ossimPositionQualityEvaluator Class Reference

#include <ossimPositionQualityEvaluator.h>

Public Member Functions
	ossimPositionQualityEvaluator ()
	default constructor More...
	ossimPositionQualityEvaluator (const ossimEcefPoint &pt, const NEWMAT::Matrix &covMat)
	covariance matrix-based constructor More...
	ossimPositionQualityEvaluator (const ossimEcefPoint &pt, const ossim_float64 &errBiasLOS, const ossim_float64 &errRandLOS, const ossim_float64 &elevAngleLOS, const ossim_float64 &azimAngleLOS, const ossimColumnVector3d &surfN=ossimColumnVector3d(0, 0, 1), const NEWMAT::Matrix &surfCovMat=ossimMatrix3x3::createZero())
	LOS error/geometry-based constructor. More...
	ossimPositionQualityEvaluator (const ossimEcefPoint &pt, const ossim_float64 &errBiasLOS, const ossim_float64 &errRandLOS, const pqeRPCModel &rpc, const ossimColumnVector3d &surfN=ossimColumnVector3d(0, 0, 1), const NEWMAT::Matrix &surfCovMat=ossimMatrix3x3::createZero())
	LOS error/coefficient-based constructor. More...
	~ossimPositionQualityEvaluator ()
	virtual destructor More...
bool	addContributingCovariance (NEWMAT::Matrix &covMat)
	Add contributing covariance matrix. More...
bool	addContributingCE_LE (const ossim_float64 &cCE, const ossim_float64 &cLE)
	Add contributing CE/LE. More...
bool	subtractContributingCovariance (NEWMAT::Matrix &covMat)
	Subtract contributing covariance matrix. More...
bool	subtractContributingCE_LE (const ossim_float64 &cCE, const ossim_float64 &cLE)
	Subtract contributing CE/LE. More...
bool	getCovMatrix (NEWMAT::Matrix &covMat) const
	Covariance matrix access. More...
bool	computeCE_LE (const pqeProbLev_t pLev, ossim_float64 &CE, ossim_float64 &LE) const
	Compute circular/linear error (CE/LE). More...
bool	extractErrorEllipse (const pqeProbLev_t pLev, pqeErrorEllipse &ellipse)
	Extract error ellipse parameters. More...
bool	extractErrorEllipse (const pqeProbLev_t pLev, const ossim_float64 &angularIncrement, pqeErrorEllipse &ellipse, pqeImageErrorEllipse_t &ellImage)
	Extract error ellipse parameters; valid only with RPC parameters. More...
bool	isValid () const
	State accessor. More...
std::ostream &	print (std::ostream &out) const
	Print method. More...

Private Member Functions
bool	decomposeMatrix ()
bool	constructMatrix (const ossim_float64 &errBiasLOS, const ossim_float64 &errRandLOS, const ossim_float64 &elevAngleLOS, const ossim_float64 &azimAngleLOS, const ossimColumnVector3d &surfN, const NEWMAT::Matrix &surfCovMat)
bool	formCovMatrixFromCE_LE (const ossim_float64 &CE, const ossim_float64 &LE, NEWMAT::Matrix &covMat) const
double	compute90PCE () const
bool	computeElevAzim (const pqeRPCModel rpc, ossim_float64 &elevAngleLOS, ossim_float64 &azimAngleLOS) const
double	polynomial (const double &nlat, const double &nlon, const double &nhgt, const double *coeffs) const
double	dPoly_dLat (const double &nlat, const double &nlon, const double &nhgt, const double *coeffs) const
double	dPoly_dLon (const double &nlat, const double &nlon, const double &nhgt, const double *coeffs) const
double	dPoly_dHgt (const double &nlat, const double &nlon, const double &nhgt, const double *coeffs) const
ossimColumnVector3d	vperp (const ossimColumnVector3d &v1, const ossimColumnVector3d &v2) const
double	atan3 (const ossim_float64 y, const ossim_float64 x) const

Private Attributes
bool	theEvaluatorValid
ossimGpt	thePtG
NEWMAT::Matrix	theCovMat
ossimLsrSpace	theLocalFrame
pqeErrorEllipse	theEllipse
NEWMAT::Matrix	theEigenvectors
pqeRPCModel	theRpcModel

Detailed Description

Definition at line 67 of file ossimPositionQualityEvaluator.h.

Constructor & Destructor Documentation

ossimPositionQualityEvaluator() [1/4]

ossimPositionQualityEvaluator::ossimPositionQualityEvaluator

(

)

default constructor

Definition at line 56 of file ossimPositionQualityEvaluator.cpp.

{
   if (traceDebug())
   {
      ossimNotify(ossimNotifyLevel_DEBUG)
         << "\nossimPositionQualityEvaluator::ossimPositionQualityEvaluator DEBUG:" << std::endl;
#ifdef OSSIM_ID_ENABLED
      ossimNotify(ossimNotifyLevel_DEBUG)
         << "OSSIM_ID:  " << OSSIM_ID << std::endl;
#endif 
   }
   
   theEvaluatorValid = false;
   theRpcModel.theType = 'N';
}

ossimPositionQualityEvaluator() [2/4]

ossimPositionQualityEvaluator::ossimPositionQualityEvaluator	(	const ossimEcefPoint &	pt,
		const NEWMAT::Matrix &	covMat
	)

covariance matrix-based constructor

Parameters

pt	Current ECF ground estimate.
covMat	3X3 ECF covariance matrix.

Definition at line 80 of file ossimPositionQualityEvaluator.cpp.

{
   if (traceDebug())
   {
      ossimNotify(ossimNotifyLevel_DEBUG)
         << "\nossimPositionQualityEvaluator::ossimPositionQualityEvaluator DEBUG:" << std::endl;
#ifdef OSSIM_ID_ENABLED
      ossimNotify(ossimNotifyLevel_DEBUG)
         << "OSSIM_ID:  " << OSSIM_ID << std::endl;
#endif 
   }
   theRpcModel.theType = 'N';

   // Set the point
   ossimGpt ptG(pt);
   thePtG = ptG;
   
   // Define the local frame centered on the point
   ossimLsrSpace enu(ptG);
   theLocalFrame = enu;
   
   // Propagate input ECF cov matrix to local
   theCovMat = theLocalFrame.ecefToLsrRotMatrix()*covMat*
               theLocalFrame.lsrToEcefRotMatrix();

   // Compute evaluation parameters
   theEvaluatorValid = decomposeMatrix();
}

ossimPositionQualityEvaluator() [3/4]

ossimPositionQualityEvaluator::ossimPositionQualityEvaluator	(	const ossimEcefPoint &	pt,
		const ossim_float64 &	errBiasLOS,
		const ossim_float64 &	errRandLOS,
		const ossim_float64 &	elevAngleLOS,
		const ossim_float64 &	azimAngleLOS,
		const ossimColumnVector3d &	surfN = ossimColumnVector3d(0,0,1),
		const NEWMAT::Matrix &	surfCovMat = ossimMatrix3x3::createZero()
	)

LOS error/geometry-based constructor.

