matrix	theAdjLsrToEcfRot

NEWMAT::Matrix	theAdjEcfToLsrRot

double	theScanXformMatrix [4]

double	theInvScanXformMatrix [4]

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 82 of file ossimFcsiModel.h.

Member Enumeration Documentation

◆ AdjustParamIndex

enum ossimFcsiModel::AdjustParamIndex

Enumerator
X_POS
Y_POS
Z_POS
X_ROT
Y_ROT
Z_ROT
FOCAL_LEN
SCAN_SKEW
NUM_ADJUSTABLE_PARAMS

Definition at line 94 of file ossimFcsiModel.h.

    {
       X_POS = 0,
       Y_POS,
       Z_POS,
       X_ROT,
       Y_ROT,
       Z_ROT,
       FOCAL_LEN,
       SCAN_SKEW,
       NUM_ADJUSTABLE_PARAMS // not an index
    };

Constructor & Destructor Documentation

◆ ossimFcsiModel() [1/4]

ossimFcsiModel::ossimFcsiModel ( )

CONSTRUCTORS:

Definition at line 138 of file ossimFcsiModel.cpp.

    :
    ossimSensorModel       (),
    thePrincipalPoint      (0, 0),
    theScanSkew            (0.0),  
    theScanRotation        (0.0),
    theOpticalDistortion   (0),
    theLsrToEcfRot         (3, 3),
    theEcfOffset           (0, 0, 0),
    theXrotCorr            (0.0),
    theYrotCorr            (0.0),
    theZrotCorr            (0.0),
    theFocalOffset         (0.0),
    theScanSkewCorr        (0.0),
    theAdjLsrToEcfRot      (3, 3),
    theAdjEcfToLsrRot      (3, 3)
 {
    if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimFcsiModel::ossimFcsiModel: entering..." << std::endl;
    theScanScaleMatrix[0] = 1.0;
    theScanScaleMatrix[1] = 0.0;
    theScanScaleMatrix[2] = 0.0;
    theScanScaleMatrix[3] = 1.0;
    theScanXformMatrix[0] = 1.0;
    theScanXformMatrix[1] = 0.0;
    theScanXformMatrix[2] = 0.0;
    theScanXformMatrix[3] = 1.0;
    initAdjustableParameters();
    setErrorStatus(); // indicate uninitialized
    
    if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimFcsiModel::ossimFcsiModel: returning..." << std::endl;
 }

◆ ossimFcsiModel() [2/4]

ossimFcsiModel::ossimFcsiModel ( const ossimFilename & init_file )

Definition at line 176 of file ossimFcsiModel.cpp.

    :
    ossimSensorModel       (),
    thePrincipalPoint      (0, 0),
    theScanSkew            (0.0),  
    theScanRotation        (0.0),
    theOpticalDistortion   (0),
    theLsrToEcfRot         (3, 3),
    theEcfOffset           (0, 0, 0),
    theXrotCorr            (0.0),
    theYrotCorr            (0.0),
    theZrotCorr            (0.0),
    theFocalOffset         (0.0),
    theScanSkewCorr        (0.0),
    theAdjLsrToEcfRot      (3, 3),
    theAdjEcfToLsrRot      (3, 3)
 {
    if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimFcsiModel::ossimFcsiModel: entering..." << std::endl;
 
    initAdjustableParameters();
    ossimKeywordlist kwl (init_file);
    loadState(kwl);
 
    if (traceExec()) ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimFcsiModel::ossimFcsiModel: Exited..." << std::endl;
 }

◆ ossimFcsiModel() [3/4]

ossimFcsiModel::ossimFcsiModel ( const ossimKeywordlist & geom_kwl )

Definition at line 208 of file ossimFcsiModel.cpp.

    :
    ossimSensorModel       (),
    thePrincipalPoint      (0, 0),
    theScanSkew            (0.0),  
    theScanRotation        (0.0),
    theOpticalDistortion   (0),
    theLsrToEcfRot         (3, 3),
    theEcfOffset           (0, 0, 0),
    theXrotCorr            (0.0),
    theYrotCorr            (0.0),
    theZrotCorr            (0.0),
    theFocalOffset         (0.0),
    theScanSkewCorr        (0.0),
    theAdjLsrToEcfRot      (3, 3),
    theAdjEcfToLsrRot      (3, 3)
 {
    if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimFcsiModel::ossimFcsiModel: entering..." << std::endl;
 
    initAdjustableParameters();
    loadState(geom_kwl);
 
    if (traceExec()) ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimFcsiModel::ossimFcsiModel: Exited..." << std::endl;
 }

◆ ossimFcsiModel() [4/4]

ossimFcsiModel::ossimFcsiModel ( const ossimFcsiModel & rhs )

Definition at line 236 of file ossimFcsiModel.cpp.

    :
    ossimSensorModel     (foxy),
    thePrincipalPoint    (foxy.thePrincipalPoint),
    theScanSkew          (foxy.theScanSkew),  
    theScanRotation      (foxy.theScanRotation),
    theFocalLen          (foxy.theFocalLen),
    thePlatformPos       (foxy.thePlatformPos),
    theLsrToEcfRot       (foxy.theLsrToEcfRot),
    theEcfOffset         (foxy.theEcfOffset),
    theXrotCorr          (foxy.theXrotCorr),
    theYrotCorr          (foxy.theYrotCorr),
    theZrotCorr          (foxy.theZrotCorr),
    theFocalOffset       (foxy.theFocalOffset),
    theScanSkewCorr      (foxy.theScanSkewCorr)
 {
    if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimFcsiModel::ossimFcsiModel: entering..." << std::endl;
 
    if(foxy.theOpticalDistortion)
    {
       //
       // Finish the copy:
       //
       theOpticalDistortion =
          new ossimRadialDecentLensDistortion (*(foxy.theOpticalDistortion));
    }
 
    for (int i=0; i<4; i++)
       theScanScaleMatrix[i] = foxy.theScanScaleMatrix[i];
 
    //***
    // Compute quantities derived from adjustables:
    //***
    updateModel();
    
    if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimFcsiModel::ossimFcsiModel: returning..." << std::endl;
 }

◆ ~ossimFcsiModel()

virtual ossimFcsiModel::~ossimFcsiModel ( )

inlineprotectedvirtual

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

Definition at line 184 of file ossimFcsiModel.h.

