def CornerEstimationWithOffsets(packet):
''' Corner estimation using Offsets '''
try:
OffsetLat1 = packet.OffsetCornerLatitudePoint1
OffsetLon1 = packet.OffsetCornerLongitudePoint1
OffsetLat2 = packet.OffsetCornerLatitudePoint2
OffsetLon2 = packet.OffsetCornerLongitudePoint2
OffsetLat3 = packet.OffsetCornerLatitudePoint3
OffsetLon3 = packet.OffsetCornerLongitudePoint3
OffsetLat4 = packet.OffsetCornerLatitudePoint4
OffsetLon4 = packet.OffsetCornerLongitudePoint4
frameCenterLat = packet.FrameCenterLatitude
frameCenterLon = packet.FrameCenterLongitude
# Lat,Lon
cornerPointUL = (OffsetLat1 + frameCenterLat,
OffsetLon1 + frameCenterLon)
cornerPointUR = (OffsetLat2 + frameCenterLat,
OffsetLon2 + frameCenterLon)
cornerPointLR = (OffsetLat3 + frameCenterLat,
OffsetLon3 + frameCenterLon)
cornerPointLL = (OffsetLat4 + frameCenterLat,
OffsetLon4 + frameCenterLon)
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:
return False
return True
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 UpdateLayers(packet, parent=None, mosaic=False):
''' Update Layers Values '''
global frameCenterElevation, sensorLatitude, sensorLongitude, sensorTrueAltitude
frameCenterLat = packet.FrameCenterLatitude
frameCenterLon = packet.FrameCenterLongitude
frameCenterElevation = packet.FrameCenterElevation
sensorLatitude = packet.SensorLatitude
sensorLongitude = packet.SensorLongitude
sensorTrueAltitude = packet.SensorTrueAltitude
OffsetLat1 = packet.OffsetCornerLatitudePoint1
LatitudePoint1Full = packet.CornerLatitudePoint1Full
UpdatePlatformData(packet, hasElevationModel())
UpdateTrajectoryData(packet, hasElevationModel())
UpdateFrameCenterData(packet, hasElevationModel())
UpdateFrameAxisData(packet, hasElevationModel())
if OffsetLat1 is not None and LatitudePoint1Full is None:
CornerEstimationWithOffsets(packet)
if mosaic:
georeferencingVideo(parent)
elif OffsetLat1 is None and LatitudePoint1Full is None:
CornerEstimationWithoutOffsets(packet)
if mosaic:
georeferencingVideo(parent)
else:
cornerPointUL = [
packet.CornerLatitudePoint1Full, packet.CornerLongitudePoint1Full
]
if None in cornerPointUL:
return
cornerPointUR = [
packet.CornerLatitudePoint2Full, packet.CornerLongitudePoint2Full
]
if None in cornerPointUR:
return
cornerPointLR = [
packet.CornerLatitudePoint3Full, packet.CornerLongitudePoint3Full
]
if None in cornerPointLR:
return
cornerPointLL = [
packet.CornerLatitudePoint4Full, packet.CornerLongitudePoint4Full
]
if None in cornerPointLL:
return
UpdateFootPrintData(packet, cornerPointUL, cornerPointUR,
cornerPointLR, cornerPointLL, hasElevationModel())
UpdateBeamsData(packet, cornerPointUL, cornerPointUR, cornerPointLR,
cornerPointLL, hasElevationModel())
SetGCPsToGeoTransform(cornerPointUL, cornerPointUR, cornerPointLR,
cornerPointLL, frameCenterLon, frameCenterLat)
if mosaic:
georeferencingVideo(parent)
# recenter map on platform
if centerMode == 1:
lyr = qgsu.selectLayerByName(Platform_lyr)
iface.mapCanvas().setExtent(lyr.extent())
# recenter map on footprint
elif centerMode == 2:
lyr = qgsu.selectLayerByName(Footprint_lyr)
iface.mapCanvas().setExtent(lyr.extent())
# recenter map on target
elif centerMode == 3:
lyr = qgsu.selectLayerByName(FrameCenter_lyr)
iface.mapCanvas().setExtent(lyr.extent())
iface.mapCanvas().refresh()
return
def UpdateLayers(packet, parent=None, mosaic=False):
