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/*
* Copyright (C) 2005-2022 Centre National d'Etudes Spatiales (CNES)
*
* This file is part of Orfeo Toolbox
*
* https://www.orfeo-toolbox.org/
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef otbSarSensorModel_h
#define otbSarSensorModel_h
#include "otbImageMetadata.h"
#include "otbSARMetadata.h"
#include "otbGeocentricTransform.h"
#include "itkPoint.h"
namespace otb
{
class SarSensorModel
{
public:
SarSensorModel(const std::string & productType,
const SARParam & sarParam,
const Projection::GCPParam & gcps);
SarSensorModel(const ImageMetadata & imd);
virtual ~SarSensorModel() = default;
SarSensorModel(const SarSensorModel&) = delete; // non construction-copyable
SarSensorModel& operator=(const SarSensorModel&) = delete; // non copyable
using Point2DType = itk::Point<double, 2>;
using Point3DType = itk::Point<double, 3>;
using Vector3DType = itk::Point<double, 3>;
using TimeType = MetaData::TimePoint;
using DurationType = MetaData::Duration;
/** Transform world point (lat,lon,hgt) to input image point
(col,row) */
void WorldToLineSample(const Point3DType& inGeoPoint,
Point2DType& outLineSample) const;
/** Transform world point (lat,lon,hgt) to input image point
(col,row) and YZ frame */
void WorldToLineSampleYZ(const Point3DType& inGeoPoint, Point2DType& cr, Point2DType& yz) const;
/** Transform world point (lat,lon,hgt) to satellite position (x,y,z) and satellite velocity */
bool WorldToSatPositionAndVelocity(const Point3DType& inGeoPoint, Point3DType& satellitePosition, Point3DType& satelliteVelocity) const;
/** Transform line index to satellite position (x,y,z) and satellite velocity */
bool LineToSatPositionAndVelocity(double line, Point3DType& satellitePosition, Point3DType& satelliteVelocity) const;
bool WorldToAzimuthRangeTime(const Point3DType& inGeoPoint,
TimeType & azimuthTime,
double & rangeTime,
Point3DType& sensorPos,
Vector3DType& sensorVel) const;
void LineSampleHeightToWorld(const Point2DType& imPt,
double heightAboveEllipsoid,
Point3DType& worldPt) const;
void LineSampleToWorld(const Point2DType& imPt,
Point3DType& worldPt) const;
/** Deburst metadata if possible and return lines to keep in image file */
bool Deburst(std::vector<std::pair<unsigned long, unsigned long>>& lines,
std::pair<unsigned long, unsigned long>& samples,
bool onlyValidSample = false);
/**
* This method will perform an extraction of one burst. It will return the
* lines and samples to extract in the image file.
* \return true if the extraction operation succeeded. No changes is
* made to the object if the operation fails.
* \param burst_index Index of Burst.
* \param lines A container for the lines to keep in the
* standalone burst.
* \param samples A container for the samples to keep in the
* standalone burst.
*/
bool BurstExtraction(const unsigned int burst_index, std::pair<unsigned long,unsigned long> & lines,
std::pair<unsigned long,unsigned long> & samples, bool allPixels = false);
/**
* This method will perform a deburst and concatenation operation, and return the
* vector of lines and the vector of samples to keep in the
* image file. The lines and samples represents start/size into each independent bursts.
* Note that the deburst operation has no effect if theBurstRecords
* contains a single burst. Otherwise it will merge burst together
* into a single burst, and update GCPs accordingly.
* \return true if the deburst operation succeeded. No changes is
* made to the object if the operation fails.
* \param lines A container for the lines ranges to keep in the
* deburst image.
* \param samples A container for the samples ranges to keep in the
* deburst image.
* \param lines A Boolean to indicate only valids samples are required.
*/
bool DeburstAndConcatenate(std::vector<std::pair<unsigned long,unsigned long> >& linesBursts,
std::vector<std::pair<unsigned long,unsigned long> >& samplesBursts,
unsigned int & linesOffset, unsigned int first_burstInd,
bool inputWithInvalidPixels=false);
/**
* This method will estime the overlap area between two bursts and return the
* vector of lines and the vector of samples (with two elements : Burst Up and Burst Low).
* Note that this operation has no effect if theBurstRecords
* contains a single burst.
* \return true if this operation succeeded. No changes is
* made to the object if the operation fails.
