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- API Extension to include fwd3d / inv3d
- New SCH coordinate system for radar imaging systems
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Piyush Agram
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Oct 23, 2015
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| /****************************************************************************** | ||
| * $Id$ | ||
| * | ||
| * Project: SCH Coordinate system | ||
| * Purpose: Implementation of SCH Coordinate system | ||
| * References : | ||
| * 1. Hensley. Scott. SCH Coordinates and various transformations. June 15, 2000. | ||
| * 2. Buckley, Sean Monroe. Radar interferometry measurement of land subsidence. 2000.. | ||
| * PhD Thesis. UT Austin. (Appendix) | ||
| * 3. Hensley, Scott, Elaine Chapin, and T. Michel. "Improved processing of AIRSAR | ||
| * data based on the GeoSAR processor." Airsar earth science and applications | ||
| * workshop, March. 2002. (http://airsar.jpl.nasa.gov/documents/workshop2002/papers/T3.pdf) | ||
| * | ||
| * Author: Piyush Agram (piyush.agram@jpl.nasa.gov) | ||
| * Copyright (c) 2015 California Institute of Technology. | ||
| * Government sponsorship acknowledged. | ||
| * | ||
| * NOTE: The SCH coordinate system is a sensor aligned coordinate system | ||
| * developed at JPL for radar mapping missions. Details pertaining to the | ||
| * coordinate system have been release in the public domain (see references above). | ||
| * This code is an independent implementation of the SCH coordinate system | ||
| * that conforms to the PROJ.4 conventions and uses the details presented in these | ||
| * publicly released documents. All credit for the development of the coordinate | ||
| * system and its use should be directed towards the original developers at JPL. | ||
| ****************************************************************************** | ||
| * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS | ||
| * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, | ||
| * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL | ||
| * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER | ||
| * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING | ||
| * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER | ||
| * DEALINGS IN THE SOFTWARE. | ||
| ****************************************************************************/ | ||
|
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| #include "geocent.h" | ||
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| #define PROJ_PARMS__ \ | ||
| double plat; /*Peg Latitude */ \ | ||
| double plon; /*Peg Longitude*/ \ | ||
| double phdg; /*Peg heading */ \ | ||
| double h0; /*Average altitude */\ | ||
| double transMat[9]; \ | ||
| double xyzoff[3]; \ | ||
| double rcurv; \ | ||
| GeocentricInfo sph; \ | ||
| GeocentricInfo elp_0; | ||
|
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| #define PJ_LIB__ | ||
| #include <projects.h> | ||
|
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| PROJ_HEAD(sch, "Spherical Cross-track Height") "\n\tMisc\n\tplat_0 = ,plon_0 = , phdg_0 = ,[h_0 = ]"; | ||
|
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| INVERSE3D(inverse3d); | ||
| double temp[3]; | ||
| double pxyz[3]; | ||
|
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| //Local lat,lon using radius | ||
| pxyz[0] = xyz.y * P->a / P->rcurv; | ||
| pxyz[1] = xyz.x * P->a / P->rcurv; | ||
| pxyz[2] = xyz.z; | ||
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| if( pj_Convert_Geodetic_To_Geocentric( &(P->sph), pxyz[0], pxyz[1], pxyz[2], | ||
| temp, temp+1, temp+2) != 0) | ||
| I3_ERROR; | ||
|
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| //Apply rotation | ||
| pxyz[0] = P->transMat[0] * temp[0] + P->transMat[1] * temp[1] + P->transMat[2] * temp[2]; | ||
| pxyz[1] = P->transMat[3] * temp[0] + P->transMat[4] * temp[1] + P->transMat[5] * temp[2]; | ||
| pxyz[2] = P->transMat[6] * temp[0] + P->transMat[7] * temp[1] + P->transMat[8] * temp[2]; | ||
|
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| //Apply offset | ||
| pxyz[0] += P->xyzoff[0]; | ||
| pxyz[1] += P->xyzoff[1]; | ||
| pxyz[2] += P->xyzoff[2]; | ||
|
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| //Convert geocentric coordinates to lat lon | ||
| pj_Convert_Geocentric_To_Geodetic( &(P->elp_0), pxyz[0], pxyz[1], pxyz[2], | ||
| temp, temp+1, temp+2); | ||
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| lpz.lam = temp[0] ; | ||
| lpz.phi = temp[1] ; | ||
| lpz.z = temp[2]; | ||
|
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| // printf("INVERSE: \n"); | ||
| // printf("XYZ: %f %f %f \n", xyz.x, xyz.y, xyz.z); | ||
| // printf("LPZ: %f %f %f \n", lpz.lam, lpz.phi, lpz.z); | ||
| return (lpz); | ||
| } | ||
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| FORWARD3D(forward3d); | ||
| double temp[3]; | ||
| double pxyz[3]; | ||
|
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| //Convert lat lon to geocentric coordinates | ||
| if( pj_Convert_Geodetic_To_Geocentric( &(P->elp_0), lpz.lam, lpz.phi, lpz.z, | ||
| temp, temp+1, temp+2 ) != 0 ) | ||
| F3_ERROR; | ||
|
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| //Adjust for offset | ||
| temp[0] -= P->xyzoff[0]; | ||
| temp[1] -= P->xyzoff[1]; | ||