184 { delete theOpticalDistortion; }

ossimFcsiModel::theOpticalDistortion

ossimRadialDecentLensDistortion * theOpticalDistortion

Definition: ossimFcsiModel.h:206

Member Function Documentation

◆ dup()

virtual ossimObject* ossimFcsiModel::dup ( ) const

inlinevirtual

Returns pointer to a new instance, copy of this.

Implements ossimProjection.

Definition at line 110 of file ossimFcsiModel.h.

110 { return new ossimFcsiModel(*this); }

ossimFcsiModel::ossimFcsiModel

ossimFcsiModel()

Definition: ossimFcsiModel.cpp:138

◆ imagingRay()

void ossimFcsiModel::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 334 of file ossimFcsiModel.cpp.

 {
    bool debug = false;  // setable via interactive debugger: "set debug = true"
    if (traceExec() || debug)  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimFcsiModel::imagingRay: entering..." << std::endl;
    
    //***
    // In case this is a sub-image of a full image scan, need to add the
    // sub-image offset maintained in the base-class:
    //***
    ossimDpt p0 (image_point + theSubImageOffset);
 
    if (traceDebug() || debug)
    {
       ossimNotify(ossimNotifyLevel_DEBUG) << "image_point = " << image_point << std::endl;
       ossimNotify(ossimNotifyLevel_DEBUG) << "theSubImageOffset = " << theSubImageOffset << std::endl;
       ossimNotify(ossimNotifyLevel_DEBUG) << "p0 = " << p0 << std::endl;
    }
    
    //***
    // Apply pixel to film coordinates affine transform:
    //***
    ossimDpt p1 (p0 - theRefImgPt);
    ossimDpt f1 (theScanXformMatrix[0]*p1.x + theScanXformMatrix[1]*p1.y,
                 theScanXformMatrix[2]*p1.x + theScanXformMatrix[3]*p1.y);
    ossimDpt film (f1 - thePrincipalPoint);
    if (traceDebug() || debug)
    {
       ossimNotify(ossimNotifyLevel_DEBUG) << "theRefImgPt = " << theRefImgPt << std::endl;
       ossimNotify(ossimNotifyLevel_DEBUG) << "p1 = " << p1 << std::endl;
       for (int i=0; i<4; i++)
       {
          ossimNotify(ossimNotifyLevel_DEBUG) << "theScanXformMatrix["<<i<<"] = "<<theScanXformMatrix[i] << std::endl;
       }
       ossimNotify(ossimNotifyLevel_DEBUG) << "f1 = " << f1 << std::endl;
       ossimNotify(ossimNotifyLevel_DEBUG) << "thePrincipalPoint = " << thePrincipalPoint << std::endl;
       ossimNotify(ossimNotifyLevel_DEBUG) << "film (distorted) = " << film << std::endl;
    }
 
    //***
    // Correct film point for optical (radial, decentering) distortion:
    //***
    if (theOpticalDistortion)
       theOpticalDistortion->inverse(film);
    if (traceDebug() || debug)
    {
       ossimNotify(ossimNotifyLevel_DEBUG) << "film (undistorted) = " << film << std::endl;
       if(theOpticalDistortion)
       {
          theOpticalDistortion->print(ossimNotify(ossimNotifyLevel_DEBUG));
       }
    }
    
    //***
    // Establish image ray in  camera-space (LSR) coordinates, then rotate to the
    // ECF. This rotation contains interior orientation, exterior orientation,
    // and attitude correction:
    //***
    ossimColumnVector3d cam_ray_dir (film.x, film.y, -theAdjFocalLen);
    ossimEcefVector ecf_ray_dir (theAdjLsrToEcfRot*cam_ray_dir);
    ecf_ray_dir = ecf_ray_dir*(1.0/ecf_ray_dir.magnitude());
    if (traceDebug() || debug)
    {
       ossimNotify(ossimNotifyLevel_DEBUG) << "theAdjFocalLen = " << theAdjFocalLen << std::endl;
       ossimNotify(ossimNotifyLevel_DEBUG) << "cam_ray_dir = " << cam_ray_dir << std::endl;
       ossimNotify(ossimNotifyLevel_DEBUG) << "theAdjLsrToEcfRot = \n" << theAdjLsrToEcfRot << std::endl;
       ossimNotify(ossimNotifyLevel_DEBUG) << "ecf_ray_dir = " << ecf_ray_dir << std::endl;
    }
    
    //***
    // Establish ECF Ray object to represent imaging ray:
    //***
    image_ray.setOrigin(theAdjPlatformPos);
    image_ray.setDirection(ecf_ray_dir);
    if (traceDebug() || debug)
    {
       ossimNotify(ossimNotifyLevel_DEBUG) << "theAdjPlatformPos = " << theAdjPlatformPos << std::endl;
       ossimNotify(ossimNotifyLevel_DEBUG) << "theAdjPlatformPos (ossimGpt): " << ossimGpt(theAdjPlatformPos)
                                           << std::endl;
       ossimNotify(ossimNotifyLevel_DEBUG) << "image_ray = " << image_ray << std::endl;
    }
 
    if (traceExec() || debug)  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimFcsiModel::imagingRay: returning..." << std::endl;
 }

◆ initAdjustableParameters()

void ossimFcsiModel::initAdjustableParameters ( )

protectedvirtual

Assigns initial default values to adjustable parameters and related members.

