def CornerEstimationWithoutOffsets(packet):
''' Corner estimation without Offsets '''
try:
sensorLatitude = packet.SensorLatitude
sensorLongitude = packet.SensorLongitude
sensorTrueAltitude = packet.SensorTrueAltitude
frameCenterLat = packet.FrameCenterLatitude
frameCenterLon = packet.FrameCenterLongitude
frameCenterElevation = packet.FrameCenterElevation
sensorVerticalFOV = packet.SensorVerticalFieldOfView
sensorHorizontalFOV = packet.SensorHorizontalFieldOfView
headingAngle = packet.PlatformHeadingAngle
sensorRelativeAzimut = packet.SensorRelativeAzimuthAngle
targetWidth = packet.targetWidth
slantRange = packet.SlantRange
# If target width = 0 (occurs on some platforms), compute it with the slate range.
# Otherwise it leaves the footprint as a point.
# In some case targetWidth don't have value then equal to 0
if targetWidth is None:
targetWidth = 0
if targetWidth == 0 and slantRange != 0:
targetWidth = 2.0 * slantRange * \
tan(radians(sensorHorizontalFOV / 2.0))
elif targetWidth == 0 and slantRange == 0:
# default target width to not leave footprint as a point.
targetWidth = defaultTargetWidth
qgsu.showUserAndLogMessage(
QCoreApplication.translate(
"QgsFmvUtils", "Target width unknown, defaults to: " +
str(targetWidth) + "m."))
# compute distance to ground
if frameCenterElevation != 0:
sensorGroundAltitude = sensorTrueAltitude - frameCenterElevation
else:
qgsu.showUserAndLogMessage(
QCoreApplication.translate(
"QgsFmvUtils",
"Sensor ground elevation narrowed to true altitude: " +
str(sensorTrueAltitude) + "m."))
sensorGroundAltitude = sensorTrueAltitude
if sensorLatitude == 0:
return False
if sensorLongitude is None or sensorLatitude is None:
return False
initialPoint = (sensorLongitude, sensorLatitude)
if frameCenterLon is None or frameCenterLat is None:
return False
destPoint = (frameCenterLon, frameCenterLat)
distance = sphere.distance(initialPoint, destPoint)
if distance == 0:
return False
if sensorVerticalFOV > 0 and sensorHorizontalFOV > sensorVerticalFOV:
aspectRatio = sensorVerticalFOV / sensorHorizontalFOV
else:
aspectRatio = 0.75
value2 = (headingAngle + sensorRelativeAzimut) % 360.0 # Heading
value3 = targetWidth / 2.0
value5 = sqrt(pow(distance, 2.0) + pow(sensorGroundAltitude, 2.0))
value6 = targetWidth * aspectRatio / 2.0
degrees = rad2deg(atan(value3 / distance))
value8 = rad2deg(atan(distance / sensorGroundAltitude))
value9 = rad2deg(atan(value6 / value5))
value10 = value8 + value9
value11 = sensorGroundAltitude * tan(radians(value10))
value12 = value8 - value9
value13 = sensorGroundAltitude * tan(radians(value12))
value14 = distance - value13
value15 = value11 - distance
value16 = value3 - value14 * tan(radians(degrees))
value17 = value3 + value15 * tan(radians(degrees))
distance2 = sqrt(pow(value14, 2.0) + pow(value16, 2.0))
value19 = sqrt(pow(value15, 2.0) + pow(value17, 2.0))
value20 = rad2deg(atan(value16 / value14))
value21 = rad2deg(atan(value17 / value15))
# CP Up Left
bearing = (value2 + 360.0 - value21) % 360.0
cornerPointUL = list(
reversed(sphere.destination(destPoint, value19, bearing)))
# CP Up Right
bearing = (value2 + value21) % 360.0
cornerPointUR = list(
reversed(sphere.destination(destPoint, value19, bearing)))
# CP Low Right
bearing = (value2 + 180.0 - value20) % 360.0
cornerPointLR = list(
reversed(sphere.destination(destPoint, distance2, bearing)))
# CP Low Left
bearing = (value2 + 180.0 + value20) % 360.0
cornerPointLL = list(
reversed(sphere.destination(destPoint, distance2, bearing)))
if hasElevationModel():
pCornerPointUL = GetLine3DIntersectionWithDEM(
GetSensor(), cornerPointUL)
pCornerPointUR = GetLine3DIntersectionWithDEM(
GetSensor(), cornerPointUR)
pCornerPointLR = GetLine3DIntersectionWithDEM(