Parameters

pt	Current ECF ground estimate.
errBiasLOS	0.68p LOS bias component.
errRandLOS	0.68p LOS random component.
elevAngleLOS	target elevation angle.
azimAngleLOS	target azimuth angle.
surfN	surface normal unit vector (defaults to unit Z).
surfCovMat	surface ENU 3X3 covariance matrix (defaults to zero).

Definition at line 117 of file ossimPositionQualityEvaluator.cpp.

{
   if (traceDebug())
   {
      ossimNotify(ossimNotifyLevel_DEBUG)
         << "\nossimPositionQualityEvaluator::ossimPositionQualityEvaluator DEBUG:" << std::endl;
#ifdef OSSIM_ID_ENABLED
      ossimNotify(ossimNotifyLevel_DEBUG)
         << "OSSIM_ID:  " << OSSIM_ID << std::endl;
#endif 
   }
   theRpcModel.theType = 'N';

   // Set the point
   ossimGpt ptG(pt);
   thePtG = ptG;
    
   // Define the local frame centered on the point
   ossimLsrSpace enu(ptG);
   theLocalFrame = enu;

   // Form the covariance matrix
   if (constructMatrix
      (errBiasLOS, errRandLOS, elevAngleLOS, azimAngleLOS, surfN, surfCovMat))
   {
      // Compute evaluation parameters
      theEvaluatorValid = decomposeMatrix();
   }
   else
   {
      theEvaluatorValid = false;
   }
}

ossimPositionQualityEvaluator() [4/4]

ossimPositionQualityEvaluator::ossimPositionQualityEvaluator	(	const ossimEcefPoint &	pt,
		const ossim_float64 &	errBiasLOS,
		const ossim_float64 &	errRandLOS,
		const pqeRPCModel &	rpc,
		const ossimColumnVector3d &	surfN = ossimColumnVector3d(0,0,1),
		const NEWMAT::Matrix &	surfCovMat = ossimMatrix3x3::createZero()
	)

LOS error/coefficient-based constructor.

Parameters

pt	Current ECF ground estimate.
errBiasLOS	0.68p LOS bias component.
errRandLOS	0.68p LOS random component.
rpc	RPC coefficients.
surfN	surface normal unit vector (defaults to unit Z).
surfCovMat	surface ENU 3X3 covariance matrix (defaults to zero).

Definition at line 165 of file ossimPositionQualityEvaluator.cpp.

{
   if (traceDebug())
   {
      ossimNotify(ossimNotifyLevel_DEBUG)
         << "\nossimPositionQualityEvaluator::ossimPositionQualityEvaluator DEBUG:" << std::endl;
#ifdef OSSIM_ID_ENABLED
      ossimNotify(ossimNotifyLevel_DEBUG)
         << "OSSIM_ID:  " << OSSIM_ID << std::endl;
#endif 
   }

   // Set the point
   ossimGpt ptG(pt);
   thePtG = ptG;
    
   // Define the local frame centered on the point
   ossimLsrSpace enu(ptG);
   theLocalFrame = enu;
   
   // Set the model parameters
   theRpcModel = rpc;
   
   // Compute the target elevation & azimuth angles
   double elevAngleLOS;
   double azimAngleLOS;
   computeElevAzim(rpc, elevAngleLOS, azimAngleLOS);
   
   // Form the covariance matrix
   if (constructMatrix
      (errBiasLOS, errRandLOS, elevAngleLOS, azimAngleLOS, surfN, surfCovMat))
   {
      // Compute evaluation parameters
      theEvaluatorValid = decomposeMatrix();
   }
   else
   {
      theEvaluatorValid = false;
   }
}

~ossimPositionQualityEvaluator()

ossimPositionQualityEvaluator::~ossimPositionQualityEvaluator

(

)

virtual destructor

Definition at line 216 of file ossimPositionQualityEvaluator.cpp.

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

Member Function Documentation

addContributingCE_LE()

bool ossimPositionQualityEvaluator::addContributingCE_LE	(	const ossim_float64 &	cCE,
		const ossim_float64 &	cLE
	)

Add contributing CE/LE.

Parameters

cCE	contributing 90% circular error (m).
cLE	contributing 90% linear error (m).

Returns

true on success, false on error.

Definition at line 297 of file ossimPositionQualityEvaluator.cpp.

References addContributingCovariance(), and formCovMatrixFromCE_LE().

{
   NEWMAT::Matrix covMat(3,3);
   
   formCovMatrixFromCE_LE(cCE, cLE, covMat);

   return addContributingCovariance(covMat);
}

addContributingCovariance()

bool ossimPositionQualityEvaluator::addContributingCovariance

(

NEWMAT::Matrix &

covMat

)

Add contributing covariance matrix.

Parameters

covMat

3X3 covariance matrix.

Returns

true on success, false on error.

Definition at line 274 of file ossimPositionQualityEvaluator.cpp.

References decomposeMatrix(), theCovMat, and theEvaluatorValid.

Referenced by addContributingCE_LE().

{
   bool matrixOK = (covMat.Nrows()==3) && (covMat.Nrows()==3);
   if (theEvaluatorValid && matrixOK)
   {
      // Add contribution
      theCovMat += covMat;
   
      // Update the ellipse parameters
      theEvaluatorValid = decomposeMatrix();
   }

   return (theEvaluatorValid && matrixOK);
}

atan3()

double ossimPositionQualityEvaluator::atan3 ( const ossim_float64  y, const ossim_float64  x  ) const

private

Definition at line 989 of file ossimPositionQualityEvaluator.cpp.

References M_PI, ossim::sgn(), TWO_PI, x, and y.