{

Reimplemented from ossimAdjustableParameterInterface.

Definition at line 958 of file ossimFcsiModel.cpp.

 {
    if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimFcsiModel::initAdjustableParameters: entering..." << std::endl;
 
    int numParams = NUM_ADJUSTABLE_PARAMS;
    resizeAdjustableParameterArray(NUM_ADJUSTABLE_PARAMS);
    
 //   if(!getNumberOfAdjustableParameters())
    //***
    // Allocate storage for adjustables and assign their names and units strings
    //***
 //      newAdjustment(NUM_ADJUSTABLE_PARAMS);
 //   }
    //***
    // Initialize base-class adjustable parameter array:
    //***
    for (int i=0; i<numParams; i++)
    {
       setAdjustableParameter(i, 0.0);
       setParameterDescription(i, PARAM_NAMES[i]);
       setParameterUnit(i, PARAM_UNITS[i]);
    }
    
    //***
    // Initialize base-class parameter sigma array:
    //***
    setParameterSigma(X_POS, 50.0);
    setParameterSigma(Y_POS, 50.0);
    setParameterSigma(Z_POS, 50.0);  
    setParameterSigma(X_ROT, 0.01);
    setParameterSigma(Y_ROT, 0.01);
    setParameterSigma(Z_ROT, 0.01);
    setParameterSigma(FOCAL_LEN,0.005);  
    setParameterSigma(SCAN_SKEW, 0.001);
 
    if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimFcsiModel::initAdjustableParameters: returning..." << std::endl;
 }

◆ lineSampleHeightToWorld()

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

virtual

Overrides base class pure virtual.

Implements ossimSensorModel.

Definition at line 283 of file ossimFcsiModel.cpp.

 {
    bool debug = false;  // setable via interactive debugger
    if (traceExec() || debug)  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimFcsiModel::ossimFcsiModel: entering..." << std::endl;
    
    //***
    // Extrapolate if point is outside image:
    //***
    if (!insideImage(image_point))
    {
       gpt = extrapolate(image_point, height);
    }
 
    else
    {
       //***
       // First establish imaging ray from image point:
       //***
       ossimEcefRay imaging_ray;
       imagingRay(image_point, imaging_ray);
       ossimEcefPoint Pecf (imaging_ray.intersectAboveEarthEllipsoid(height));
       gpt = ossimGpt(Pecf);
 
       if (traceDebug() || debug)
       {
          ossimNotify(ossimNotifyLevel_DEBUG) << "Pecf = " << Pecf << std::endl;
          ossimNotify(ossimNotifyLevel_DEBUG) << "gpt = " << gpt << std::endl;
       }
    }
 
    if (traceExec() || debug)  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimFcsiModel::ossimFcsiModel: returning..." << std::endl;
 }

◆ loadState()

bool ossimFcsiModel::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 626 of file ossimFcsiModel.cpp.

 {
    if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimFcsiModel::loadState: entering..." << std::endl;
 
    if (traceDebug())
    {
       ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG:"
                                           << "\nInput kwl:  " << kwl
                                           << std::endl;
    }
 
    const char* value;
    const char* keyword;
    bool success;
 
    //***
    // Assure this keywordlist contains correct type info:
    //***
    keyword = ossimKeywordNames::TYPE_KW;
    value = kwl.find(prefix, keyword);
    if (!value)
    {
       ossimSetError(getClassName(),
                     ossimErrorCodes::OSSIM_ERROR,
                     "Type name not found");
       return false;
       
    }
    if (strcmp(value, TYPE_NAME(this)))
    {
       if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimFcsiModel::saveState: returning..." << std::endl;
       return false;
    }
       
    //***
    // Clear out any existing adjustable params:
    //***
    
    //***
    // Pass on to the base-class for parsing first:
    //***
    success = ossimSensorModel::loadState(kwl, prefix);
    if (!success)
    {
       return false;
    }
    if(!getNumberOfAdjustableParameters())
    {
       initAdjustableParameters();
    }
 
    //***
    // Now begin loading data members:
    //***
    keyword = PRINCIPAL_POINT_X_KW;
    value = kwl.find(prefix, keyword);
    if (!value)
    {
       ossimSetError(getClassName(),
                     ossimErrorCodes::OSSIM_ERROR,
                     "principle point x not given");
       return false;
    }
    thePrincipalPoint.x = atof(value);
  
    keyword = PRINCIPAL_POINT_Y_KW;
    value = kwl.find(prefix, keyword);
    if (!value)
    {
       ossimSetError(getClassName(),
                     ossimErrorCodes::OSSIM_ERROR,
                     "principle point y not given");
       return false;
    }
       
    thePrincipalPoint.y = atof(value);
  
    keyword = SCAN_SCALE_MATRIX_00_KW;
    value = kwl.find(prefix, keyword);
    if (!value)
    {
       ossimSetError(getClassName(),
                     ossimErrorCodes::OSSIM_ERROR,
                     "scale matrix 0,0 not given");
       return false;
    }
    theScanScaleMatrix[0] = atof(value);
  
    keyword = SCAN_SCALE_MATRIX_01_KW;
    value = kwl.find(prefix, keyword);
    if (!value)
    {
       ossimSetError(getClassName(),
                     ossimErrorCodes::OSSIM_ERROR,
                     "scale matrix 0,1 not given");
       return false;
    }
    theScanScaleMatrix[1] = atof(value);
  
    keyword = SCAN_SCALE_MATRIX_10_KW;
    value = kwl.find(prefix, keyword);
    if (!value)
    {
       ossimSetError(getClassName(),
                     ossimErrorCodes::OSSIM_ERROR,
                     "scale matrix 1,0 not given");
       return false;
    }
    theScanScaleMatrix[2] = atof(value);
  