''' Update Layers Values '''
global frameCenterElevation
global sensorLatitude
global sensorLongitude
global sensorTrueAltitude
frameCenterLat = packet.GetFrameCenterLatitude()
frameCenterLon = packet.GetFrameCenterLongitude()
frameCenterElevation = packet.GetFrameCenterElevation()
sensorLatitude = packet.GetSensorLatitude()
sensorLongitude = packet.GetSensorLongitude()
sensorTrueAltitude = packet.GetSensorTrueAltitude()
UpdatePlatformData(packet)
UpdateTrajectoryData(packet)
UpdateFrameCenterData(packet)
OffsetLat1 = packet.GetOffsetCornerLatitudePoint1()
LatitudePoint1Full = packet.GetCornerLatitudePoint1Full()
if OffsetLat1 is not None and LatitudePoint1Full is None:
CornerEstimationWithOffsets(packet)
if mosaic:
georeferencingVideo(parent)
return
if OffsetLat1 is None and LatitudePoint1Full is None:
CornerEstimationWithoutOffsets(packet)
if mosaic:
georeferencingVideo(parent)
return
cornerPointUL = [
packet.GetCornerLatitudePoint1Full(),
packet.GetCornerLongitudePoint1Full()
]
if None in cornerPointUL:
return
cornerPointUR = [
packet.GetCornerLatitudePoint2Full(),
packet.GetCornerLongitudePoint2Full()
]
if None in cornerPointUR:
return
cornerPointLR = [
packet.GetCornerLatitudePoint3Full(),
packet.GetCornerLongitudePoint3Full()
]
if None in cornerPointLR:
return
cornerPointLL = [
packet.GetCornerLatitudePoint4Full(),
packet.GetCornerLongitudePoint4Full()
]
if None in cornerPointLL:
return
UpdateFootPrintData(packet, cornerPointUL, cornerPointUR, cornerPointLR,
cornerPointLL)
UpdateBeamsData(packet, cornerPointUL, cornerPointUR, cornerPointLR,
cornerPointLL)
SetGCPsToGeoTransform(cornerPointUL, cornerPointUR, cornerPointLR,
cornerPointLL, frameCenterLon, frameCenterLat)
if mosaic:
georeferencingVideo(parent)
return
def CornerEstimationWithOffsets(packet):
''' Corner estimation using Offsets
:param packet: Metada packet
'''
try:
OffsetLat1 = packet.OffsetCornerLatitudePoint1
OffsetLon1 = packet.OffsetCornerLongitudePoint1
OffsetLat2 = packet.OffsetCornerLatitudePoint2
OffsetLon2 = packet.OffsetCornerLongitudePoint2
OffsetLat3 = packet.OffsetCornerLatitudePoint3
OffsetLon3 = packet.OffsetCornerLongitudePoint3
OffsetLat4 = packet.OffsetCornerLatitudePoint4
OffsetLon4 = packet.OffsetCornerLongitudePoint4
frameCenterLat = packet.FrameCenterLatitude
frameCenterLon = packet.FrameCenterLongitude
# Lat,Lon
cornerPointUL = (OffsetLat1 + frameCenterLat,
OffsetLon1 + frameCenterLon)
cornerPointUR = (OffsetLat2 + frameCenterLat,
OffsetLon2 + frameCenterLon)
cornerPointLR = (OffsetLat3 + frameCenterLat,
OffsetLon3 + frameCenterLon)
cornerPointLL = (OffsetLat4 + frameCenterLat,
OffsetLon4 + frameCenterLon)
frameCenterPoint = [
packet.FrameCenterLatitude, packet.FrameCenterLongitude,
packet.FrameCenterElevation
]
# If no framcenter (f.i. horizontal target) don't comptute footprint,
# beams and frame center
if (frameCenterPoint[0] is None and frameCenterPoint[1] is None):
gv.setTransform(None)
return True
if hasElevationModel():
cornerPointUL = GetLine3DIntersectionWithDEM(
GetSensor(), cornerPointUL)
cornerPointUR = GetLine3DIntersectionWithDEM(
GetSensor(), cornerPointUR)
cornerPointLR = GetLine3DIntersectionWithDEM(
GetSensor(), cornerPointLR)
cornerPointLL = GetLine3DIntersectionWithDEM(
GetSensor(), cornerPointLL)
frameCenterPoint = GetLine3DIntersectionWithDEM(
GetSensor(), frameCenterPoint)