GetSensor(), cornerPointLR)
pCornerPointLL = GetLine3DIntersectionWithDEM(
GetSensor(), cornerPointLL)
UpdateFootPrintData(packet, pCornerPointUL, pCornerPointUR,
pCornerPointLR, pCornerPointLL,
hasElevationModel())
UpdateBeamsData(packet, pCornerPointUL,
pCornerPointUR, pCornerPointLR, pCornerPointLL,
hasElevationModel())
else:
UpdateFootPrintData(packet, cornerPointUL, cornerPointUR,
cornerPointLR, cornerPointLL,
hasElevationModel())
UpdateBeamsData(packet, cornerPointUL, cornerPointUR,
cornerPointLR, cornerPointLL, hasElevationModel())
SetGCPsToGeoTransform(cornerPointUL, cornerPointUR, cornerPointLR,
cornerPointLL, frameCenterLon, frameCenterLat)
except Exception as e:
qgsu.showUserAndLogMessage(
QCoreApplication.translate(
"QgsFmvUtils", "CornerEstimationWithoutOffsets failed! : "),
str(e))
return False
return True
def CornerEstimationWithoutOffsets(packet):
''' Corner estimation without Offsets '''
try:
sensorLatitude = packet.GetSensorLatitude()
sensorLongitude = packet.GetSensorLongitude()
sensorTrueAltitude = packet.GetSensorTrueAltitude()
frameCenterLat = packet.GetFrameCenterLatitude()
frameCenterLon = packet.GetFrameCenterLongitude()
sensorVerticalFOV = packet.GetSensorVerticalFieldOfView()
sensorHorizontalFOV = packet.GetSensorHorizontalFieldOfView()
headingAngle = packet.GetPlatformHeadingAngle()
sensorRelativeAzimut = packet.GetSensorRelativeAzimuthAngle()
targetWidth = packet.GettargetWidth()
if sensorLatitude == 0:
return False
initialPoint = (sensorLongitude, sensorLatitude)
destPoint = (frameCenterLon, frameCenterLat)
distance = sphere.distance(initialPoint, destPoint)
if distance == 0:
return False
if sensorVerticalFOV > 0 and sensorHorizontalFOV > sensorVerticalFOV:
aspectRatio = sensorVerticalFOV / sensorHorizontalFOV
else:
aspectRatio = 0.75
value2 = (headingAngle + sensorRelativeAzimut) % 360.0 # Heading
value3 = targetWidth / 2.0
value5 = sqrt(pow(distance, 2.0) + pow(sensorTrueAltitude, 2.0))
value6 = targetWidth * aspectRatio / 2.0
degrees = rad2deg(atan(value3 / distance))
value8 = rad2deg(atan(distance / sensorTrueAltitude))
value9 = rad2deg(atan(value6 / value5))
value10 = value8 + value9
value11 = sensorTrueAltitude * tan(radians(value10))
value12 = value8 - value9
value13 = sensorTrueAltitude * tan(radians(value12))
value14 = distance - value13
value15 = value11 - distance
value16 = value3 - value14 * tan(radians(degrees))
value17 = value3 + value15 * tan(radians(degrees))
distance2 = sqrt(pow(value14, 2.0) + pow(value16, 2.0))
value19 = sqrt(pow(value15, 2.0) + pow(value17, 2.0))
value20 = rad2deg(atan(value16 / value14))
value21 = rad2deg(atan(value17 / value15))
# CP Up Left
bearing = (value2 + 360.0 - value21) % 360.0
cornerPointUL = sphere.destination(destPoint, value19, bearing)
# TODO: Use Geopy?
# from geopy import Point
# from geopy.distance import distance, VincentyDistance
#
# # given: lat1, lon1, bearing, distMiles
# lat2, lon2 = VincentyDistance(kilometers=value19).destination(Point(destPoint[1], destPoint[0]), bearing)
# CP Up Right
bearing = (value2 + value21) % 360.0
cornerPointUR = sphere.destination(destPoint, value19, bearing)
# CP Low Right
bearing = (value2 + 180.0 - value20) % 360.0
cornerPointLR = sphere.destination(destPoint, distance2, bearing)
# CP Low Left
bearing = (value2 + 180.0 + value20) % 360.0
cornerPointLL = sphere.destination(destPoint, distance2, bearing)
UpdateFootPrintData(cornerPointUL, cornerPointUR, cornerPointLR,
cornerPointLL)
UpdateBeamsData(packet, cornerPointUL, cornerPointUR, cornerPointLR,
cornerPointLL)
SetGCPsToGeoTransform(cornerPointUL, cornerPointUR, cornerPointLR,
cornerPointLL, frameCenterLon, frameCenterLat)
except:
return False
return True