    keyword = SCAN_SCALE_MATRIX_11_KW;
    value = kwl.find(prefix, keyword);
    if (!value)
    {
       ossimSetError(getClassName(),
                     ossimErrorCodes::OSSIM_ERROR,
                     "scale matrix 1,1 not given");
       return false;
    }
    theScanScaleMatrix[3] = atof(value);
  
    keyword = SCAN_SKEW_ANGLE_KW;
    value = kwl.find(prefix, keyword);
    if (!value)
       theScanSkew = 0.0;
    else
       theScanSkew = atof(value);
 
    keyword = SCAN_ROTATION_ANGLE_KW;
    value = kwl.find(prefix, keyword);
    if (!value)
       theScanRotation = 0.0;
    else
       theScanRotation = atof(value);
  
    keyword = FOCAL_LENGTH_KW;
    value = kwl.find(prefix, keyword);
    if (!value)
    {
       ossimSetError(getClassName(),
                     ossimErrorCodes::OSSIM_ERROR,
                     "Focal length not given");
       return false;
    }
    theFocalLen = atof(value);
  
    keyword = PLATFORM_POSITION_X_KW;
    value = kwl.find(prefix, keyword);
    if (!value)
    {
       ossimSetError(getClassName(),
                     ossimErrorCodes::OSSIM_ERROR,
                     "Platform position X not given");
       return false;
    }
    thePlatformPos.x() = atof(value);
  
    keyword = PLATFORM_POSITION_Y_KW;
    value = kwl.find(prefix, keyword);
    if (!value)
    {
       ossimSetError(getClassName(),
                     ossimErrorCodes::OSSIM_ERROR,
                     "Platform position Y not given");
    }
    thePlatformPos.y() = atof(value);
  
    keyword = PLATFORM_POSITION_Z_KW;
    value = kwl.find(prefix, keyword);
    if (!value)
    {
       ossimSetError(getClassName(),
                     ossimErrorCodes::OSSIM_ERROR,
                     "Platform position Z not given");
    }
    thePlatformPos.z() = atof(value);
    
    //***
    // Platform orientation matrix:
    //***
    for (int i=0; i<3; i++)
    {
       for (int j=0; j<3; j++)
       {
          ostringstream ostr;
          ostr << CAMERA_ORIENTATION_MATRIX_ELEM_KW
               << i << "_" << j << ends;
          ossimString s = ostr.str();
          keyword = s.c_str();
          value = kwl.find(prefix, keyword);
          if (!value)
          {
             ossimSetError(getClassName(),
                           ossimErrorCodes::OSSIM_ERROR,
                           "Camera orientation matrix not given");
          }
          theLsrToEcfRot[i][j] = ossimString(value).toDouble();
       }
    }
    
    //***
    // Reading of optical distortion coefficients is left to the service object:
    //***
    if (theOpticalDistortion)
       delete theOpticalDistortion;
    theOpticalDistortion = new ossimRadialDecentLensDistortion(kwl, prefix);
 
    //***
    // Initialize given parameters read:
    //***
    clearErrorStatus();
    updateModel();
    
    if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimFcsiModel::loadState: returning..." << std::endl;
    return true;
 }

◆ print()

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

virtual

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

Reimplemented from ossimSensorModel.

Definition at line 516 of file ossimFcsiModel.cpp.

References ossimSensorModel::print(), theAdjLsrToEcfRot, theEcfOffset, theFocalLen, theFocalOffset, theLsrToEcfRot, theOpticalDistortion, thePlatformPos, thePrincipalPoint, theScanRotation, theScanScaleMatrix, theScanSkew, theScanSkewCorr, theScanXformMatrix, theXrotCorr, theYrotCorr, and theZrotCorr.

 {
    out << "\nDump of ossimFcsiModel object at " << hex << this << ":\n"
        << "\nossimFcsiModel data members: "
        << "\n        thePrincipalPoint: " << thePrincipalPoint
        << "\n        theScanScaleMatrix: " << theScanScaleMatrix[0] << "  "
        << theScanScaleMatrix[1]
        << "\n                            " << theScanScaleMatrix[2] << "  "
        << theScanScaleMatrix[3]
        << "\n          theScanSkew: " << theScanSkew
        << "\n      theScanRotation: " << theScanRotation;
 
    for (int i=0; i<4; ++i)
    {
       out << "\ntheScanXformMatrix["<<i<<"]: " << theScanXformMatrix[i];
    }
 
    out << "\n          theFocalLen: " << theFocalLen
        << "\n       thePlatformPos: " << thePlatformPos
        << "\n       theLsrToEcfRot: \n"  << theLsrToEcfRot
        << "\n    theAdjLsrToEcfRot: \n" << theAdjLsrToEcfRot
        << "\n         theEcfOffset: " << theEcfOffset
        << "\n          theXrotCorr: " << theXrotCorr
        << "\n          theYrotCorr: " << theYrotCorr
        << "\n          theZrotCorr: " << theZrotCorr
        << "\n       theFocalOffset: " << theFocalOffset
        << "\n      theScanSkewCorr: " << theScanSkewCorr
        << endl;
    
    if (theOpticalDistortion)
    {
       out << *theOpticalDistortion << endl;
    }
 
    return ossimSensorModel::print(out);
 }

◆ saveState()

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

virtual

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

Reimplemented from ossimSensorModel.

Definition at line 559 of file ossimFcsiModel.cpp.