| temp[2] -= P->xyzoff[2]; | ||
|
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|
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| //Apply rotation | ||
| pxyz[0] = P->transMat[0] * temp[0] + P->transMat[3] * temp[1] + P->transMat[6] * temp[2]; | ||
| pxyz[1] = P->transMat[1] * temp[0] + P->transMat[4] * temp[1] + P->transMat[7] * temp[2]; | ||
| pxyz[2] = P->transMat[2] * temp[0] + P->transMat[5] * temp[1] + P->transMat[8] * temp[2]; | ||
|
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| //Convert to local lat,lon | ||
| pj_Convert_Geocentric_To_Geodetic( &(P->sph), pxyz[0], pxyz[1], pxyz[2], | ||
| temp, temp+1, temp+2); | ||
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| //Scale by radius | ||
| xyz.x = temp[1] * P->rcurv / P->a; | ||
| xyz.y = temp[0] * P->rcurv / P->a; | ||
| xyz.z = temp[2]; | ||
|
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| // printf("FORWARD: \n"); | ||
| // printf("LPZ: %f %f %f \n", lpz.lam, lpz.phi, lpz.z); | ||
| // printf("XYZ: %f %f %f \n", xyz.x, xyz.y, xyz.z); | ||
|
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| return (xyz); | ||
| } | ||
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| FREEUP; if (P) pj_dalloc(P); } | ||
| static PJ * | ||
| setup(PJ *P) { /* general initialization */ | ||
| double reast, rnorth; | ||
| double chdg, shdg; | ||
| double clt, slt; | ||
| double clo, slo; | ||
| double temp; | ||
| double pxyz[3]; | ||
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| temp = P->a * sqrt(1.0 - P->es); | ||
|
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| //Setup original geocentric system | ||
| if ( pj_Set_Geocentric_Parameters(&(P->elp_0), P->a, temp) != 0) | ||
| E_ERROR(-37); | ||
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| clt = cos(P->plat); | ||
| slt = sin(P->plat); | ||
| clo = cos(P->plon); | ||
| slo = sin(P->plon); | ||
|
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| //Estimate the radius of curvature for given peg | ||
| temp = sqrt(1.0 - (P->es) * slt * slt); | ||
| reast = (P->a)/temp; | ||
| rnorth = (P->a) * (1.0 - (P->es))/pow(temp,3); | ||
|
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| chdg = cos(P->phdg); | ||
| shdg = sin(P->phdg); | ||
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| P->rcurv = P->h0 + (reast*rnorth)/(reast * chdg * chdg + rnorth * shdg * shdg); | ||
|
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| // printf("North Radius: %f \n", rnorth); | ||
| // printf("East Radius: %f \n", reast); | ||
| // printf("Effective Radius: %f \n", P->rcurv); | ||
|
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| //Set up local sphere at the given peg point | ||
| if ( pj_Set_Geocentric_Parameters(&(P->sph), P->rcurv, P->rcurv) != 0) | ||
| E_ERROR(-37); | ||
|
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| //Set up the transformation matrices | ||
| P->transMat[0] = clt * clo; | ||
| P->transMat[1] = -shdg*slo - slt*clo * chdg; | ||
| P->transMat[2] = slo*chdg - slt*clo*shdg; | ||
| P->transMat[3] = clt*slo; | ||
| P->transMat[4] = clo*shdg - slt*slo*chdg; | ||
| P->transMat[5] = -clo*chdg - slt*slo*shdg; | ||
| P->transMat[6] = slt; | ||
| P->transMat[7] = clt*chdg; | ||
| P->transMat[8] = clt*shdg; | ||
|
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| if( pj_Convert_Geodetic_To_Geocentric( &(P->elp_0), P->plat, P->plon, P->h0, | ||
| pxyz, pxyz+1, pxyz+2 ) != 0 ) | ||
| { | ||
| E_ERROR(-14) | ||
| } | ||
|
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| P->xyzoff[0] = pxyz[0] - (P->rcurv) * clt * clo; | ||
| P->xyzoff[1] = pxyz[1] - (P->rcurv) * clt * slo; | ||
| P->xyzoff[2] = pxyz[2] - (P->rcurv) * slt; | ||
|
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| // printf("Offset: %f %f %f \n", P->xyzoff[0], P->xyzoff[1], P->xyzoff[2]); | ||
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| P->fwd3d = forward3d; | ||
| P->inv3d = inverse3d; | ||
| return P; | ||
| } | ||
| ENTRY0(sch) | ||
| P->h0 = 0.0; | ||
|
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| //Check if peg latitude was defined | ||
| if (pj_param(P->ctx, P->params, "tplat_0").i) | ||
| P->plat = pj_param(P->ctx, P->params, "rplat_0").f; | ||
| else | ||
| E_ERROR(-37); | ||
|
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| //Check if peg longitude was defined | ||
| if (pj_param(P->ctx, P->params, "tplon_0").i) | ||
| P->plon = pj_param(P->ctx, P->params, "rplon_0").f; | ||
| else | ||
| E_ERROR(-37); | ||
|
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| //Check if peg latitude is defined | ||
| if (pj_param(P->ctx, P->params, "tphdg_0").i) | ||
| P->phdg = pj_param(P->ctx, P->params, "rphdg_0").f; | ||
| else | ||
| E_ERROR(-37); | ||
|
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|
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| //Check if average height was defined | ||
| //If so read it in | ||
| if (pj_param(P->ctx, P->params, "th_0").i) | ||
| P->h0 = pj_param(P->ctx, P->params, "dh_0").f; | ||
|
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| //Completed reading in the projection parameters | ||
| // printf("PSA: Lat = %f Lon = %f Hdg = %f \n", P->plat, P->plon, P->phdg); | ||
|
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| ENDENTRY(setup(P)) |
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