#~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ # 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 #~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ from __future__ import print_function import math from isceobj.Image import createDemImage,createIntImage,createImage from isceobj import Constants as CN from iscesys.Component.Component import Component, Port from zerodop.geozero import geozero from iscesys.ImageUtil.ImageUtil import ImageUtil as IU from iscesys import DateTimeUtil as DTU from isceobj.Util import combinedlibmodule from isceobj.Util.Poly1D import Poly1D import os import datetime INTERPOLATION_METHOD = Component.Parameter('method', public_name = 'INTERPOLATION_METHOD', default = None, type = str, mandatory = True, doc = 'Interpolation method. Can be sinc/ bilinear/ bicubic/ nearest') MINIMUM_LATITUDE = Component.Parameter('minimumLatitude', public_name = 'MINIMUM_LATITUDE', default = None, type = float, mandatory = True, doc = 'Minimum Latitude to geocode') MAXIMUM_LATITUDE = Component.Parameter('maximumLatitude', public_name = 'MAXIMUM_LATITUDE', default = None, type = float, mandatory = True, doc = 'Maximum Latitude to geocode') MINIMUM_LONGITUDE = Component.Parameter('minimumLongitude', public_name = 'MINIMUM_LONGITUDE', default = None, type = float, mandatory = True, doc = 'Minimum Longitude to geocode') MAXIMUM_LONGITUDE = Component.Parameter('maximumLongitude', public_name = 'MAXIMUM_LONGITUDE', default = None, type = float, mandatory = True, doc = 'Maximum Longitude to geocode') ELLIPSOID_MAJOR_SEMIAXIS = Component.Parameter('ellipsoidMajorSemiAxis', public_name = 'ELLIPSOID_MAJOR_SEMIAXIS', default = CN.EarthMajorSemiAxis, type = float, mandatory = True, doc = 'Ellipsoid Major Semi Axis of planet for geocoding') ELLIPSOID_ECCENTRICITY_SQUARED = Component.Parameter('ellipsoidEccentricitySquared', public_name = 'ELLIPSOID_ECCENTRICITY_SQUARED', default = CN.EarthEccentricitySquared, type = float, mandatory = True, doc = 'Ellipsoid Eccentricity Squared of planet for geocoding') SLANT_RANGE_PIXEL_SPACING = Component.Parameter('slantRangePixelSpacing', public_name = 'SLANT_RANGE_PIXEL_SPACING', default = None, type = float, mandatory = True, doc = 'Slant Range Pixel Spacing (single look) in meters') RANGE_FIRST_SAMPLE = Component.Parameter('rangeFirstSample', public_name = 'RANGE_FIRST_SAMPLE', default = None, type = float, mandatory = True, doc = 'Range to first sample') PRF = Component.Parameter('prf', public_name = 'PRF', default = None, type = float, mandatory = True, doc = 'Pulse repetition frequency') RADAR_WAVELENGTH = Component.Parameter('radarWavelength', public_name = 'RADAR_WAVELENGTH', default = None, type = float, mandatory = True, doc = 'Radar wavelength') SENSING_START = Component.Parameter('sensingStart', public_name = 'SENSING_START', default = None, type=float, doc = 'Sensing start time for the first line') NUMBER_RANGE_LOOKS = Component.Parameter('numberRangeLooks', public_name = 'NUMBER_RANGE_LOOKS', default = None, type = int, mandatory = True, doc = 'Number of range looks used to generate radar image') NUMBER_AZIMUTH_LOOKS = Component.Parameter('numberAzimuthLooks', public_name = 'NUMBER_AZIMUTH_LOOKS', default = None, type = int, mandatory = True, doc = 'Number of azimuth looks used to generate radar image') DEM_CROP_FILENAME = Component.Parameter('demCropFilename', public_name = 'DEM_CROP_FILENAME', default = None, type = str, mandatory = True, doc = 'Filename for the cropped DEM output') GEO_FILENAME = Component.Parameter('geoFilename', public_name = 'GEO_FILENAME', default = None, type = str, mandatory = True, doc = 'Output geocoded file name') LOOK_SIDE = Component.Parameter('lookSide', public_name = 'LOOK_SIDE', default = None, type = int, mandatory = True, doc = 'Right (-1) / Left (1) . Look direction of the radar platform') class Geocode(Component): interp_methods = { 'sinc' : 0, 'bilinear' : 1, 'bicubic' : 2, 'nearest' : 3} family = 'geocode' logging_name = 'isce.zerodop.geocode' parameter_list = (INTERPOLATION_METHOD, MINIMUM_LATITUDE, MAXIMUM_LATITUDE, MINIMUM_LONGITUDE, MAXIMUM_LONGITUDE, SLANT_RANGE_PIXEL_SPACING, ELLIPSOID_ECCENTRICITY_SQUARED, ELLIPSOID_MAJOR_SEMIAXIS, RANGE_FIRST_SAMPLE, SENSING_START, NUMBER_RANGE_LOOKS, NUMBER_AZIMUTH_LOOKS, PRF, RADAR_WAVELENGTH, DEM_CROP_FILENAME, GEO_FILENAME, LOOK_SIDE) #####Actual geocoding def geocode(self, demImage=None, inputImage=None, method=None): self.activateInputPorts() if demImage is not None: self.demImage = demImage if inputImage is not None: self.inputImage = inputImage if method is not None: self.method = method if self.orbit is None: raise Exception('No orbit provided for geocoding') self.setDefaults() self.createImages() self.setState() #this inits the image in the c++ bindings if not self.inputImage.dataType.upper().count('FLOAT'): self.inputImage.setCaster('read', 'FLOAT') self.inputImage.createImage() self.demImage.setCaster('read','FLOAT') self.demImage.createImage() demAccessor = self.demImage.getImagePointer() inputAccessor = self.inputImage.getImagePointer() complexFlag = self.inputImage.dataType.upper().startswith('C') nBands = self.inputImage.getBands() cOrbit = self.orbit.exportToC(reference=self.sensingStart) geozero.setOrbit_Py(cOrbit) #####Output cropped DEM for first band inband=0 outband=0 geozero.geozero_Py(demAccessor, inputAccessor, self.demCropAccessor, self.geoAccessor,inband, outband,int(complexFlag), int(self.interp_methods[self.method]), int(self.lookSide)) #####Supress cropped DEM output for other bands for kk in range(1,nBands): self.demImage.rewind() self.inputImage.rewind() self.demCropImage.rewind() self.geoImage.rewind() inband = kk outband = kk demCropAcc = 0 geozero.geozero_Py(demAccessor, inputAccessor, demCropAcc, self.geoAccessor, inband, outband, int(complexFlag), int(self.interp_methods[self.method]), int(self.lookSide)) combinedlibmodule.freeCOrbit(cOrbit) self.getState() self.demImage.finalizeImage() self.inputImage.finalizeImage() self.destroyImages() self.geoImage.setWidth(geozero.getGeoWidth_Py()) self.geoImage.trueDataType = self.geoImage.getDataType() # self.geoImage.description = "DEM-flattened interferogram orthorectified to an equi-angular latitude, longitude grid" self.geoImage.coord2.coordDescription = 'Latitude' self.geoImage.coord2.coordUnits = 'degree' self.geoImage.coord2.coordStart = self.maximumGeoLatitude self.geoImage.coord2.coordDelta = self.deltaLatitude self.geoImage.coord1.coordDescription = 'Longitude' self.geoImage.coord1.coordUnits = 'degree' self.geoImage.coord1.coordStart = self.minimumGeoLongitude self.geoImage.coord1.coordDelta = self.deltaLongitude descr = self.inputImage.getDescription() if descr not in [None, '']: self.geoImage.addDescription(descr) self.geoImage.renderHdr() return None def setDefaults(self): if self.polyDoppler is None: self.polyDoppler = Poly1D(name=self.name+'_geozeroPoly') self.polyDoppler.setMean(0.0) self.polyDoppler.initPoly(order=len(self.dopplerCentroidCoeffs)-1, coeffs = self.dopplerCentroidCoeffs) pass def destroyImages(self): from isceobj.Util import combinedlibmodule as CL if self.demCropImage is not None: self.demCropImage.renderHdr() self.demCropImage.finalizeImage() self.geoImage.finalizeImage() #####Clean out polynomial object CL.freeCPoly1D(self.polyDopplerAccessor) self.polyDopplerAccessor = None def createImages(self): if self.demCropFilename: self.demCropImage = createDemImage() demAccessMode = 'write' demWidth = self.computeGeoImageWidth() self.demCropImage.initImage(self.demCropFilename,demAccessMode,demWidth) self.demCropImage.createImage() self.demCropAccessor = self.demCropImage.getImagePointer() else: self.demCropAccessor = 0 if self.geoFilename is None: raise ValueError('Output geoFilename not specified') #the topophase files have the same format as the int file. just reuse the previous info self.geoImage = createIntImage() IU.copyAttributes(self.inputImage, self.geoImage) self.geoImage.imageType = self.inputImage.imageType self.geoImage.setFilename(self.geoFilename) self.geoImage.setAccessMode('write') self.geoImage.setWidth(demWidth) if not self.geoImage.dataType.upper().count('FLOAT'): self.geoImage.setCaster('write', 