def extractOrbit(self):
'''
Extract orbit information from xml node.
'''
node = self._xml_root.find('generalAnnotation/orbitList')
print('Extracting orbit from annotation XML file')
frameOrbit = Orbit()
frameOrbit.configure()
for child in node.getchildren():
timestamp = self.convertToDateTime(child.find('time').text)
pos = []
vel = []
posnode = child.find('position')
velnode = child.find('velocity')
for tag in ['x', 'y', 'z']:
pos.append(float(posnode.find(tag).text))
for tag in ['x', 'y', 'z']:
vel.append(float(velnode.find(tag).text))
vec = StateVector()
vec.setTime(timestamp)
vec.setPosition(pos)
vec.setVelocity(vel)
frameOrbit.addStateVector(vec)
orbExt = OrbitExtender(planet=Planet(pname='Earth'))
orbExt.configure()
newOrb = orbExt.extendOrbit(frameOrbit)
return newOrb
def extractOrbitFromAnnotation(self):
'''
Extract orbit information from xml node.
'''
node = self._xml_root.find('generalAnnotation/orbitList')
frameOrbit = Orbit()
frameOrbit.setOrbitSource('Header')
for child in node:
timestamp = self.convertToDateTime(child.find('time').text)
pos = []
vel = []
posnode = child.find('position')
velnode = child.find('velocity')
for tag in ['x', 'y', 'z']:
pos.append(float(posnode.find(tag).text))
for tag in ['x', 'y', 'z']:
vel.append(float(velnode.find(tag).text))
vec = StateVector()
vec.setTime(timestamp)
vec.setPosition(pos)
vec.setVelocity(vel)
frameOrbit.addStateVector(vec)
planet = self.frame.instrument.platform.planet
orbExt = OrbitExtender(planet=planet)
orbExt.configure()
newOrb = orbExt.extendOrbit(frameOrbit)
return newOrb
def getOrbitFromXML(self):
'''
Populate orbit.
'''
orb = Orbit()
orb.configure()
for node in self._xml_root.find('platform/orbit'):
if node.tag == 'stateVec':
sv = StateVector()
sv.configure()
for z in node:
if z.tag == 'timeUTC':
timeStamp = self.convertToDateTime2(z.text)
elif z.tag == 'posX':
xPosition = float(z.text)
elif z.tag == 'posY':
yPosition = float(z.text)
elif z.tag == 'posZ':
zPosition = float(z.text)
elif z.tag == 'velX':
xVelocity = float(z.text)
elif z.tag == 'velY':
yVelocity = float(z.text)
elif z.tag == 'velZ':
zVelocity = float(z.text)
sv.setTime(timeStamp)
sv.setPosition([xPosition, yPosition, zPosition])
sv.setVelocity([xVelocity, yVelocity, zVelocity])
orb.addStateVector(sv)
print('sv=',sv)
orbExt = OrbitExtender(planet=Planet(pname='Earth'))
orbExt.configure()
newOrb = orbExt.extendOrbit(orb)
return newOrb
self.product.orbit.setOrbitSource('Header')
for sv in newOrb:
self.product.orbit.addStateVector(sv)
def getOrbitFromXML(self):
'''
Populate orbit.
'''
orb = Orbit()
orb.configure()
for node in self._xml_root.find(
'sourceAttributes/orbitAndAttitude/orbitInformation'):
if node.tag == 'stateVector':
sv = StateVector()
sv.configure()
for z in node.getchildren():
if z.tag == 'timeStamp':
timeStamp = self.convertToDateTime(z.text)
elif z.tag == 'xPosition':
xPosition = float(z.text)
elif z.tag == 'yPosition':
yPosition = float(z.text)
elif z.tag == 'zPosition':
zPosition = float(z.text)
elif z.tag == 'xVelocity':
xVelocity = float(z.text)
elif z.tag == 'yVelocity':
yVelocity = float(z.text)
elif z.tag == 'zVelocity':
zVelocity = float(z.text)
sv.setTime(timeStamp)
sv.setPosition([xPosition, yPosition, zPosition])
sv.setVelocity([xVelocity, yVelocity, zVelocity])
orb.addStateVector(sv)
orbExt = OrbitExtender(planet=Planet(pname='Earth'))
orbExt.configure()
newOrb = orbExt.extendOrbit(orb)
return newOrb
self.product.orbit.setOrbitSource('Header')
for sv in newOrb:
self.product.orbit.addStateVector(sv)
def populateMetadata(self):
"""
Create the appropriate metadata objects from our CEOSFormat metadata
"""
frame = self._decodeSceneReferenceNumber(
self.leaderFile.sceneHeaderRecord.