 {
    if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimFcsiModel::saveState: entering..." << std::endl;
 
    kwl.add(prefix, ossimKeywordNames::TYPE_KW, "ossimFcsiModel");
 
    //***
    // Hand off to base class for common stuff:
    //***
    ossimSensorModel::saveState(kwl, prefix);
 
    //***
    // Save off data members:
    //***
    kwl.add(prefix, PRINCIPAL_POINT_X_KW,    thePrincipalPoint.x);
    kwl.add(prefix, PRINCIPAL_POINT_Y_KW,    thePrincipalPoint.y);
    kwl.add(prefix, SCAN_SCALE_MATRIX_00_KW, theScanScaleMatrix[0]);
    kwl.add(prefix, SCAN_SCALE_MATRIX_01_KW, theScanScaleMatrix[1]);
    kwl.add(prefix, SCAN_SCALE_MATRIX_10_KW, theScanScaleMatrix[2]);
    kwl.add(prefix, SCAN_SCALE_MATRIX_11_KW, theScanScaleMatrix[3]);
    kwl.add(prefix, SCAN_SKEW_ANGLE_KW,      theScanSkew);
    kwl.add(prefix, SCAN_ROTATION_ANGLE_KW,  theScanRotation);
    kwl.add(prefix, FOCAL_LENGTH_KW,         theFocalLen);
    kwl.add(prefix, PLATFORM_POSITION_X_KW,
            thePlatformPos.x());
    kwl.add(prefix, PLATFORM_POSITION_Y_KW,
            thePlatformPos.y());
    kwl.add(prefix, PLATFORM_POSITION_Z_KW,
            thePlatformPos.z());
 
    //***
    // Camera orientation matrix:
    // i is row and j is column
    //***
    for (int i=0; i<3; i++)
    {
       for (int j=0; j<3; j++)
       {
          ostringstream ostr;
          ostr << CAMERA_ORIENTATION_MATRIX_ELEM_KW
               << i << "_" << j << ends;
          kwl.add(prefix, ostr.str().c_str(), theLsrToEcfRot[i][j]);
       }
    }
    
    //***
    // Optical distortion coefficients:
    //***
    if (theOpticalDistortion)
    {
       ostringstream ostr;
       ostr << prefix << "distortion." << ends;
       theOpticalDistortion->saveState(kwl, ostr.str().c_str());
    }
    
    if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimFcsiModel::saveState: returning..." << std::endl;
    return true;
 }

◆ updateModel()

void ossimFcsiModel::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 851 of file ossimFcsiModel.cpp.

 {
    if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimFcsiModel::updateModel: entering..." << std::endl;
    
    //***
    // Update the geometry...
    // Adjusted = Initial + adj_parm[i]*adj_sigma[i]
    // Some parameters have a zero initial value and that term is not included.
    //***
    theEcfOffset.x() = getAdjustableParameter(X_POS) *
                       getParameterSigma(X_POS);
    theEcfOffset.y() = getAdjustableParameter(Y_POS) *
                       getParameterSigma(Y_POS);
    theEcfOffset.z() = getAdjustableParameter(Z_POS) *
                       getParameterSigma(Z_POS);
    theXrotCorr      = getAdjustableParameter(X_ROT) *
                       getParameterSigma(X_ROT);
    theYrotCorr      = getAdjustableParameter(Y_ROT) *
                       getParameterSigma(Y_ROT);
    theZrotCorr      = getAdjustableParameter(Z_ROT) *
                       getParameterSigma(Z_ROT);
    theFocalOffset   = getAdjustableParameter(FOCAL_LEN) *
                       getParameterSigma(FOCAL_LEN);
    theScanSkewCorr  = getAdjustableParameter(SCAN_SKEW) *
                       getParameterSigma(SCAN_SKEW);
 
    //***
    // Compute adjusted quatities used in projection code:
    //***
    theAdjFocalLen    = theFocalLen    + theFocalOffset;
    theAdjPlatformPos = thePlatformPos + theEcfOffset;
    
    //***
    // Establish the Scanner to film transform matrix.
    //
    // NOTE FOR IMPLEMENTING PARAMETER ADJUSTMENT: while the scan skew
    // angle is an adjustable parameter, the pixel scaling is not since this
    // error can be absorbed by the focal length adjustment, though the sigma
    // for the focal length must be inflated to account for the additional error
    // source. A similar situation occurrs with the scan rotation which manifests
    // as an attitude adjustment.
    //***
    double cos_rot  = ossim::cosd(theScanRotation);
    double sin_rot  = ossim::sind(theScanRotation);
    double tan_skew = ossim::tand(theScanSkew + theScanSkewCorr);
 
    double a =  theScanScaleMatrix[0]*(sin_rot*tan_skew + cos_rot) +
                theScanScaleMatrix[1]*(cos_rot*tan_skew - sin_rot);
    double b =  theScanScaleMatrix[0]*sin_rot + theScanScaleMatrix[1]*cos_rot;
    double c =  theScanScaleMatrix[2]*(sin_rot*tan_skew + cos_rot) +
                theScanScaleMatrix[3]*(cos_rot*tan_skew - sin_rot);
    double d =  theScanScaleMatrix[2]*sin_rot + theScanScaleMatrix[3]*cos_rot;
 
    theScanXformMatrix[0] = a;
    theScanXformMatrix[1] = b;
    theScanXformMatrix[2] = c;
    theScanXformMatrix[3] = d;
 
    //***
    // The inverse of the scanner-to-film transform must be computed since it is
    // not an orthogonal matrix (inverse != transpose):
    //***
    theInvScanXformMatrix[0] =  d/(d*a - b*c);
    theInvScanXformMatrix[1] = -b/(d*a - b*c);
    theInvScanXformMatrix[2] =  c/(b*c - a*d);
    theInvScanXformMatrix[3] = -a/(b*c - a*d);
 
    //***
    // Establish the differential rotation matrix due to attitude correction:
    //***
    double cw = ossim::cosd(theXrotCorr);
    double sw = ossim::sind(theXrotCorr);
    double cp = ossim::cosd(theYrotCorr);
    double sp = ossim::sind(theYrotCorr);
    double ck = ossim::cosd(theZrotCorr);
    double sk = ossim::sind(theZrotCorr);
 
