#!/usr/bin/env python3 #~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ # Copyright 2010 California Institute of Technology. ALL RIGHTS RESERVED. # # 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. # # United States Government Sponsorship acknowledged. This software is subject to # U.S. export control laws and regulations and has been classified as 'EAR99 NLR' # (No [Export] License Required except when exporting to an embargoed country, # end user, or in support of a prohibited end use). By downloading this software, # the user agrees to comply with all applicable U.S. export laws and regulations. # The user has the responsibility to obtain export licenses, or other export # authority as may be required before exporting this software to any 'EAR99' # embargoed foreign country or citizen of those countries. # # Author: Giangi Sacco #~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ import os import logging import math import logging.config from iscesys.Compatibility import Compatibility from isceobj.Planet import Planet from isceobj import Constants as CN from iscesys.Component.Component import Component, Port logging.config.fileConfig(os.path.join(os.environ['ISCE_HOME'], 'defaults', 'logging', 'logging.conf')) RANGE_SAMPLING_RATE = Component.Parameter('rangeSamplingRate', public_name='range sampling rate', type=float, default=None, units='Hz', mandatory=True, doc="Sampling rate in range" ) PRF = Component.Parameter('prf', public_name='prf', type=float, default=None, units='Hz', mandatory=True, doc="Pulse repetition frequency" ) RANGE_FIRST_SAMPLE = Component.Parameter('rangeFirstSample', public_name='range to first sample', type=float, default=None, units='meter', mandatory=True, doc="Range in meters to the first sample" ) class CalcSchHeightVel(Component): parameter_list = (RANGE_SAMPLING_RATE, PRF, RANGE_FIRST_SAMPLE) def calculate(self): for port in self.inputPorts: port() self.b = self.a*math.sqrt(1-self.e2) ro = self.rangeFirstSample sol = CN.SPEED_OF_LIGHT rc = self.b ra = self.a fs = self.rangeSamplingRate dt = 1/self.prf dr = 1/2.*sol/fs half = len(self.pos)//2 - 1 xyz = self.pos[half] vxyz = self.vel[half] rs = math.sqrt(xyz[0]*xyz[0] + xyz[1]*xyz[1] + xyz[2]*xyz[2]) vs = math.sqrt(vxyz[0]*vxyz[0] + vxyz[1]*vxyz[1] + vxyz[2]*vxyz[2]) rlat = math.asin(xyz[2]/rs) rlatg = math.atan(math.tan(rlat)*ra*ra/(rc*rc)) st = math.sin(rlatg) ct = math.cos(rlatg) arg = (ct*ct)/(ra*ra) + (st*st)/(rc*rc) re = 1./math.sqrt(arg) try: re = self.pegRadCur except: pass # compute the vector orthogonal to both the radial vector and velocity vector */ a = [xyz[0]/rs,xyz[1]/rs,xyz[2]/rs] b = [vxyz[0]/vs,vxyz[1]/vs,vxyz[2]/vs] # cross product c = [(a[1]*b[2]) - (a[2]*b[1]),(-a[0]*b[2]) + (a[2]*b[0]),(a[0]*b[1]) - (a[1]*b[0])] # /* compute the look angle */ ct = (rs*rs+ro*ro-(re+self.terrainHeight)**2)/(2.*rs*ro) st = math.sin(math.acos(ct)) # /* add the satellite and LOS vectors to get the new point */ xe = xyz[0]+ro*(-st*c[0]-ct*a[0]) ye = xyz[1]+ro*(-st*c[1]-ct*a[1]) ze = xyz[2]+ro*(-st*c[2]-ct*a[2]) rlat = math.asin(ze/re) rlatg = math.atan(math.tan(rlat)*ra*ra/(rc*rc)) # /* compute elipse height in the scene */ st = math.sin(rlatg) ct = math.cos(rlatg) arg = (ct*ct)/(ra*ra)+(st*st)/(rc*rc) re = 1./(math.sqrt(arg)) self.height = rs - re # /* now check range over time */ #jng the original code claims that it uses the center +- 2 sec to compute the velocity. it skips 10000 lines from the beginning and the end, which is about 8000 lines in the center. this is 2.4 sec. default the self.offset to be close to 2.4 sec. offset = int(self.offset*self.prf) lo = max(half-offset,0) hi = min(half+offset,2*half) #lo = 10000 #hi = len(self.pos) - 10000 rng = [0]*(hi-lo) cnt = 0 for i in range(lo,hi): rng[cnt] = math.sqrt((xe-self.pos[i][0])*(xe-self.pos[i][0]) + (ye-self.pos[i][1])*(ye-self.pos[i][1]) + (ze-self.pos[i][2])*(ze-self.pos[i][2])) - ro cnt += 1 sumdr = 0 for i in range(1,len(rng)-1): sumdr += rng[i+1] + rng[i-1] -2*rng[i] sumdr /= (len(rng)-2)*dt*dt self.velocity = math.sqrt(ro*math.fabs(sumdr)) return None ## You need this identity to use Componenet.