metadata['Scene reference number'])
try:
rangePixelSize = Const.c / (2 * self.leaderFile.sceneHeaderRecord.
metadata['Range sampling rate'])
except ZeroDivisionError:
rangePixelSize = 0
print(
'Average terrain height: ', 1000 * self.leaderFile.
sceneHeaderRecord.metadata['Average terrain height in km'])
ins = self.frame.getInstrument()
platform = ins.getPlatform()
platform.setMission(self.leaderFile.sceneHeaderRecord.
metadata['Sensor platform mission identifier'])
platform.setAntennaLength(self.constants['antennaLength'])
platform.setPlanet(Planet(pname='Earth'))
ins.setRadarWavelength(
self.leaderFile.sceneHeaderRecord.metadata['Radar wavelength'])
ins.setIncidenceAngle(self.leaderFile.sceneHeaderRecord.
metadata['Incidence angle at scene centre'])
self.frame.getInstrument().setPulseRepetitionFrequency(
self.leaderFile.sceneHeaderRecord.
metadata['Pulse Repetition Frequency'])
ins.setRangePixelSize(rangePixelSize)
ins.setRangeSamplingRate(
self.leaderFile.sceneHeaderRecord.metadata['Range sampling rate'])
ins.setPulseLength(
self.leaderFile.sceneHeaderRecord.metadata['Range pulse length'])
chirpPulseBandwidth = self.leaderFile.processingRecord.metadata[
'Pulse bandwidth code'] * 1e4
ins.setChirpSlope(
chirpPulseBandwidth /
self.leaderFile.sceneHeaderRecord.metadata['Range pulse length'])
ins.setInPhaseValue(0.0)
ins.setQuadratureValue(0.0)
self.lineDirection = self.leaderFile.sceneHeaderRecord.metadata[
'Time direction indicator along line direction'].strip()
self.pixelDirection = self.leaderFile.sceneHeaderRecord.metadata[
'Time direction indicator along pixel direction'].strip()
######RISAT-1 sensor orientation convention is opposite to ours
lookSide = self.leaderFile.processingRecord.metadata[
'Sensor orientation']
if lookSide == 'RIGHT':
platform.setPointingDirection(1)
elif lookSide == 'LEFT':
platform.setPointingDirection(-1)
else:
raise Exception('Unknown look side')
print('Leader file look side: ', lookSide)
self.frame.setFrameNumber(frame)
self.frame.setOrbitNumber(
self.leaderFile.sceneHeaderRecord.metadata['Orbit number'])
self.frame.setProcessingFacility(
self.leaderFile.sceneHeaderRecord.
metadata['Processing facility identifier'])
self.frame.setProcessingSystem(
self.leaderFile.sceneHeaderRecord.
metadata['Processing system identifier'])
self.frame.setProcessingSoftwareVersion(
self.leaderFile.sceneHeaderRecord.
metadata['Processing version identifier'])
self.frame.setNumberOfLines(
self.imageFile.imageFDR.metadata['Number of lines per data set'])
self.frame.setNumberOfSamples(
self.imageFile.imageFDR.
metadata['Number of pixels per line per SAR channel'])
######
self.frame.getOrbit().setOrbitSource('Header')
self.frame.getOrbit().setOrbitQuality(
self.leaderFile.platformPositionRecord.
metadata['Orbital elements designator'])
t0 = datetime.datetime(year=2000 +
self.leaderFile.platformPositionRecord.
metadata['Year of data point'],
month=self.leaderFile.platformPositionRecord.
metadata['Month of data point'],
day=self.leaderFile.platformPositionRecord.
metadata['Day of data point'])
t0 = t0 + datetime.timedelta(
seconds=self.leaderFile.platformPositionRecord.
metadata['Seconds of day'])
#####Read in orbit in inertial coordinates
orb = Orbit()
deltaT = self.leaderFile.platformPositionRecord.metadata[
'Time interval between DATA points']
numPts = self.leaderFile.platformPositionRecord.metadata[
'Number of data points']
for i in range(numPts):
vec = StateVector()
t = t0 + datetime.timedelta(seconds=i * deltaT)
vec.setTime(t)
dataPoints = self.leaderFile.platformPositionRecord.metadata[
'Positional Data Points'][i]
pos = [
dataPoints['Position vector X'],
dataPoints['Position vector Y'],
dataPoints['Position vector Z']
]
vel = [
dataPoints['Velocity vector X'],
dataPoints['Velocity vector Y'],
dataPoints['Velocity vector Z']
]
vec.setPosition(pos)
vec.setVelocity(vel)
orb.addStateVector(vec)
#####Convert orbits from ECI to ECR frame
t0 = orb._stateVectors[0]._time
ang = self.leaderFile.platformPositionRecord.metadata[
'Greenwich mean hour angle']
cOrb = ECI2ECR(orb, GAST=ang, epoch=t0)
iOrb = cOrb.convert()
#####Extend the orbits by a few points
#####Expect large azimuth shifts - absolutely needed
#####Since CEOS contains state vectors that barely covers scene extent
planet = self.frame.instrument.platform.planet
orbExt = OrbitExtender()
orbExt.configure()
orbExt._newPoints = 4
newOrb = orbExt.extendOrbit(iOrb)
orb = self.frame.getOrbit()
for sv in newOrb:
orb.addStateVector(sv)
self.doppler_coeff = [
self.leaderFile.sceneHeaderRecord.