    NEWMAT::Matrix attitudeCorrection(3, 3);
    attitudeCorrection(1,1) =  ck*cw - sk*sp*sw;
    attitudeCorrection(1,2) =  sk*cp;
    attitudeCorrection(1,3) =  ck*sw + sk*sp*cw;
    attitudeCorrection(2,1) = -sk*cw - ck*sp*sw;
    attitudeCorrection(2,2) =  cp*ck;
    attitudeCorrection(2,3) = -sk*sw + ck*sp*cw;
    attitudeCorrection(3,1) = -cp*sw;
    attitudeCorrection(3,2) = -sp;
    attitudeCorrection(3,3) =  cp*cw;
 
    //***
    // Now compute the final LSR to ECF rotation:
    //***
    theAdjLsrToEcfRot = attitudeCorrection * theLsrToEcfRot;
    theAdjEcfToLsrRot = theAdjLsrToEcfRot.t();
 
    if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimFcsiModel::updateModel: returning..." << std::endl;
 }

◆ useForward()

virtual bool ossimFcsiModel::useForward ( ) const

inlinevirtual

ossimOptimizableProjection

Implements ossimOptimizableProjection.

Definition at line 181 of file ossimFcsiModel.h.

181 {return true;}

◆ worldToLineSample()

void ossimFcsiModel::worldToLineSample	(	const ossimGpt &	world_point,
		ossimDpt &	image_point
	)		const

virtual

Rigorous inverse transform implented, overrides base-class' iterative solution.

Reimplemented from ossimSensorModel.

Definition at line 426 of file ossimFcsiModel.cpp.

 {
    bool debug = false;  // setable via interactive debugger: "set debug = true"
    if (traceExec() || debug)  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimFcsiModel::imagingRay: entering..." << std::endl;
 
    //***
    // Establish ECF ray from platform to ground point and rotate to platform LSR
    //***
    ossimEcefPoint g_ecf (world_point);
    ossimEcefVector ecf_ray_dir (g_ecf - theAdjPlatformPos);
    ossimColumnVector3d cam_ray_dir (theAdjEcfToLsrRot*ecf_ray_dir.data());
 
    if (traceDebug() || debug)
    {
       ossimNotify(ossimNotifyLevel_DEBUG)<<"world_point = " << world_point << endl;
       ossimNotify(ossimNotifyLevel_DEBUG)<<"g_ecf = " << g_ecf << endl;
       ossimNotify(ossimNotifyLevel_DEBUG)<<"theAdjPlatformPos = " << theAdjPlatformPos << endl;
       ossimNotify(ossimNotifyLevel_DEBUG)<<"theAdjPlatformPos (ossimGpt): "<<ossimGpt(theAdjPlatformPos)<<endl;
       ossimNotify(ossimNotifyLevel_DEBUG)<<"ecf_ray_dir = " << ecf_ray_dir.unitVector() << endl;
       ossimNotify(ossimNotifyLevel_DEBUG)<<"theAdjEcfToLsrRot = \n" << theAdjEcfToLsrRot << endl;
       ossimNotify(ossimNotifyLevel_DEBUG)<<"cam_ray_dir = " << cam_ray_dir << endl;
    }
       
    //***
    // Scale the direction vector by the focal length to arrive at  film
    // coordinates:
    //***
    double scale = -theAdjFocalLen/cam_ray_dir[2];
    ossimDpt film (scale*cam_ray_dir[0], scale*cam_ray_dir[1]);
 
    if (traceDebug() || debug)
    {
       ossimNotify(ossimNotifyLevel_DEBUG) << "theAdjFocalLen = " << theAdjFocalLen << endl;
       ossimNotify(ossimNotifyLevel_DEBUG) << "scale = " << scale << endl;
       ossimNotify(ossimNotifyLevel_DEBUG) << "film (undistorted) = " << film << endl;
    }
       
    //***
    // Add distortion:
    //***
    if (theOpticalDistortion)
       theOpticalDistortion->forward(film);
    
    if (traceDebug() || debug)
    {
       ossimNotify(ossimNotifyLevel_DEBUG) << "film (distorted) = " << film << endl;
    }
       
    //***
    // Apply film to pixel coordinates affine transform:
    //***
    ossimDpt f1(film + thePrincipalPoint);
    ossimDpt p1(theInvScanXformMatrix[0]*f1.x+theInvScanXformMatrix[1]*f1.y,
                theInvScanXformMatrix[2]*f1.x+theInvScanXformMatrix[3]*f1.y);
    ossimDpt p0 (p1 + theRefImgPt);
 
    if (traceDebug() || debug)
    {
       ossimNotify(ossimNotifyLevel_DEBUG) << "thePrincipalPoint = " << thePrincipalPoint << endl;
       ossimNotify(ossimNotifyLevel_DEBUG) << "f1 = " << f1 << endl;
       for (int i=0; i<4; i++)
          ossimNotify(ossimNotifyLevel_DEBUG)<<"theInvScanXformMatrix["<<i<<"] = "<<theInvScanXformMatrix[i]
              <<endl;
       ossimNotify(ossimNotifyLevel_DEBUG) << "p1 = " << p1 << endl;
       ossimNotify(ossimNotifyLevel_DEBUG) << "theRefImgPt = " << theRefImgPt << endl;
       ossimNotify(ossimNotifyLevel_DEBUG) << "p0 = " << p0 << endl;
    }
       
    //***
    // Finally, apply the sub-image offset to get to digital image coordinates:
    //***
    image_point = p0 - theSubImageOffset;
    
    if (traceDebug() || debug)
    {
       ossimNotify(ossimNotifyLevel_DEBUG) << "theImageOffset = " << theSubImageOffset << endl;
       ossimNotify(ossimNotifyLevel_DEBUG) << "image_point = " << image_point << endl;
    }
    
    if (traceExec() || debug)  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimFcsiModel::imagingRay: returning..." << std::endl;
 }

◆ writeGeomTemplate()

void ossimFcsiModel::writeGeomTemplate ( ostream & os )

static

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

Definition at line 1004 of file ossimFcsiModel.cpp.