{
   double u,v,pih=0.5*M_PI,result;

   if (x == 0.0)
      result = M_PI - pih * ossim::sgn(y);
   else
   {
      if (y == 0.0)
      {
         if (x > 0.0)
            result = 0.0;
         else
            result = M_PI;
      }
      else
      {
         u = y/x;
         v = fabs(u);
         result = atan(v);
         result *= v/u;
         if (x < 0.0)
            result += M_PI;
         else
            if (result < 0.0)
               result += TWO_PI;
      }
   }
   
   return result;

}

compute90PCE()

double ossimPositionQualityEvaluator::compute90PCE ( ) const

private

Definition at line 810 of file ossimPositionQualityEvaluator.cpp.

References nMultiplier, table90, theEllipse, pqeErrorEllipse::theSemiMajorAxis, and pqeErrorEllipse::theSemiMinorAxis.

Referenced by computeCE_LE().

{         
   // Evaluate CE function via linear interpolation
   ossim_float64 pRatio = theEllipse.theSemiMinorAxis/
                          theEllipse.theSemiMajorAxis;
   ossim_uint32 ndx = int(floor(pRatio*nMultiplier));
   ossim_float64 alpha;

   if (ndx == nMultiplier)
   {
      alpha = table90[ndx];
   }
   else
   {
      ossim_float64 fac = (pRatio-(ossim_float64)ndx/(ossim_float64)nMultiplier) / 0.05;
      alpha = fac * (table90[ndx+1]-table90[ndx]) + table90[ndx];
   }
              
   ossim_float64 CE90 = alpha * theEllipse.theSemiMajorAxis;
   
   return CE90;
}

computeCE_LE()

bool ossimPositionQualityEvaluator::computeCE_LE	(	const pqeProbLev_t	pLev,
		ossim_float64 &	CE,
		ossim_float64 &	LE
	)		const

Compute circular/linear error (CE/LE).

Parameters

pLev	Probability level.
CE	pLev% circular error (m).
LE	pLev% linear error (m).

Returns

true on success, false on error.

Definition at line 354 of file ossimPositionQualityEvaluator.cpp.

References compute90PCE(), Fac1D, Fac2D90, theCovMat, and theEvaluatorValid.

{
   if (theEvaluatorValid)
   {
      // Compute 1D LE
      LE = sqrt(theCovMat(3,3)) * (ossim_float64)Fac1D[pLev];

      // Compute 2D CE
      CE = (ossim_float64)Fac2D90[pLev] * compute90PCE();
   }
   
   return theEvaluatorValid;
}

computeElevAzim()

bool ossimPositionQualityEvaluator::computeElevAzim ( const pqeRPCModel  rpc, ossim_float64 &  elevAngleLOS, ossim_float64 &  azimAngleLOS  ) const

private

Definition at line 841 of file ossimPositionQualityEvaluator.cpp.

References ossimGpt::datum(), DEG_PER_RAD, dPoly_dHgt(), dPoly_dLat(), dPoly_dLon(), ossimLsrSpace::ecefToLsrRotMatrix(), ossimDatum::ellipsoid(), ossimGpt::hgt, ossim::isnan(), ossimEllipsoid::jacobianWrtEcef(), ossimGpt::lat, ossimGpt::lon, polynomial(), pqeRPCModel::theHgtOffset, pqeRPCModel::theHgtScale, pqeRPCModel::theLatOffset, pqeRPCModel::theLatScale, pqeRPCModel::theLineDenCoef, pqeRPCModel::theLineNumCoef, pqeRPCModel::theLineScale, theLocalFrame, pqeRPCModel::theLonOffset, pqeRPCModel::theLonScale, thePtG, pqeRPCModel::theSampDenCoef, pqeRPCModel::theSampNumCoef, pqeRPCModel::theSampScale, ossimDpt::u, and ossimDpt::v.

{
   //***
   // Normalize the lat, lon, hgt:
   //***
   double nlat = (thePtG.lat - rpc.theLatOffset) / rpc.theLatScale;
   double nlon = (thePtG.lon - rpc.theLonOffset) / rpc.theLonScale;
   double nhgt;

   if( ossim::isnan(thePtG.hgt) )
   {
      nhgt = (rpc.theHgtScale - rpc.theHgtOffset) / rpc.theHgtScale;
   }
   else
   {
      nhgt = (thePtG.hgt - rpc.theHgtOffset) / rpc.theHgtScale;
   }
   
   //***
   // Compute the numerators & denominators
   //***
   double Pu = polynomial(nlat, nlon, nhgt, rpc.theLineNumCoef);
   double Qu = polynomial(nlat, nlon, nhgt, rpc.theLineDenCoef);
   double Pv = polynomial(nlat, nlon, nhgt, rpc.theSampNumCoef);
   double Qv = polynomial(nlat, nlon, nhgt, rpc.theSampDenCoef);

   //***
   // Compute the partials of each polynomial wrt lat, lon, hgt
   //***
   double dPu_dLat = dPoly_dLat(nlat, nlon, nhgt, rpc.theLineNumCoef);
   double dQu_dLat = dPoly_dLat(nlat, nlon, nhgt, rpc.theLineDenCoef);
   double dPv_dLat = dPoly_dLat(nlat, nlon, nhgt, rpc.theSampNumCoef);
   double dQv_dLat = dPoly_dLat(nlat, nlon, nhgt, rpc.theSampDenCoef);
   double dPu_dLon = dPoly_dLon(nlat, nlon, nhgt, rpc.theLineNumCoef);
   double dQu_dLon = dPoly_dLon(nlat, nlon, nhgt, rpc.theLineDenCoef);
   double dPv_dLon = dPoly_dLon(nlat, nlon, nhgt, rpc.theSampNumCoef);
   double dQv_dLon = dPoly_dLon(nlat, nlon, nhgt, rpc.theSampDenCoef);
   double dPu_dHgt = dPoly_dHgt(nlat, nlon, nhgt, rpc.theLineNumCoef);
   double dQu_dHgt = dPoly_dHgt(nlat, nlon, nhgt, rpc.theLineDenCoef);
   double dPv_dHgt = dPoly_dHgt(nlat, nlon, nhgt, rpc.theSampNumCoef);
   double dQv_dHgt = dPoly_dHgt(nlat, nlon, nhgt, rpc.theSampDenCoef);

   //***
   // Compute partials of quotients U and V wrt lat, lon, hgt 
   //***
   double dU_dLat = (Qu*dPu_dLat - Pu*dQu_dLat)/(Qu*Qu);
   double dU_dLon = (Qu*dPu_dLon - Pu*dQu_dLon)/(Qu*Qu);
   double dU_dHgt = (Qu*dPu_dHgt - Pu*dQu_dHgt)/(Qu*Qu);
   double dV_dLat = (Qv*dPv_dLat - Pv*dQv_dLat)/(Qv*Qv);
   double dV_dLon = (Qv*dPv_dLon - Pv*dQv_dLon)/(Qv*Qv);
   double dV_dHgt = (Qv*dPv_dHgt - Pv*dQv_dHgt)/(Qv*Qv);
   