metadata['Cross track Doppler frequency centroid constant term'],
self.leaderFile.sceneHeaderRecord.
metadata['Cross track Doppler frequency centroid linear term'],
self.leaderFile.sceneHeaderRecord.
metadata['Cross track Doppler frequency centroid quadratic term']
]
self.azfmrate_coeff = [
self.leaderFile.sceneHeaderRecord.
metadata['Cross track Doppler frequency rate constant term'],
self.leaderFile.sceneHeaderRecord.
metadata['Cross track Doppler frequency rate linear term'],
self.leaderFile.sceneHeaderRecord.
metadata['Cross track Doppler frequency rate quadratic term']
]
def populateMetadata(self):
"""
Create metadata objects from the metadata files
"""
mission = self.product.sourceAttributes.satellite
swath = self.product.sourceAttributes.radarParameters.beams
frequency = self.product.sourceAttributes.radarParameters.radarCenterFrequency
orig_prf = self.product.sourceAttributes.radarParameters.prf # original PRF not necessarily effective PRF
rangePixelSize = self.product.imageAttributes.rasterAttributes.sampledPixelSpacing
rangeSamplingRate = Const.c / (2 * rangePixelSize)
pulseLength = self.product.sourceAttributes.radarParameters.pulseLengths[
0]
pulseBandwidth = self.product.sourceAttributes.radarParameters.pulseBandwidths[
0]
polarization = self.product.sourceAttributes.radarParameters.polarizations
lookSide = lookMap[self.product.sourceAttributes.radarParameters.
antennaPointing.upper()]
facility = self.product.imageGenerationParameters.generalProcessingInformation._processingFacility
version = self.product.imageGenerationParameters.generalProcessingInformation.softwareVersion
lines = self.product.imageAttributes.rasterAttributes.numberOfLines
samples = self.product.imageAttributes.rasterAttributes.numberOfSamplesPerLine
startingRange = self.product.imageGenerationParameters.slantRangeToGroundRange.slantRangeTimeToFirstRangeSample * (
Const.c / 2)
incidenceAngle = (self.product.imageGenerationParameters.
sarProcessingInformation.incidenceAngleNearRange +
self.product.imageGenerationParameters.
sarProcessingInformation.incidenceAngleFarRange) / 2
# some RS2 scenes have oversampled SLC images because processed azimuth bandwidth larger than PRF EJF 2015/08/15
azimuthPixelSize = self.product.imageAttributes.rasterAttributes.sampledLineSpacing # ground spacing in meters
totalProcessedAzimuthBandwidth = self.product.imageGenerationParameters.sarProcessingInformation.totalProcessedAzimuthBandwidth
prf = orig_prf * np.ceil(
totalProcessedAzimuthBandwidth / orig_prf
) # effective PRF can be double original, suggested by Piyush
print("effective PRF %f, original PRF %f" % (prf, orig_prf))
lineFlip = (self.product.imageAttributes.rasterAttributes.