 {
    if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimFcsiModel::writeGeomTemplate: entering..." << std::endl;
 
    os <<
       "//*****************************************************************\n"
       "// Template for Frame Camera Scanned Image (FCSI) model keywordlist\n"
       "//*****************************************************************\n"
       << ossimKeywordNames::TYPE_KW << ": " << "ossimFcsiModel" << endl;
 
    ossimSensorModel::writeGeomTemplate(os);
    
    os << "//***\n"
       << "// Derived-class FCSI Keywords:\n"
       << "//***\n"
       << PRINCIPAL_POINT_X_KW << ": <pixels>\n"
       << PRINCIPAL_POINT_Y_KW << ": <pixels>\n"
       << SCAN_SCALE_MATRIX_00_KW << ": <mm/pixel>\n"
       << SCAN_SCALE_MATRIX_01_KW << ": <mm/pixel>\n"
       << SCAN_SCALE_MATRIX_10_KW << ": <mm/pixel>\n"
       << SCAN_SCALE_MATRIX_11_KW << ": <mm/pixel>\n"
       << SCAN_SKEW_ANGLE_KW << ": <degrees> [OPTIONAL]\n"
       << SCAN_ROTATION_ANGLE_KW << ": <degrees> [OPTIONAL]\n"
       << FOCAL_LENGTH_KW << ": <millimeters>\n"
       << PLATFORM_POSITION_X_KW << ": <meters (ECF)>\n"
       << PLATFORM_POSITION_Y_KW << ": <meters (ECF)>\n"
       << PLATFORM_POSITION_Z_KW << ": <meters (ECF)>\n"
       << "\n"
       << "//***\n"
       << "// Camera (LSR) to ECF orientation matrix:\n"
       << "//***\n";
    
    for (int i=0; i<3; i++)
    {
       for (int j=0; j<3; j++)
       {
          ostringstream ostr;
          ostr << CAMERA_ORIENTATION_MATRIX_ELEM_KW
               << i << "_" << j << ends;
          os << ostr.str() << ": <Euler rot matrix element>\n";
       }
    }
 
    os << "\n"
       << "//***\n"
       << "// Optical distortion coefficients [OPTIONAL]:\n"
       << "//***\n"
       << "distortion."
       << ossimRadialDecentLensDistortion::RADIAL_DISTORTION_COEFF_KW
       << "N: <coeff N> (for N <= 5)\n"
       << "distortion."
       << ossimRadialDecentLensDistortion::DECENT_DISTORTION_COEFF_KW
       << "N: <coeff N> (for N <= 4)\n"
       << endl;
 
    if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimFcsiModel::writeGeomTemplate: returning..." << std::endl;
    
    return;
 }

Member Data Documentation

◆ CAMERA_ORIENTATION_MATRIX_ELEM_KW

const char * ossimFcsiModel::CAMERA_ORIENTATION_MATRIX_ELEM_KW = "camera_orientation_matrix_elem_"

static

Definition at line 176 of file ossimFcsiModel.h.

◆ FOCAL_LENGTH_KW

const char * ossimFcsiModel::FOCAL_LENGTH_KW = "focal_length"

static

Definition at line 172 of file ossimFcsiModel.h.

◆ PLATFORM_POSITION_X_KW

const char * ossimFcsiModel::PLATFORM_POSITION_X_KW = "platform_position_x"

static

Definition at line 173 of file ossimFcsiModel.h.

◆ PLATFORM_POSITION_Y_KW

const char * ossimFcsiModel::PLATFORM_POSITION_Y_KW = "platform_position_y"

static

Definition at line 174 of file ossimFcsiModel.h.

◆ PLATFORM_POSITION_Z_KW

const char * ossimFcsiModel::PLATFORM_POSITION_Z_KW = "platform_position_z"

static

Definition at line 175 of file ossimFcsiModel.h.

◆ PRINCIPAL_POINT_X_KW

const char * ossimFcsiModel::PRINCIPAL_POINT_X_KW = "principal_point_x"

static

Global keywords for use by this model:

Definition at line 164 of file ossimFcsiModel.h.

◆ PRINCIPAL_POINT_Y_KW

const char * ossimFcsiModel::PRINCIPAL_POINT_Y_KW = "principal_point_y"

static

Definition at line 165 of file ossimFcsiModel.h.

◆ SCAN_ROTATION_ANGLE_KW

const char * ossimFcsiModel::SCAN_ROTATION_ANGLE_KW = "scan_rotation_angle"

static

Definition at line 171 of file ossimFcsiModel.h.

◆ SCAN_SCALE_MATRIX_00_KW

const char * ossimFcsiModel::SCAN_SCALE_MATRIX_00_KW = "scan_scale_matrix_00"

static

Definition at line 166 of file ossimFcsiModel.h.

◆ SCAN_SCALE_MATRIX_01_KW

const char * ossimFcsiModel::SCAN_SCALE_MATRIX_01_KW = "scan_scale_matrix_01"

static

Definition at line 167 of file ossimFcsiModel.h.

◆ SCAN_SCALE_MATRIX_10_KW

const char * ossimFcsiModel::SCAN_SCALE_MATRIX_10_KW = "scan_scale_matrix_10"

static

Definition at line 168 of file ossimFcsiModel.h.

◆ SCAN_SCALE_MATRIX_11_KW

const char * ossimFcsiModel::SCAN_SCALE_MATRIX_11_KW = "scan_scale_matrix_11"

static

Definition at line 169 of file ossimFcsiModel.h.