UpdateFootPrintData(packet, cornerPointUL, cornerPointUR,
cornerPointLR, cornerPointLL, hasElevationModel())
UpdateBeamsData(packet, cornerPointUL, cornerPointUR, cornerPointLR,
cornerPointLL, hasElevationModel())
SetGCPsToGeoTransform(cornerPointUL, cornerPointUR, cornerPointLR,
cornerPointLL, frameCenterPoint[1],
frameCenterPoint[0], hasElevationModel())
except Exception:
return False
return True
def UpdateLayers(packet, parent=None, mosaic=False, group=None):
''' Update Layers Values '''
gv.setGroupName(group)
groupName = group
# frameCenterLat = packet.FrameCenterLatitude
# frameCenterLon = packet.FrameCenterLongitude
gv.setFrameCenterElevation(packet.FrameCenterElevation)
gv.setSensorLatitude(packet.SensorLatitude)
gv.setSensorLongitude(packet.SensorLongitude)
sensorTrueAltitude = packet.SensorTrueAltitude
gv.setSensorTrueAltitude(sensorTrueAltitude)
sensorRelativeElevationAngle = packet.SensorRelativeElevationAngle
slantRange = packet.SlantRange
OffsetLat1 = packet.OffsetCornerLatitudePoint1
LatitudePoint1Full = packet.CornerLatitudePoint1Full
UpdatePlatformData(packet, hasElevationModel())
UpdateTrajectoryData(packet, hasElevationModel())
frameCenterPoint = [
packet.FrameCenterLatitude, packet.FrameCenterLongitude,
packet.FrameCenterElevation
]
# If no framcenter (f.i. horizontal target) don't comptute footprint,
# beams and frame center
if (frameCenterPoint[0] is None and frameCenterPoint[1] is None):
gv.setTransform(None)
return True
# No framecenter altitude
if (frameCenterPoint[2] is None):
if (sensorRelativeElevationAngle is not None
and slantRange is not None):
frameCenterPoint[2] = sensorTrueAltitude - \
sin(sensorRelativeElevationAngle) * slantRange
else:
frameCenterPoint[2] = 0.0
# qgsu.showUserAndLogMessage("", "FC Alt:"+str(frameCenterPoint[2]), onlyLog=True)
if OffsetLat1 is not None and LatitudePoint1Full is None:
if hasElevationModel():
frameCenterPoint = GetLine3DIntersectionWithDEM(
GetSensor(), frameCenterPoint)
CornerEstimationWithOffsets(packet)
if mosaic:
georeferencingVideo(parent)
elif OffsetLat1 is None and LatitudePoint1Full is None:
if hasElevationModel():
frameCenterPoint = GetLine3DIntersectionWithDEM(
GetSensor(), frameCenterPoint)
CornerEstimationWithoutOffsets(packet)
if mosaic:
georeferencingVideo(parent)
else:
cornerPointUL = [
packet.CornerLatitudePoint1Full, packet.CornerLongitudePoint1Full
]
if None in cornerPointUL:
return False
cornerPointUR = [
packet.CornerLatitudePoint2Full, packet.CornerLongitudePoint2Full
]
if None in cornerPointUR:
return False
cornerPointLR = [
packet.CornerLatitudePoint3Full, packet.CornerLongitudePoint3Full
]
if None in cornerPointLR:
return False
cornerPointLL = [
packet.CornerLatitudePoint4Full, packet.CornerLongitudePoint4Full
]
if None in cornerPointLL:
return False
UpdateFootPrintData(packet, cornerPointUL, cornerPointUR,
cornerPointLR, cornerPointLL, hasElevationModel())
UpdateBeamsData(packet, cornerPointUL, cornerPointUR, cornerPointLR,
cornerPointLL, hasElevationModel())
SetGCPsToGeoTransform(cornerPointUL, cornerPointUR, cornerPointLR,
cornerPointLL, frameCenterPoint[1],
frameCenterPoint[0], hasElevationModel())
if mosaic:
georeferencingVideo(parent)
UpdateFrameCenterData(frameCenterPoint, hasElevationModel())
UpdateFrameAxisData(packet.ImageSourceSensor, GetSensor(),
frameCenterPoint, hasElevationModel())