lineTimeOrdering.upper() == 'DECREASING')
if lineFlip:
dataStopTime = self.product.imageGenerationParameters.sarProcessingInformation.zeroDopplerTimeFirstLine
dataStartTime = self.product.imageGenerationParameters.sarProcessingInformation.zeroDopplerTimeLastLine
else:
dataStartTime = self.product.imageGenerationParameters.sarProcessingInformation.zeroDopplerTimeFirstLine
dataStopTime = self.product.imageGenerationParameters.sarProcessingInformation.zeroDopplerTimeLastLine
passDirection = self.product.sourceAttributes.orbitAndAttitude.orbitInformation.passDirection
height = self.product.imageGenerationParameters.sarProcessingInformation._satelliteHeight
####Populate platform
platform = self.frame.getInstrument().getPlatform()
platform.setPlanet(Planet(pname="Earth"))
platform.setMission(mission)
platform.setPointingDirection(lookSide)
platform.setAntennaLength(15.0)
####Populate instrument
instrument = self.frame.getInstrument()
instrument.setRadarFrequency(frequency)
instrument.setPulseRepetitionFrequency(prf)
instrument.setPulseLength(pulseLength)
instrument.setChirpSlope(pulseBandwidth / pulseLength)
instrument.setIncidenceAngle(incidenceAngle)
#self.frame.getInstrument().setRangeBias(0)
instrument.setRangePixelSize(rangePixelSize)
instrument.setRangeSamplingRate(rangeSamplingRate)
instrument.setBeamNumber(swath)
instrument.setPulseLength(pulseLength)
#Populate Frame
#self.frame.setSatelliteHeight(height)
self.frame.setSensingStart(dataStartTime)
self.frame.setSensingStop(dataStopTime)
diffTime = DTUtil.timeDeltaToSeconds(dataStopTime -
dataStartTime) / 2.0
sensingMid = dataStartTime + datetime.timedelta(
microseconds=int(diffTime * 1e6))
self.frame.setSensingMid(sensingMid)
self.frame.setPassDirection(passDirection)
self.frame.setPolarization(polarization)
self.frame.setStartingRange(startingRange)
self.frame.setFarRange(startingRange + (samples - 1) * rangePixelSize)
self.frame.setNumberOfLines(lines)
self.frame.setNumberOfSamples(samples)
self.frame.setProcessingFacility(facility)
self.frame.setProcessingSoftwareVersion(version)
# Initialize orbit objects
# Read into temp orbit first.
# Radarsat 2 needs orbit extensions.
tempOrbit = Orbit()
self.frame.getOrbit().setOrbitSource(
'Header: ' + self.product.sourceAttributes.orbitAndAttitude.
orbitInformation.orbitDataFile)
self.frame.setPassDirection(passDirection)
stateVectors = self.product.sourceAttributes.orbitAndAttitude.orbitInformation.stateVectors
for i in range(len(stateVectors)):
position = [
stateVectors[i].xPosition, stateVectors[i].yPosition,
stateVectors[i].zPosition
]
velocity = [
stateVectors[i].xVelocity, stateVectors[i].yVelocity,
stateVectors[i].zVelocity
]
vec = StateVector()
vec.setTime(stateVectors[i].timeStamp)
vec.setPosition(position)
vec.setVelocity(velocity)
tempOrbit.addStateVector(vec)
planet = self.frame.instrument.platform.planet
orbExt = OrbitExtender(planet=planet)
orbExt.configure()
newOrb = orbExt.extendOrbit(tempOrbit)
for sv in newOrb:
self.frame.getOrbit().addStateVector(sv)
# save the Doppler centroid coefficients, converting units from product.xml file
# units in the file are quadratic coefficients in Hz, Hz/sec, and Hz/(sec^2)
# ISCE expects Hz, Hz/(range sample), Hz((range sample)^2
# note that RS2 Doppler values are estimated at time dc.dopplerCentroidReferenceTime,
# so the values might need to be adjusted for ISCE usage
# added EJF 2015/08/17
dc = self.product.imageGenerationParameters.dopplerCentroid
poly = dc.dopplerCentroidCoefficients
# need to convert units
poly[1] = poly[1] / rangeSamplingRate
poly[2] = poly[2] / rangeSamplingRate**2
self.doppler_coeff = poly
# similarly save Doppler azimuth fm rate values, converting units
# units in the file are quadratic coefficients in Hz, Hz/sec, and Hz/(sec^2)
# Guessing that ISCE expects Hz, Hz/(range sample), Hz((range sample)^2
# note that RS2 Doppler values are estimated at time dc.dopplerRateReferenceTime,
# so the values might need to be adjusted for ISCE usage
# added EJF 2015/08/17
dr = self.product.imageGenerationParameters.dopplerRateValues
fmpoly = dr.dopplerRateValuesCoefficients
# need to convert units
fmpoly[1] = fmpoly[1] / rangeSamplingRate
fmpoly[2] = fmpoly[2] / rangeSamplingRate**2
self.azfmrate_coeff = fmpoly
def populateMetadata(self):
"""
Create metadata objects from the metadata files
"""
mission = self.product.sourceAttributes.satellite