    //***
    // Apply necessary scale factors 
    //***
   dU_dLat *= rpc.theLineScale/rpc.theLatScale;
   dU_dLon *= rpc.theLineScale/rpc.theLonScale;
   dU_dHgt *= rpc.theLineScale/rpc.theHgtScale;
   dV_dLat *= rpc.theSampScale/rpc.theLatScale;
   dV_dLon *= rpc.theSampScale/rpc.theLonScale;
   dV_dHgt *= rpc.theSampScale/rpc.theHgtScale;

   dU_dLat *= DEG_PER_RAD;
   dU_dLon *= DEG_PER_RAD;
   dV_dLat *= DEG_PER_RAD;
   dV_dLon *= DEG_PER_RAD;
   
   // Save the partials referenced to ECF
   ossimEcefPoint location(thePtG);
   NEWMAT::Matrix jMat(3,3);
   thePtG.datum()->ellipsoid()->jacobianWrtEcef(location, jMat);
   ossimDpt pWRTx;
   ossimDpt pWRTy;
   ossimDpt pWRTz;
   //  Line
   pWRTx.u = dU_dLat*jMat(1,1)+dU_dLon*jMat(2,1)+dU_dHgt*jMat(3,1);
   pWRTy.u = dU_dLat*jMat(1,2)+dU_dLon*jMat(2,2)+dU_dHgt*jMat(3,2);
   pWRTz.u = dU_dLat*jMat(1,3)+dU_dLon*jMat(2,3)+dU_dHgt*jMat(3,3);
   //  Samp
   pWRTx.v = dV_dLat*jMat(1,1)+dV_dLon*jMat(2,1)+dV_dHgt*jMat(3,1);
   pWRTy.v = dV_dLat*jMat(1,2)+dV_dLon*jMat(2,2)+dV_dHgt*jMat(3,2);
   pWRTz.v = dV_dLat*jMat(1,3)+dV_dLon*jMat(2,3)+dV_dHgt*jMat(3,3);

   // Form required partials in local frame
   NEWMAT::Matrix jECF(3,2);
   jECF(1,1) = pWRTx.u;
   jECF(1,2) = pWRTx.v;
   jECF(2,1) = pWRTy.u;
   jECF(2,2) = pWRTy.v;
   jECF(3,1) = pWRTz.u;
   jECF(3,2) = pWRTz.v;
   NEWMAT::Matrix jLSR(3,2);
   jLSR = theLocalFrame.ecefToLsrRotMatrix()*jECF;
   double dU_dx = jLSR(1,1);
   double dU_dy = jLSR(2,1);
   double dU_dz = jLSR(3,1);
   double dV_dx = jLSR(1,2);
   double dV_dy = jLSR(2,2);
   double dV_dz = jLSR(3,2);
   
   // Compute azimuth & elevation angles
   double den = dU_dy*dV_dx - dV_dy*dU_dx;
   double dY  = dU_dx*dV_dz - dV_dx*dU_dz;
   double dX  = dV_dy*dU_dz - dU_dy*dV_dz;
   double dy_dH = dY / den;
   double dx_dH = dX / den;
   
   azimAngleLOS = atan2(dx_dH, dy_dH);
   elevAngleLOS = atan2(1.0, sqrt(dy_dH*dy_dH+dx_dH*dx_dH));

   if (traceDebug())
   {
      ossimNotify(ossimNotifyLevel_DEBUG)<<"DEBUG: computeElevAzim..."<<endl;
      ossimNotify(ossimNotifyLevel_DEBUG)<<
         " el,az = "<<elevAngleLOS*DEG_PER_RAD<<" "<<azimAngleLOS*DEG_PER_RAD<<endl;
   }

   return true;
}

constructMatrix()

bool ossimPositionQualityEvaluator::constructMatrix ( const ossim_float64 &  errBiasLOS, const ossim_float64 &  errRandLOS, const ossim_float64 &  elevAngleLOS, const ossim_float64 &  azimAngleLOS, const ossimColumnVector3d &  surfN, const NEWMAT::Matrix &  surfCovMat  )

private

Definition at line 541 of file ossimPositionQualityEvaluator.cpp.

{
   bool constructOK = true;
   ossimColumnVector3d lsrNorm(0.0,0.0,1.0);
   
   // Set the total error
   ossim_float64 eTot = sqrt(errBiasLOS*errBiasLOS + errRandLOS*errRandLOS);
   if (eTot == 0.0)
      eTot = 0.001;
   
   // Set the LOS unit vector
   double elC = elevAngleLOS;
   double azC = azimAngleLOS;   
   ossimColumnVector3d  LOS(sin(azC)*cos(elC), cos(azC)*cos(elC), sin(elC));

   if (traceDebug())
   {
      ossimNotify(ossimNotifyLevel_DEBUG)<<"DEBUG: constructMatrix..."<<endl;
      ossimNotify(ossimNotifyLevel_DEBUG)
         <<"  tEl,tAz: "<<elC*DEG_PER_RAD<<"  "<<azC*DEG_PER_RAD<<endl;
      ossimNotify(ossimNotifyLevel_DEBUG)
         <<"  LOS:     "<<LOS<<endl;
      ossimNotify(ossimNotifyLevel_DEBUG)
         <<"  eTot:    "<<eTot<<endl;
   }

   
   // ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
   // Set ENU-referenced terrain slope normal
   // ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
   ossimColumnVector3d tSlopeN = surfN.unit();
   if (traceDebug())
   {
      ossimNotify(ossimNotifyLevel_DEBUG) <<"  tSlopeN: "<<tSlopeN<<endl;
   }
   
   // ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
   // Compute normal to plane containing LOS and terrain normal
   //   this is direction of minor axis unless geometry causes swap
   // ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
   ossimColumnVector3d pMinU(0,1,0);
   ossimColumnVector3d pMinAxis = LOS.cross(tSlopeN);
   if (pMinAxis.magnitude() > DBL_EPSILON)
   {
      pMinU = pMinAxis.unit();
   }
   if (traceDebug())
   {
      ossimNotify(ossimNotifyLevel_DEBUG) <<"  pMinU: "<<pMinU<<endl;
   }
   
   // ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
   // Compute nominal major axis direction from cross 
   // product of minor axis vector and terrain slope normal
   // ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
   ossimColumnVector3d pMaxU = (tSlopeN.cross(pMinU)).unit();
   if (traceDebug())
   {
      ossimNotify(ossimNotifyLevel_DEBUG) <<"  pMaxU: "<<pMaxU<<endl;
   }
   

   // Compute elevation angle relative to terrain plane and check for positive
   double elevAngTerr = acos(pMaxU.dot(LOS));
   if (traceDebug())
   {
      ossimNotify(ossimNotifyLevel_DEBUG)<<"  elev angle rel to surface: "
      <<elevAngTerr*DEG_PER_RAD<<endl;
   }
   
   if (elevAngTerr > 0.0)
   {
      // ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
      // Compute the LOS error the surface plane  
      // ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
      double planeErrorL = eTot/sin(elevAngTerr);
      
      // ~~~~~~~~~~~~~~~~~~~~~~~~~~~
      // Project axes to horizontal  
      // ~~~~~~~~~~~~~~~~~~~~~~~~~~~
      ossimColumnVector3d pL = vperp(pMaxU, lsrNorm);
      ossimColumnVector3d pN = vperp(pMinU, lsrNorm);
      
      ossimColumnVector3d eL = pL * planeErrorL;
      ossimColumnVector3d eN = pN * eTot;
      double magL = eL.magnitude();
      double magN = eN.magnitude();

      // ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
      // Compute vertical component due to intersection geometry 
      // ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
      ossimColumnVector3d pV = pMaxU - pL;
      ossimColumnVector3d eV = pV * planeErrorL;
      double magV = eV.magnitude();
      
      if (traceDebug())
      {
         ossimNotify(ossimNotifyLevel_DEBUG)
         <<"  Projected horizontal/vertical components...."<<endl
         <<"   pL: "<<pL<<"  magL: "<<magL<<endl
         <<"   pN: "<<pN<<"  magN: "<<magN<<endl
         <<"   pV: "<<pV<<"  magV: "<<magV<<endl;
      }




      // ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
      // Now compute the contributions of the surface uncertainty
      // ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

      // Terrain slope angle
      double tSlope = acos(tSlopeN.dot(lsrNorm));

      // Vertical & horizontal components from surface covariance matrix
      double surfSigV = sqrt(surfCovMat(3,3));
      double surfSigH = sqrt((surfCovMat(1,1)+surfCovMat(2,2))/2.0);
      double surfSigV_h = surfSigH * tan(tSlope);

      // Effective total vertical error component includes
      // horizontal uncertainty induced by local slope
      double vSigTot = sqrt(surfSigV*surfSigV + surfSigV_h*surfSigV_h);
      
      // Project to surface normal direction to bring it into the L-surfN plane
      ossimColumnVector3d s_surfN = (lsrNorm.dot(tSlopeN))*tSlopeN;
      if (traceDebug())
      {
         ossimNotify(ossimNotifyLevel_DEBUG) <<" Surface uncertainty...."<<endl;
         ossimNotify(ossimNotifyLevel_DEBUG) <<"  tSlope angle: "<<tSlope*DEG_PER_RAD<<endl;
         ossimNotify(ossimNotifyLevel_DEBUG) <<"  s_surfN(unit): "<<s_surfN<<endl;
      }
      s_surfN = s_surfN * vSigTot;
      double sigTn = s_surfN.magnitude();
      
      // Compute corresponding error in LOS direction
      double sigVl = sigTn/sin(elevAngTerr);

      // Resolve total vertical error to components based on intersection geometry
      ossimColumnVector3d vSigHvec = sigVl * vperp(LOS, lsrNorm);
      ossimColumnVector3d vSigVvec = sigVl * (LOS.dot(lsrNorm))*lsrNorm;
      double vSigH = vSigHvec.magnitude();
      double vSigV = vSigVvec.magnitude();
      if (traceDebug())
      {
         ossimNotify(ossimNotifyLevel_DEBUG)
         <<" s_surfN: "<<s_surfN
         <<"\n vSigHvec: "<<vSigHvec
         <<"\n vSigVvec: "<<vSigVvec<<endl;
      }
      

      if (traceDebug())
      {
         ossimNotify(ossimNotifyLevel_DEBUG)<<"----------------------------"<<endl;
         ossimNotify(ossimNotifyLevel_DEBUG)<<" surfSigH: "<<surfSigH<<endl;
         ossimNotify(ossimNotifyLevel_DEBUG)<<" surfSigV: "<<surfSigV<<endl;
         ossimNotify(ossimNotifyLevel_DEBUG)<<"  vSigTot: "<<vSigTot<<endl;
         ossimNotify(ossimNotifyLevel_DEBUG)<<"    vSigH: "<<vSigH<<endl;
         ossimNotify(ossimNotifyLevel_DEBUG)<<"    vSigV: "<<vSigV<<endl;
         ossimNotify(ossimNotifyLevel_DEBUG)<<"----------------------------"<<endl;
      }



      // ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
      // Add vSigH contribution (vSigH in L-surfN plane)
      // ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
      magL = sqrt(magL*magL + vSigH*vSigH);

      // ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
      // Compute the axes magnitudes & rotation angle
      //    These parameters represent the horizontal error
      //    due to acquisition geometry & terrain slope
      // ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
      double theta;
      double pMax, pMin;
      if (magL > magN)
      {
         pMax = magL;
         pMin = magN;
         theta = atan3(pL[1],pL[0]);
      }
      else
      {
         pMax = magN;
         pMin = magL;
         theta = atan3(pN[1],pN[0]);
      }


      // ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
      // Form final covariance matrix from axes & rotation angle
      // ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
      NEWMAT::Matrix Cov(2,2);
      NEWMAT::Matrix Vcomp(2,2);
      NEWMAT::DiagonalMatrix Dcomp(2);
      
      Dcomp(1,1) = pMax*pMax;
      Dcomp(2,2) = pMin*pMin;
      Vcomp(1,1) = cos(theta);
      Vcomp(2,1) = sin(theta);
      Vcomp(1,2) =-Vcomp(2,1);
      Vcomp(2,2) = Vcomp(1,1);
      Cov = Vcomp*Dcomp*Vcomp.t();

      // Load full 3X3 matrix in local frame
      NEWMAT::Matrix covMat(3,3);
      covMat(1,1) = Cov(1,1);   
      covMat(1,2) = Cov(1,2);   
      covMat(1,3) = 0.0;   
      covMat(2,1) = Cov(2,1);
      covMat(2,2) = Cov(2,2);   
      covMat(2,3) = 0.0;
      covMat(3,1) = covMat(1,3);
      covMat(3,2) = covMat(2,3);
      covMat(3,3) = magV*magV + vSigV*vSigV;

      // Save the matrix in local frame
      theCovMat = covMat;
      
   }  //end if (elevAngTerr > 0.0)
   else
   {
      constructOK = false;
      ossimNotify(ossimNotifyLevel_WARN)
         << "WARNING: ossimPositionQualityEvaluator::constructMatrix(): "
         << "\n   terrain-referenced elev ang: "<<elevAngTerr*DEG_PER_RAD
         << std::endl;
   }
      

   return constructOK;
}

decomposeMatrix()

bool ossimPositionQualityEvaluator::decomposeMatrix ( )

private

Definition at line 500 of file ossimPositionQualityEvaluator.cpp.