# detect if we need a recenter or not. If Footprint and Platform fits in
# 80% of the map, do not trigger recenter.
f_lyr = qgsu.selectLayerByName(Footprint_lyr, groupName)
p_lyr = qgsu.selectLayerByName(Platform_lyr, groupName)
t_lyr = qgsu.selectLayerByName(FrameCenter_lyr, groupName)
iface = gv.getIface()
centerMode = gv.getCenterMode()
if f_lyr is not None and p_lyr is not None and t_lyr is not None:
f_lyr_out_extent = f_lyr.extent()
p_lyr_out_extent = p_lyr.extent()
t_lyr_out_extent = t_lyr.extent()
# Default EPSG is 4326, f_lyr.crs().authid ()
# Disable transform if we have the same projection wit layers anf
# canvas
epsg4326 = "EPSG:4326"
curAuthId = iface.mapCanvas().mapSettings().destinationCrs().authid()
if (curAuthId != epsg4326):
xform = QgsCoordinateTransform(
QgsCoordinateReferenceSystem(epsg4326),
QgsCoordinateReferenceSystem(curAuthId),
QgsProject().instance())
transP = xform.transform(
QgsPointXY(
list(p_lyr.getFeatures())[0].geometry().asPoint().x(),
list(p_lyr.getFeatures())[0].geometry().asPoint().y()))
transT = xform.transform(
QgsPointXY(
list(t_lyr.getFeatures())[0].geometry().asPoint().x(),
list(t_lyr.getFeatures())[0].geometry().asPoint().y()))
rect = list(f_lyr.getFeatures())[0].geometry().boundingBox()
rectLL = xform.transform(
QgsPointXY(rect.xMinimum(), rect.yMinimum()))
rectUR = xform.transform(
QgsPointXY(rect.xMaximum(), rect.yMaximum()))
f_lyr_out_extent = QgsRectangle(rectLL, rectUR)
t_lyr_out_extent = QgsRectangle(transT.x(), transT.y(), transT.x(),
transT.y())
p_lyr_out_extent = QgsRectangle(transP.x(), transP.y(), transP.x(),
transP.y())
bValue = iface.mapCanvas().extent().xMaximum() - iface.mapCanvas(
).center().x()
# create a detection buffer
map_detec_buffer = iface.mapCanvas().extent().buffered(bValue * -0.7)
# recenter map on platform
if not map_detec_buffer.contains(p_lyr_out_extent) and centerMode == 1:
# recenter map on platform
iface.mapCanvas().setExtent(p_lyr_out_extent)
# recenter map on footprint
elif not map_detec_buffer.contains(
f_lyr_out_extent) and centerMode == 2:
# zoom a bit wider than the footprint itself
iface.mapCanvas().setExtent(
f_lyr_out_extent.buffered(f_lyr_out_extent.width() * 0.5))
# recenter map on target
elif not map_detec_buffer.contains(
t_lyr_out_extent) and centerMode == 3:
iface.mapCanvas().setExtent(t_lyr_out_extent)
# Refresh Canvas
iface.mapCanvas().refresh()
return True
def CornerEstimationWithoutOffsets(packet=None,
sensor=None,
frameCenter=None,
FOV=None,
others=None):
""" Corner estimation without Offsets """
try:
if packet is not None:
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
else:
sensorLatitude = sensor[1]
sensorLongitude = sensor[0]
sensorTrueAltitude = sensor[2]
frameCenterLat = frameCenter[1]
frameCenterLon = frameCenter[0]
frameCenterElevation = frameCenter[2]
sensorVerticalFOV = FOV[0]
sensorHorizontalFOV = FOV[1]
headingAngle = others[0]
sensorRelativeAzimut = others[1]
targetWidth = others[2]
slantRange = others[3]
# 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 slantRange is None:
slantRange = 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 and sensorTrueAltitude is not None