swath = self.product.sourceAttributes.radarParameters.beams
frequency = self.product.sourceAttributes.radarParameters.radarCenterFrequency
prf = self.product.sourceAttributes.radarParameters.prf
rangePixelSize = self.product.imageAttributes.rasterAttributes.sampledPixelSpacing
rangeSamplingRate = Const.c/(2*rangePixelSize)
pulseLength = self.product.sourceAttributes.radarParameters.pulseLengths[0]
pulseBandwidth = self.product.sourceAttributes.radarParameters.pulseBandwidths[0]
polarization = self.product.sourceAttributes.radarParameters.polarizations
lookSide = lookMap[self.product.sourceAttributes.radarParameters.antennaPointing.upper()]
facility = self.product.imageGenerationParameters.generalProcessingInformation._processingFacility
version = self.product.imageGenerationParameters.generalProcessingInformation.softwareVersion
lines = self.product.imageAttributes.rasterAttributes.numberOfLines
samples = self.product.imageAttributes.rasterAttributes.numberOfSamplesPerLine
startingRange = self.product.imageGenerationParameters.slantRangeToGroundRange.slantRangeTimeToFirstRangeSample * (Const.c/2)
incidenceAngle = (self.product.imageGenerationParameters.sarProcessingInformation.incidenceAngleNearRange + self.product.imageGenerationParameters.sarProcessingInformation.incidenceAngleFarRange)/2
lineFlip = (self.product.imageAttributes.rasterAttributes.lineTimeOrdering.upper() == 'DECREASING')
if lineFlip:
dataStopTime = self.product.imageGenerationParameters.sarProcessingInformation.zeroDopplerTimeFirstLine
dataStartTime = self.product.imageGenerationParameters.sarProcessingInformation.zeroDopplerTimeLastLine
else:
dataStartTime = self.product.imageGenerationParameters.sarProcessingInformation.zeroDopplerTimeFirstLine
dataStopTime = self.product.imageGenerationParameters.sarProcessingInformation.zeroDopplerTimeLastLine
passDirection = self.product.sourceAttributes.orbitAndAttitude.orbitInformation.passDirection
height = self.product.imageGenerationParameters.sarProcessingInformation._satelliteHeight
####Populate platform
platform = self.frame.getInstrument().getPlatform()
platform.setPlanet(Planet("Earth"))
platform.setMission(mission)
platform.setPointingDirection(lookSide)
platform.setAntennaLength(15.0)
####Populate instrument
instrument = self.frame.getInstrument()
instrument.setRadarFrequency(frequency)
instrument.setPulseRepetitionFrequency(prf)
instrument.setPulseLength(pulseLength)
instrument.setChirpSlope(pulseBandwidth/pulseLength)
instrument.setIncidenceAngle(incidenceAngle)
#self.frame.getInstrument().setRangeBias(0)
instrument.setRangePixelSize(rangePixelSize)
instrument.setRangeSamplingRate(rangeSamplingRate)
instrument.setBeamNumber(swath)
instrument.setPulseLength(pulseLength)
#Populate Frame
#self.frame.setSatelliteHeight(height)
self.frame.setSensingStart(dataStartTime)
self.frame.setSensingStop(dataStopTime)
diffTime = DTUtil.timeDeltaToSeconds(dataStopTime - dataStartTime)/2.0
sensingMid = dataStartTime + datetime.timedelta(microseconds=int(diffTime*1e6))
self.frame.setSensingMid(sensingMid)
self.frame.setPassDirection(passDirection)
self.frame.setPolarization(polarization)
self.frame.setStartingRange(startingRange)
self.frame.setFarRange(startingRange + (samples-1)*rangePixelSize)
self.frame.setNumberOfLines(lines)
self.frame.setNumberOfSamples(samples)
self.frame.setProcessingFacility(facility)
self.frame.setProcessingSoftwareVersion(version)
# Initialize orbit objects
# Read into temp orbit first.
# Radarsat 2 needs orbit extensions.
tempOrbit = Orbit()
self.frame.getOrbit().setOrbitSource('Header: ' + self.product.sourceAttributes.orbitAndAttitude.orbitInformation.orbitDataFile)
self.frame.setPassDirection(passDirection)
stateVectors = self.product.sourceAttributes.orbitAndAttitude.orbitInformation.stateVectors
for i in range(len(stateVectors)):
position = [stateVectors[i].xPosition, stateVectors[i].yPosition, stateVectors[i].zPosition]
velocity = [stateVectors[i].xVelocity, stateVectors[i].yVelocity, stateVectors[i].zVelocity]
vec = StateVector()
vec.setTime(stateVectors[i].timeStamp)
vec.setPosition(position)
vec.setVelocity(velocity)
tempOrbit.addStateVector(vec)
planet = self.frame.instrument.platform.planet
orbExt = OrbitExtender(planet=planet)
orbExt.configure()
newOrb = orbExt.extendOrbit(tempOrbit)
for sv in newOrb:
self.frame.getOrbit().addStateVector(sv)