* \param linesUp A container for the lines ranges to keep into the first Burst
* \param linesLow A container for the lines ranges to keep into the second Burst
* \param samplesUp A container for the samples ranges to keep into the first Burst.
* \param samplesDown A container for the samples ranges to keep into the second Burst.
* \param burstIndUp Index of the first Burst
* \param inputWithInvalidPixels A Boolean to indicate if invalids pixels are into inputs.
*/
bool Overlap(std::pair<unsigned long, unsigned long>& linesUp, std::pair<unsigned long, unsigned long>& linesLow,
std::pair<unsigned long, unsigned long>& samplesUp, std::pair<unsigned long, unsigned long>& samplesLow, unsigned int burstIndUp,
bool inputWithInvalidPixels = false);
/** Update a ImageMetadata object with the stored SarParam and GCPs, possibly modified from the
* original metadata by the SarSensorModel
* \param imd The ImageMetadata to be updated
*/
void UpdateImageMetadata(ImageMetadata & imd);
/**
* This is a helper function to convert deburst line to input image
* line
* \param lines The vector of lines range to keep
* \param imageLine The input deburst line
* \param deburstLine The output original image line
*/
static void DeburstLineToImageLine(const std::vector<std::pair<unsigned long,unsigned long> >& lines,
unsigned long deburstLine,
unsigned long & imageLine);
/**
* This is a helper function to convert image line to deburst image
* line.
* \param lines The vector of lines range to keep
* \param imageLine The input image line
* \param deburstLine The output deburst line
* \return True if imageLine is within a preserved range, false otherwise
*/
static bool ImageLineToDeburstLine(const std::vector<std::pair<unsigned long,unsigned long> >& lines,
unsigned long imageLine,
unsigned long & deburstLine);
protected:
private:
void OptimizeTimeOffsetsFromGcps();
bool ZeroDopplerLookup(const Point3DType& inEcefPoint,
TimeType & azimuthTime,
Point3DType& sensorPos,
Vector3DType& sensorVel) const;
/**
* Interpolate sensor position and velocity at given azimuth time
* using lagragian interpolation of orbital records.
*
* \param[in] azimuthTime The time at which to interpolate
* \param[out] sensorPos Interpolated sensor position
* \param[out] sensorvel Interpolated sensor velocity
* \param[in] deg Degree of lagragian interpolation
*/
void interpolateSensorPosVel(const TimeType & azimuthTime,
Point3DType& sensorPos,
Vector3DType& sensorVel,
unsigned int deg = 8) const;
/**
* Convert azimuth time to fractional line.
*
* \param[in] azimuthTime The azimuth time to convert
* \param[out] The estimated fractional line
*/
void AzimuthTimeToLine(const TimeType & azimuthTime,
double & line) const;
void SlantRangeToGroundRange(double slantRange,
const TimeType & azimuthTime,
double & groundRange) const;
void ApplyCoordinateConversion(double in,
const TimeType& azimuthTime,
const std::vector<CoordinateConversionRecord> & records,
double & out) const;
const GCP & findClosestGCP(const Point2DType& imPt, const Projection::GCPParam & gcpParam) const;
Point3DType projToSurface(const GCP & gcp,
const Point2DType & imPt,
std::function<double(double, double)> heightFunction) const;
void LineToAzimuthTime(double line, TimeType & azimuthTime) const;
/** Coordinate transformation from ECEF to geographic */
itk::Point<double, 3> EcefToWorld(const itk::Point<double, 3> & ecefPoint) const;
/** Coordinate transformation from geographic to ECEF */
itk::Point<double, 3> WorldToEcef(const itk::Point<double, 3> & worldPoint) const;
std::string m_ProductType;
Projection::GCPParam m_GCP;
SARParam m_SarParam;
TimeType m_FirstLineTime;
TimeType m_LastLineTime;
DurationType m_AzimuthTimeOffset;
double m_RangeTimeOffset; // Offset in seconds
// Speed of light
static constexpr double C = 299792458;
// True if the input product is a ground product
bool m_IsGrd;
otb::GeocentricTransform<otb::TransformDirection::INVERSE, double>::Pointer m_EcefToWorldTransform;
otb::GeocentricTransform<otb::TransformDirection::FORWARD, double>::Pointer m_WorldToEcefTransform;
};
}
#endif
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