References theCovMat.

Referenced by addContributingCovariance(), and subtractContributingCovariance().

{
      // Decompose upper left 2X2 partition
      NEWMAT::SymmetricMatrix S(2);
      S<<theCovMat(1,1)<<theCovMat(1,2)<<theCovMat(2,2);
      NEWMAT::DiagonalMatrix D;
      NEWMAT::Matrix V;
      NEWMAT::Jacobi(S,D,V);
      theEllipse.theSemiMinorAxis = sqrt(D(1,1));
      theEllipse.theSemiMajorAxis = sqrt(D(2,2));
      theEigenvectors = V;

      // Compute error ellipse orientation
      //    (ccw rotation of major axis from x-axis)
      ossim_float64 sin2theta = 2.0*theCovMat(1,2);
      ossim_float64 cos2theta = theCovMat(1,1)-theCovMat(2,2);
      if (cos2theta == 0.0)
      {
         return false;
      }
      else
      {
         // Convert "ccw from x-axis" to "cw from y-axis(N)"
         double rotAngle = atan3(sin2theta, cos2theta)/2.0;
         theEllipse.theAzimAngle = M_PI/2.0 - rotAngle;
         if (theEllipse.theAzimAngle < 0.0)
            theEllipse.theAzimAngle += TWO_PI;
      }

      return true;
}

dPoly_dHgt()

double ossimPositionQualityEvaluator::dPoly_dHgt ( const double &  nlat, const double &  nlon, const double &  nhgt, const double *  coeffs  ) const

private

Definition at line 1122 of file ossimPositionQualityEvaluator.cpp.

References theRpcModel, and pqeRPCModel::theType.

Referenced by computeElevAzim().

{
   double dr;

   if (theRpcModel.theType == 'A')
   {
      dr = c[3] + c[5]*L + c[6]*P + c[7]*L*P + 2*c[10]*H + c[13]*L*L +
           c[16]*P*P + 2*c[17]*L*H + 2*c[18]*P*H + 3*c[19]*H*H;
   }
   else
   {
      dr = c[3] + c[5]*L + c[6]*P + 2*c[9]*H + c[10]*L*P + 2*c[13]*L*H +
           2*c[16]*P*H + c[17]*L*L + c[18]*P*P + 3*c[19]*H*H;
   }
   return dr;
}

dPoly_dLat()

double ossimPositionQualityEvaluator::dPoly_dLat ( const double &  nlat, const double &  nlon, const double &  nhgt, const double *  coeffs  ) const

private

Definition at line 1065 of file ossimPositionQualityEvaluator.cpp.

References theRpcModel, and pqeRPCModel::theType.

Referenced by computeElevAzim().

{
   double dr;

   if (theRpcModel.theType == 'A')
   {
      dr = c[2] + c[4]*L + c[6]*H + c[7]*L*H + 2*c[9]*P + c[12]*L*L +
           2*c[14]*L*P + 3*c[15]*P*P +2*c[16]*P*H + c[18]*H*H;
   }
   else
   {
      dr = c[2] + c[4]*L + c[6]*H + 2*c[8]*P + c[10]*L*H + 2*c[12]*L*P +
           c[14]*L*L + 3*c[15]*P*P + c[16]*H*H + 2*c[18]*P*H;
   }
   
   return dr;
}

dPoly_dLon()

double ossimPositionQualityEvaluator::dPoly_dLon ( const double &  nlat, const double &  nlon, const double &  nhgt, const double *  coeffs  ) const

private

Definition at line 1094 of file ossimPositionQualityEvaluator.cpp.

References theRpcModel, and pqeRPCModel::theType.

Referenced by computeElevAzim().

{
   double dr;

   if (theRpcModel.theType == 'A')
   {
      dr = c[1] + c[4]*P + c[5]*H + c[7]*P*H + 2*c[8]*L + 3*c[11]*L*L +
           2*c[12]*L*P + 2*c[13]*L*H + c[14]*P*P + c[17]*H*H;
   }
   else
   {
      dr = c[1] + c[4]*P + c[5]*H + 2*c[7]*L + c[10]*P*H + 3*c[11]*L*L +
           c[12]*P*P + c[13]*H*H + 2*c[14]*P*L + 2*c[17]*L*H;
   }
   return dr;
}

extractErrorEllipse() [1/2]

bool ossimPositionQualityEvaluator::extractErrorEllipse	(	const pqeProbLev_t	pLev,
		pqeErrorEllipse &	ellipse
	)

Extract error ellipse parameters.

Parameters

pLev	Probability level.
ellipse	pLev% error ellipse.

Returns

true on success, false on error.

Definition at line 376 of file ossimPositionQualityEvaluator.cpp.

References Fac2D, pqeErrorEllipse::theAzimAngle, pqeErrorEllipse::theCenter, theEllipse, theEvaluatorValid, thePtG, pqeErrorEllipse::theSemiMajorAxis, and pqeErrorEllipse::theSemiMinorAxis.

Referenced by extractErrorEllipse().

{
   if (theEvaluatorValid)
   {
      // Scale the axes
      ellipse.theSemiMinorAxis =
         (ossim_float64)Fac2D[pLev] * theEllipse.theSemiMinorAxis;
      ellipse.theSemiMajorAxis =
         (ossim_float64)Fac2D[pLev] * theEllipse.theSemiMajorAxis;
      
      // Orientation angle
      ellipse.theAzimAngle = theEllipse.theAzimAngle;
      
      // Center position
      ellipse.theCenter = thePtG;
   }

   return theEvaluatorValid;
}

extractErrorEllipse() [2/2]

bool ossimPositionQualityEvaluator::extractErrorEllipse	(	const pqeProbLev_t	pLev,
		const ossim_float64 &	angularIncrement,
		pqeErrorEllipse &	ellipse,
		pqeImageErrorEllipse_t &	ellImage
	)

Extract error ellipse parameters; valid only with RPC parameters.