and frameCenterElevation is not None):
sensorGroundAltitude = sensorTrueAltitude - frameCenterElevation
elif frameCenterElevation == 0 and sensorTrueAltitude is not None:
sensorGroundAltitude = sensorTrueAltitude
else:
# can't compute footprint without sensorGroundAltitude
return False
if sensorLatitude == 0:
return False
if sensorLongitude is None or sensorLatitude is None:
return False
if frameCenterLon is None or frameCenterLat is None:
return False
initialPoint = QgsPointXY(sensorLongitude, sensorLatitude)
destPoint = QgsPointXY(frameCenterLon, frameCenterLat)
da = QgsDistanceArea()
da.setEllipsoid(WGS84String)
distance = da.measureLine(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_value = degrees(atan(value3 / distance))
value8 = degrees(atan(distance / sensorGroundAltitude))
value9 = degrees(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_value))
value17 = value3 + value15 * tan(radians(degrees_value))
distance2 = sqrt(pow(value14, 2.0) + pow(value16, 2.0))
value19 = sqrt(pow(value15, 2.0) + pow(value17, 2.0))
value20 = degrees(atan(value16 / value14))
value21 = degrees(atan(value17 / value15))
# CP Up Left
bearing = (value2 + 360.0 - value21) % 360.0
cornerPointUL = list(
reversed(QgsGeoUtils.destination(destPoint, value19, bearing)))
# CP Up Right
bearing = (value2 + value21) % 360.0
cornerPointUR = list(
reversed(QgsGeoUtils.destination(destPoint, value19, bearing)))
# CP Low Right
bearing = (value2 + 180.0 - value20) % 360.0
cornerPointLR = list(
reversed(QgsGeoUtils.destination(destPoint, distance2, bearing)))
# CP Low Left
bearing = (value2 + 180.0 + value20) % 360.0
cornerPointLL = list(
reversed(QgsGeoUtils.destination(destPoint, distance2, bearing)))
frameCenterPoint = [
frameCenterLat, frameCenterLon, frameCenterElevation
]
# If no frame center (f.i. horizontal target) don't compute footprint,
# beams and frame center
if frameCenterPoint[0] is None and frameCenterPoint[1] is None:
gv.setTransform(None)
return True
if hasElevationModel():
cornerPointUL = GetLine3DIntersectionWithDEM(
GetSensor(), cornerPointUL)
cornerPointUR = GetLine3DIntersectionWithDEM(
GetSensor(), cornerPointUR)
cornerPointLR = GetLine3DIntersectionWithDEM(
GetSensor(), cornerPointLR)
cornerPointLL = GetLine3DIntersectionWithDEM(
GetSensor(), cornerPointLL)
frameCenterPoint = GetLine3DIntersectionWithDEM(
GetSensor(), frameCenterPoint)
if sensor is not None:
return cornerPointUL, cornerPointUR, cornerPointLR, cornerPointLL
UpdateFootPrintData(
packet,
cornerPointUL,
cornerPointUR,
cornerPointLR,
cornerPointLL,
hasElevationModel(),
)
UpdateBeamsData(
packet,
cornerPointUL,
cornerPointUR,
cornerPointLR,
cornerPointLL,
hasElevationModel(),
)
SetGCPsToGeoTransform(
cornerPointUL,
cornerPointUR,
cornerPointLR,
cornerPointLL,
frameCenterPoint[1],
frameCenterPoint[0],
hasElevationModel(),
)
except Exception as e:
qgsu.showUserAndLogMessage(
QCoreApplication.translate(
"QgsFmvUtils", "CornerEstimationWithoutOffsets failed! : "),
str(e),
)
return False
return True