__call__ calcschheightvel = calculate def setRangeFirstSample(self,rfs): self.rangeFirstSample = rfs def setRangeSamplingRate(self,rsr): self.rangeSamplingRate = rsr def setPRF(self,prf): self.prf = prf def setPosition(self,pos): self.pos = pos def setVelocity(self,vel): self.vel = vel def setOffest(self,off): self.offset = off def setEllipsoidMajorAxis(self,a): self.a = a def setEllipsoidEccentricitySquared(self,e2): self.e2 = e2 def getHeight(self): return self.height def getVelocity(self): return self.velocity def addOrbit(self): orbit = self._inputPorts.getPort('orbit').getObject() if (orbit): try: (time,position,velocity,offset) = orbit._unpackOrbit() self.pos = position self.vel = velocity except AttributeError: self.logger.error("Object %s requires an _unpackOrbit() method" % (orbit.__class__)) raise AttributeError def addFrame(self): frame = self._inputPorts.getPort('frame').getObject() if (frame): try: self.rangeFirstSample = frame.getStartingRange() instrument = frame.getInstrument() self.rangeSamplingRate = instrument.getRangeSamplingRate() self.prf = instrument.getPulseRepetitionFrequency() except AttributeError as strerr: self.logger.error(strerr) raise AttributeError try: self.terrainHeight = frame.terrainHeight self.pegRadCur = frame._ellipsoid.pegRadCur except: self.terrainHeight = 0.0 def addPlanet(self): planet = self._inputPorts.getPort('planet').getObject() if (planet): try: ellipsoid = planet.get_elp() self.a = ellipsoid.get_a() self.e2 = ellipsoid.get_e2() except AttributeError as strerr: self.logger.error(strerr) raise AttributeError logging_name = "CalcSchHeightVel" def __init__(self): super(CalcSchHeightVel, self).__init__() planet = Planet.Planet(pname='Earth') ellipsoid = planet.get_elp() self.a = ellipsoid.get_a() self.e2 = ellipsoid.get_e2() self.b = None self.rangeFirstSample = None self.rangeSamplingRate = None self.prf = None self.height = None self.velocity = None self.prf = None self.pos = None self.vel = None self.offset = 2.3758 self.terrainHeight = 0.0 # self.logger = logging.getLogger("CalcSchHeightVel") # self.createPorts() self.dictionaryOfOutputVariables = { 'HEIGHT' : 'height' , 'VELOCITY' : 'velocity' } # TODO: 'radius' does not exist as an member of this class # 'RADIUS' : 'radius' \ # } self.descriptionOfVariables = {} self.mandatoryVariables = [] self.optionalVariables = [] self.initOptionalAndMandatoryLists() return None def createPorts(self): orbitPort = Port(name='orbit',method=self.addOrbit) framePort = Port(name='frame',method=self.addFrame) planetPort = Port(name='planet',method=self.addPlanet) self._inputPorts.add(orbitPort) self._inputPorts.add(framePort) self._inputPorts.add(planetPort) return None pass def main(): import pdb pdb.set_trace() with open(sys.argv[1]) as fp: allL = fp.readlines() numberOfLines = len(allL) position = [] velocity = [] for i in range(numberOfLines): line = allL[i].split() position.append([float(line[2]),float(line[3]),float(line[4])]) velocity.append([float(line[5]),float(line[6]),float(line[7])]) ch = CalcSchHeightVel() ch.setPosition(position) ch.setVelocity(velocity) ch.setPRF(1741.71924) ch.setRangeFirstSample(955972.779) ch.setRangeSamplingRate(19207680.) ch.calculate() if __name__ == '__main__': import sys sys.exit(main())