Parameters

pLev	Probability level.
angularIncrement	Angular increment for ellipse point spacing (deg)
ellipse	pLev% error ellipse.
ellImage	pLev% image space error ellipse.

Returns

true on success, false on error.

Definition at line 404 of file ossimPositionQualityEvaluator.cpp.

References extractErrorEllipse(), ossimGpt::height(), ossim::isnan(), ossimGpt::latd(), ossimGpt::lond(), M_PI, polynomial(), pqeErrorEllipse::theAzimAngle, theEvaluatorValid, pqeRPCModel::theHgtOffset, pqeRPCModel::theHgtScale, pqeRPCModel::theLatOffset, pqeRPCModel::theLatScale, pqeRPCModel::theLineDenCoef, pqeRPCModel::theLineNumCoef, pqeRPCModel::theLineOffset, pqeRPCModel::theLineScale, theLocalFrame, pqeRPCModel::theLonOffset, pqeRPCModel::theLonScale, theRpcModel, pqeRPCModel::theSampDenCoef, pqeRPCModel::theSampNumCoef, pqeRPCModel::theSampOffset, pqeRPCModel::theSampScale, pqeErrorEllipse::theSemiMajorAxis, pqeErrorEllipse::theSemiMinorAxis, pqeRPCModel::theType, TWO_PI, x, and y.

{
   bool computeImageEllipse = true;
   
   if (theRpcModel.theType == 'N')
      computeImageEllipse = false;
      
   if (theEvaluatorValid && computeImageEllipse)
   {
      // Get object space ellipse parameters
      extractErrorEllipse(pLev, ellipse);
      
      //***
      // Generate the image space ellipse point at 'angularIncrement' spacing
      //***
      int numSteps = 360/(int)angularIncrement;

      // Semi-axes components
      double dxMaj = ellipse.theSemiMajorAxis*sin(ellipse.theAzimAngle);
      double dyMaj = ellipse.theSemiMajorAxis*cos(ellipse.theAzimAngle);
      double dxMin = ellipse.theSemiMinorAxis*sin(ellipse.theAzimAngle+M_PI/2.0);
      double dyMin = ellipse.theSemiMinorAxis*cos(ellipse.theAzimAngle+M_PI/2.0);
      
      for (int j = 0; j<=numSteps; ++j)
      {
      
         // Compute current ENU ellipse point
         double ang = TWO_PI*j/numSteps;
         double sang = sin(ang);
         double cang = cos(ang);
         double x = dxMaj*cang + dxMin*sang;
         double y = dyMaj*cang + dyMin*sang;
         double z = 0.0;
         
         ossimLsrPoint cpLSR(x, y, z, theLocalFrame);
         ossimEcefPoint cp = ossimEcefPoint(cpLSR);
         ossimGpt cpG(cp);
         double lat = cpG.latd();
         double lon = cpG.lond();
         double hgt = cpG.height();
      
         // Normalize the lat, lon, hgt:
         double nlat = (lat - theRpcModel.theLatOffset) /
                        theRpcModel.theLatScale;
         double nlon = (lon - theRpcModel.theLonOffset) /
                        theRpcModel.theLonScale;
         double nhgt;

         if( ossim::isnan(hgt) )
         {
            nhgt = (theRpcModel.theHgtScale - theRpcModel.theHgtOffset) /
                    theRpcModel.theHgtScale;
         }
         else
         {
            nhgt = (hgt - theRpcModel.theHgtOffset) / theRpcModel.theHgtScale;
         }

         //***
         // Compute the normalized line (Un) and sample (Vn)
         //***
         double Pu = polynomial(nlat, nlon, nhgt, theRpcModel.theLineNumCoef);
         double Qu = polynomial(nlat, nlon, nhgt, theRpcModel.theLineDenCoef);
         double Pv = polynomial(nlat, nlon, nhgt, theRpcModel.theSampNumCoef);
         double Qv = polynomial(nlat, nlon, nhgt, theRpcModel.theSampDenCoef);
         double Un  = Pu / Qu;
         double Vn  = Pv / Qv;

         //***
         // Compute the actual line (U) and sample (V):
         //***
         double U  = Un*theRpcModel.theLineScale + theRpcModel.theLineOffset;
         double V  = Vn*theRpcModel.theSampScale + theRpcModel.theSampOffset;

         ossimDpt img(V,U);
         ellImage.push_back(img);
      
      }
   }

   return (theEvaluatorValid && computeImageEllipse);
}

formCovMatrixFromCE_LE()

bool ossimPositionQualityEvaluator::formCovMatrixFromCE_LE ( const ossim_float64 &  CE, const ossim_float64 &  LE, NEWMAT::Matrix &  covMat  ) const

private

Definition at line 788 of file ossimPositionQualityEvaluator.cpp.

Referenced by addContributingCE_LE(), and subtractContributingCE_LE().

{         
   covMat = 0.0;
   covMat(1,1) = CE/2.146;
   covMat(2,2) = CE/2.146;
   covMat(3,3) = LE/1.6449;
   covMat(1,1) *= covMat(1,1);
   covMat(2,2) *= covMat(2,2);
   covMat(3,3) *= covMat(3,3);

   return true;
}

getCovMatrix()

bool ossimPositionQualityEvaluator::getCovMatrix

(

NEWMAT::Matrix &

covMat

)

const

Covariance matrix access.

Parameters

covMat

3X3 covariance matrix.

Returns

true on success, false on error.

Definition at line 256 of file ossimPositionQualityEvaluator.cpp.

References theCovMat, and theEvaluatorValid.

{
   if (theEvaluatorValid)
   {
      covMat = theCovMat;
   }

   return theEvaluatorValid;
}

isValid()

bool ossimPositionQualityEvaluator::isValid ( void  ) const

inline

State accessor.

Definition at line 224 of file ossimPositionQualityEvaluator.h.

{ return theEvaluatorValid; }

polynomial()

double ossimPositionQualityEvaluator::polynomial ( const double &  nlat, const double &  nlon, const double &  nhgt, const double *  coeffs  ) const

private

Definition at line 1030 of file ossimPositionQualityEvaluator.cpp.

References theRpcModel, and pqeRPCModel::theType.