◆ SCAN_SKEW_ANGLE_KW

const char * ossimFcsiModel::SCAN_SKEW_ANGLE_KW = "scan_skew_angle"

static

Definition at line 170 of file ossimFcsiModel.h.

◆ theAdjEcfToLsrRot

NEWMAT::Matrix ossimFcsiModel::theAdjEcfToLsrRot

protected

Definition at line 231 of file ossimFcsiModel.h.

◆ theAdjFocalLen

double ossimFcsiModel::theAdjFocalLen

protected

Definition at line 229 of file ossimFcsiModel.h.

◆ theAdjLsrToEcfRot

NEWMAT::Matrix ossimFcsiModel::theAdjLsrToEcfRot

protected

Definition at line 230 of file ossimFcsiModel.h.

Referenced by print().

◆ theAdjPlatformPos

ossimEcefPoint ossimFcsiModel::theAdjPlatformPos

protected

Definition at line 228 of file ossimFcsiModel.h.

◆ theEcfOffset

ossimEcefVector ossimFcsiModel::theEcfOffset

protected

Definition at line 218 of file ossimFcsiModel.h.

Referenced by print().

◆ theFocalLen

double ossimFcsiModel::theFocalLen

protected

Definition at line 205 of file ossimFcsiModel.h.

Referenced by print().

◆ theFocalOffset

double ossimFcsiModel::theFocalOffset

protected

Definition at line 222 of file ossimFcsiModel.h.

Referenced by print().

◆ theInvScanXformMatrix

double ossimFcsiModel::theInvScanXformMatrix[4]

protected

Definition at line 233 of file ossimFcsiModel.h.

◆ theLsrToEcfRot

NEWMAT::Matrix ossimFcsiModel::theLsrToEcfRot

protected

Definition at line 213 of file ossimFcsiModel.h.

Referenced by print().

◆ theOpticalDistortion

ossimRadialDecentLensDistortion* ossimFcsiModel::theOpticalDistortion

protected

Definition at line 206 of file ossimFcsiModel.h.

Referenced by print().

◆ thePlatformPos

ossimEcefPoint ossimFcsiModel::thePlatformPos

protected

Definition at line 212 of file ossimFcsiModel.h.

Referenced by print().

◆ thePrincipalPoint

ossimDpt ossimFcsiModel::thePrincipalPoint

protected

Definition at line 196 of file ossimFcsiModel.h.

Referenced by print().

◆ theScanRotation

double ossimFcsiModel::theScanRotation

protected

Definition at line 199 of file ossimFcsiModel.h.

Referenced by print().

◆ theScanScaleMatrix

double ossimFcsiModel::theScanScaleMatrix[4]

protected

Definition at line 197 of file ossimFcsiModel.h.

Referenced by print().

◆ theScanSkew

double ossimFcsiModel::theScanSkew

protected

Definition at line 198 of file ossimFcsiModel.h.

Referenced by print().

◆ theScanSkewCorr

double ossimFcsiModel::theScanSkewCorr

protected

Definition at line 223 of file ossimFcsiModel.h.

Referenced by print().

◆ theScanXformMatrix

double ossimFcsiModel::theScanXformMatrix[4]

protected

Definition at line 232 of file ossimFcsiModel.h.

Referenced by print().

◆ theXrotCorr

double ossimFcsiModel::theXrotCorr

protected

Definition at line 219 of file ossimFcsiModel.h.

Referenced by print().

◆ theYrotCorr

double ossimFcsiModel::theYrotCorr

protected

Definition at line 220 of file ossimFcsiModel.h.

Referenced by print().

◆ theZrotCorr

double ossimFcsiModel::theZrotCorr

protected

Definition at line 221 of file ossimFcsiModel.h.

Referenced by print().

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

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ AdjustParamIndex

Constructor & Destructor Documentation

◆ ossimFcsiModel() [1/4]

◆ ossimFcsiModel() [2/4]

◆ ossimFcsiModel() [3/4]

◆ ossimFcsiModel() [4/4]

◆ ~ossimFcsiModel()

Member Function Documentation

◆ dup()

◆ imagingRay()

◆ initAdjustableParameters()

◆ lineSampleHeightToWorld()

◆ loadState()

◆ print()

◆ saveState()

◆ updateModel()

◆ useForward()

◆ worldToLineSample()

◆ writeGeomTemplate()

Member Data Documentation

◆ CAMERA_ORIENTATION_MATRIX_ELEM_KW

◆ FOCAL_LENGTH_KW

◆ PLATFORM_POSITION_X_KW

◆ PLATFORM_POSITION_Y_KW

◆ PLATFORM_POSITION_Z_KW

◆ PRINCIPAL_POINT_X_KW

◆ PRINCIPAL_POINT_Y_KW

◆ SCAN_ROTATION_ANGLE_KW

◆ SCAN_SCALE_MATRIX_00_KW

◆ SCAN_SCALE_MATRIX_01_KW

◆ SCAN_SCALE_MATRIX_10_KW

◆ SCAN_SCALE_MATRIX_11_KW

◆ SCAN_SKEW_ANGLE_KW

◆ theAdjEcfToLsrRot

◆ theAdjFocalLen

◆ theAdjLsrToEcfRot

◆ theAdjPlatformPos

◆ theEcfOffset

◆ theFocalLen

◆ theFocalOffset

◆ theInvScanXformMatrix

◆ theLsrToEcfRot

◆ theOpticalDistortion

◆ thePlatformPos

◆ thePrincipalPoint

◆ theScanRotation

◆ theScanScaleMatrix

◆ theScanSkew

◆ theScanSkewCorr

◆ theScanXformMatrix

◆ theXrotCorr

◆ theYrotCorr

◆ theZrotCorr