'FLOAT') self.geoImage.createImage() self.geoAccessor = self.geoImage.getImagePointer() self.polyDopplerAccessor = self.polyDoppler.exportToC() def computeGeoImageWidth(self): deg2rad = math.pi/180.0 dlon = self.deltaLongitude*deg2rad lon_first = self.firstLongitude*deg2rad min_lon = deg2rad*self.minimumLongitude max_lon = deg2rad*self.maximumLongitude min_lon_idx = int( (min_lon - lon_first) / dlon) max_lon_idx = int( (max_lon - lon_first) / dlon) geo_wid = max_lon_idx - min_lon_idx + 1 return geo_wid def setState(self): geozero.setMinimumLatitude_Py(float(self.minimumLatitude)) geozero.setMinimumLongitude_Py(float(self.minimumLongitude)) geozero.setMaximumLatitude_Py(float(self.maximumLatitude)) geozero.setMaximumLongitude_Py(float(self.maximumLongitude)) geozero.setEllipsoidMajorSemiAxis_Py(float(self.ellipsoidMajorSemiAxis)) geozero.setEllipsoidEccentricitySquared_Py(float(self.ellipsoidEccentricitySquared)) geozero.setRangePixelSpacing_Py(float(self.slantRangePixelSpacing)) geozero.setRangeFirstSample_Py(float(self.rangeFirstSample)) geozero.setDopplerAccessor_Py(self.polyDopplerAccessor) geozero.setPRF_Py(float(self.prf)) geozero.setRadarWavelength_Py(float(self.radarWavelength)) geozero.setSensingStart_Py(DTU.seconds_since_midnight(self.sensingStart)) geozero.setFirstLatitude_Py(float(self.firstLatitude)) geozero.setFirstLongitude_Py(float(self.firstLongitude)) geozero.setDeltaLatitude_Py(float(self.deltaLatitude)) geozero.setDeltaLongitude_Py(float(self.deltaLongitude)) geozero.setLength_Py(int(self.length)) geozero.setWidth_Py(int(self.width)) geozero.setNumberRangeLooks_Py(int(self.numberRangeLooks)) geozero.setNumberAzimuthLooks_Py(int(self.numberAzimuthLooks)) geozero.setDemWidth_Py(int(self.demWidth)) geozero.setDemLength_Py(int(self.demLength)) geozero.setLookSide_Py(self.lookSide) def setMinimumLatitude(self,var): self.minimumLatitude = float(var) def setMinimumLongitude(self,var): self.minimumLongitude = float(var) def setMaximumLatitude(self,var): self.maximumLatitude = float(var) def setMaximumLongitude(self,var): self.maximumLongitude = float(var) def setEllipsoidMajorSemiAxis(self,var): self.ellipsoidMajorSemiAxis = float(var) def setEllipsoidEccentricitySquared(self,var): self.ellipsoidEccentricitySquared = float(var) def setRangePixelSpacing(self,var): self.slantRangePixelSpacing = float(var) def setRangeFirstSample(self,var): self.rangeFirstSample = float(var) def setPRF(self,var): self.prf = float(var) def setRadarWavelength(self,var): self.radarWavelength = float(var) def setSensingStart(self,var): self.sensingStart = var def setFirstLatitude(self,var): self.firstLatitude = float(var) def setFirstLongitude(self,var): self.firstLongitude = float(var) def setDeltaLatitude(self,var): self.deltaLatitude = float(var) def setDeltaLongitude(self,var): self.deltaLongitude = float(var) def setLength(self,var): self.length = int(var) def setWidth(self,var): self.width = int(var) def setNumberRangeLooks(self,var): self.numberRangeLooks = int(var) def setNumberAzimuthLooks(self,var): self.numberAzimuthLooks = int(var) def setDemWidth(self,var): self.demWidth = int(var) def setDemLength(self,var): self.demLength = int(var) def setLookSide(self,var): self.lookSide = int(var) def setOrbit(self,var): self.orbit = var def setDemCropFilename(self,var): self.demCropFilename = var def setPolyDoppler(self,var): self.polyDoppler = var ## pattern is broken here def setGeocodeFilename(self,var): self.geoFilename = var def getState(self): self.geoWidth = geozero.getGeoWidth_Py() self.geoLength = geozero.getGeoLength_Py() self.minimumGeoLatitude = geozero.getMinimumGeoLatitude_Py() self.minimumGeoLongitude = geozero.getMinimumGeoLongitude_Py() self.maximumGeoLatitude = geozero.getMaximumGeoLatitude_Py() self.maximumGeoLongitude = geozero.getMaximumGeoLongitude_Py() def getGeoWidth(self): return self.geoWidth def getGeoLength(self): return self.geoLength def getLatitudeSpacing(self): return self.latitudeSpacing def getLongitudeSpacing(self): return self.longitudeSpacing def getMinimumGeoLatitude(self): return