Referenced by computeElevAzim(), and extractErrorEllipse().

{
   double r;

   if (theRpcModel.theType == 'A')
   {
      r = c[ 0]       + c[ 1]*L     + c[ 2]*P     + c[ 3]*H     +
          c[ 4]*L*P   + c[ 5]*L*H   + c[ 6]*P*H   + c[ 7]*L*P*H +
          c[ 8]*L*L   + c[ 9]*P*P   + c[10]*H*H   + c[11]*L*L*L +
          c[12]*L*L*P + c[13]*L*L*H + c[14]*L*P*P + c[15]*P*P*P +
          c[16]*P*P*H + c[17]*L*H*H + c[18]*P*H*H + c[19]*H*H*H;
   }
   else
   {
      r = c[ 0]       + c[ 1]*L     + c[ 2]*P     + c[ 3]*H     +
          c[ 4]*L*P   + c[ 5]*L*H   + c[ 6]*P*H   + c[ 7]*L*L   +
          c[ 8]*P*P   + c[ 9]*H*H   + c[10]*L*P*H + c[11]*L*L*L +
          c[12]*L*P*P + c[13]*L*H*H + c[14]*L*L*P + c[15]*P*P*P +
          c[16]*P*H*H + c[17]*L*L*H + c[18]*P*P*H + c[19]*H*H*H;
   }
   
   return r;
}

print()

std::ostream & ossimPositionQualityEvaluator::print

(

std::ostream &

out

)

const

Print method.

Definition at line 230 of file ossimPositionQualityEvaluator.cpp.

References DEG_PER_RAD, pqeErrorEllipse::theAzimAngle, theCovMat, theEllipse, theEvaluatorValid, thePtG, pqeErrorEllipse::theSemiMajorAxis, and pqeErrorEllipse::theSemiMinorAxis.

{
   out << "\nPositionQualityEvaluator Summary..."<<std::endl;
   out << " theEvaluatorValid: ";
   if (theEvaluatorValid)
      out<<"True"<<std::endl;
   else
      out<<"False"<<std::endl;
   out << " thePtG: "<<thePtG<<std::endl;
   out << " theCovMat [m]:\n"<<theCovMat;
   out << fixed << setprecision(1);
   out << " theEllipse: "<<theEllipse.theSemiMajorAxis<<"  "
                         <<theEllipse.theSemiMinorAxis
                         <<" [m, 1 sigma] at ";
   out << theEllipse.theAzimAngle*DEG_PER_RAD<<" [deg] azimuth"<<endl;

   return out;
}

subtractContributingCE_LE()

bool ossimPositionQualityEvaluator::subtractContributingCE_LE	(	const ossim_float64 &	cCE,
		const ossim_float64 &	cLE
	)

Subtract contributing CE/LE.

Parameters

cCE	contributing 90% circular error (m).
cLE	contributing 90% linear error (m).

Returns

true on success, false on error.

Definition at line 337 of file ossimPositionQualityEvaluator.cpp.

References formCovMatrixFromCE_LE(), and subtractContributingCovariance().

{
   NEWMAT::Matrix covMat(3,3);
   
   formCovMatrixFromCE_LE(cCE, cLE, covMat);

   return subtractContributingCovariance(covMat);
}

subtractContributingCovariance()

bool ossimPositionQualityEvaluator::subtractContributingCovariance

(

NEWMAT::Matrix &

covMat

)

Subtract contributing covariance matrix.

Parameters

covMat

3X3 covariance matrix.

Returns

true on success, false on error.

Definition at line 314 of file ossimPositionQualityEvaluator.cpp.

References decomposeMatrix(), theCovMat, and theEvaluatorValid.

Referenced by subtractContributingCE_LE().

{
   bool matrixOK = (covMat.Nrows()==3) && (covMat.Nrows()==3);
   if (theEvaluatorValid && matrixOK)
   {
      // Subtract contribution
      theCovMat -= covMat;
   
      // Update the ellipse parameters
      theEvaluatorValid = decomposeMatrix();
   }

   return (theEvaluatorValid && matrixOK);
}

vperp()

ossimColumnVector3d ossimPositionQualityEvaluator::vperp ( const ossimColumnVector3d &  v1, const ossimColumnVector3d &  v2  ) const

private

Definition at line 971 of file ossimPositionQualityEvaluator.cpp.

References ossimColumnVector3d::dot().

{
   
   double scale = v1.dot(v2)/v2.dot(v2);
   ossimColumnVector3d v = v2*scale;
   
   ossimColumnVector3d p = v1 - v;
   
   return p;
}

Member Data Documentation

theCovMat

NEWMAT::Matrix ossimPositionQualityEvaluator::theCovMat

private

Definition at line 240 of file ossimPositionQualityEvaluator.h.

Referenced by addContributingCovariance(), computeCE_LE(), decomposeMatrix(), getCovMatrix(), print(), and subtractContributingCovariance().

theEigenvectors

NEWMAT::Matrix ossimPositionQualityEvaluator::theEigenvectors

private

Definition at line 243 of file ossimPositionQualityEvaluator.h.

theEllipse

pqeErrorEllipse ossimPositionQualityEvaluator::theEllipse

private

Definition at line 242 of file ossimPositionQualityEvaluator.h.

Referenced by compute90PCE(), extractErrorEllipse(), and print().

theEvaluatorValid

bool ossimPositionQualityEvaluator::theEvaluatorValid

private

Definition at line 238 of file ossimPositionQualityEvaluator.h.

Referenced by addContributingCovariance(), computeCE_LE(), extractErrorEllipse(), getCovMatrix(), print(), and subtractContributingCovariance().

theLocalFrame

ossimLsrSpace ossimPositionQualityEvaluator::theLocalFrame

private

Definition at line 241 of file ossimPositionQualityEvaluator.h.

Referenced by computeElevAzim(), and extractErrorEllipse().

thePtG

ossimGpt ossimPositionQualityEvaluator::thePtG

private

Definition at line 239 of file ossimPositionQualityEvaluator.h.

Referenced by computeElevAzim(), extractErrorEllipse(), and print().

theRpcModel

pqeRPCModel ossimPositionQualityEvaluator::theRpcModel

private

Definition at line 244 of file ossimPositionQualityEvaluator.h.

Referenced by dPoly_dHgt(), dPoly_dLat(), dPoly_dLon(), extractErrorEllipse(), and polynomial().

---

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

• ossimPositionQualityEvaluator.h
• ossimPositionQualityEvaluator.cpp