self.minimumGeoLatitude def getMinimumGeoLongitude(self): return self.minimumGeoLongitude def getMaximumGeoLatitude(self): return self.maximumGeoLatitude def getMaximumGeoLongitude(self): return self.maximumGeoLongitude def addPlanet(self): planet = self._inputPorts.getPort(name='planet').getObject() if (planet): try: ellipsoid = planet.get_elp() self.ellipsoidMajorSemiAxis = ellipsoid.get_a() self.ellipsoidEccentricitySquared = ellipsoid.get_e2() except AttributeError as strerr: self.logger.error(strerr) raise AttributeError def addFrame(self): frame = self._inputPorts.getPort(name='frame').getObject() if (frame): try: # self.rangeFirstSample = frame.getStartingRange() - Piyush instrument = frame.getInstrument() self.lookSide = instrument.getPlatform().pointingDirection self.slantRangePixelSpacing = instrument.getRangePixelSize() self.prf = instrument.getPulseRepetitionFrequency() self.radarWavelength = instrument.getRadarWavelength() except AttributeError as strerr: self.logger.error(strerr) raise AttributeError def addReferenceSlc(self): #Piyush formslc = self._inputPorts.getPort(name='referenceslc').getObject() if(formslc): try: self.rangeFirstSample = formslc.startingRange except AttributeError as strerr: self.logger.error(strerr) raise AttributeError self.dopplerCentroidCoeffs = formslc.dopplerCentroidCoefficients def addDem(self): dem = self._inputPorts.getPort(name='dem').getObject() if (dem): try: self.demImage = dem self.demWidth = dem.getWidth() self.demLength = dem.getLength() self.firstLatitude = dem.getFirstLatitude() self.firstLongitude = dem.getFirstLongitude() self.deltaLatitude = dem.getDeltaLatitude() # This should be removed once we fail-safe the ordering of addDem, addGeoPosting self.deltaLongitude = dem.getDeltaLongitude() except AttributeError as strerr: self.logger.error(strerr) raise AttributeError def addRadarImage(self): ifg = self._inputPorts.getPort(name='tobegeocoded').getObject() if (ifg): try: self.inputImage = ifg self.width = ifg.getWidth() self.length = ifg.getLength() inName = ifg.getFilename() self.geoFilename = os.path.join(os.path.dirname(inName), os.path.basename(inName)+'.geo') print('Output: ' , self.geoFilename) except AttributeError as strerr: self.logger.error(strerr) raise AttributeError ## South, North, West, East boundaries @property def snwe(self): return (self.minimumLatitude, self.maximumLatitude, self.minimumLongitude, self.maximumLongitude) @snwe.setter def snwe(self, snwe): (self.minimumLatitude, self.maximumLatitude, self.minimumLongitude, self.maximumLongitude) = snwe logging_name = 'isce.stdproc.geocode' def __init__(self, name='') : super(Geocode, self).__init__(self.__class__.family, name) # Dem information self.demImage = None self.demWidth = None self.demLength = None self.firstLatitude = None self.firstLongitude = None self.deltaLatitude = None self.deltaLongitude = None # Interferogram information self.inputImage = None self.length = None self.width = None # Output self.demCropImage = None self.demCropAccessor = None #Doppler information self.polyDoppler = None self.polyDopplerAccessor = None self.dopplerCentroidCoeffs = None self.geoImage = None self.geoAccessor = None self.geoWidth = None self.geoLength = None self.orbit = None self.latitudeSpacing = None self.longitudeSpacing = None self.minimumGeoLatitude = None self.minimumGeoLongitude = None self.maximumGeoLatitude = None self.maximumGeoLongitude = None self.dictionaryOfOutputVariables = { 'GEO_WIDTH' : 'self.geoWidth', 'GEO_LENGTH' : 'self.geoLength', 'LATITUDE_SPACING' : 'self.latitudeSpacing', 'LONGITUDE_SPACING' : 'self.longitudeSpacing', 'MINIMUM_GEO_LATITUDE' : 'self.minimumGeoLatitude', 'MINIMUM_GEO_LONGITUDE' : 'self.minimumGeoLongitude', 'MAXIMUM_GEO_LATITUDE' : 'self.maximumGeoLatitude', 'MAXIMUM_GEO_LONGITUDE' : 'self.maximumGeoLongitude' } return None def createPorts(self): framePort = Port(name='frame',method=self.addFrame) planetPort = Port(name='planet', method=self.addPlanet) demPort = Port(name='dem',method=self.addDem) ifgPort = Port(name='tobegeocoded',method=self.addRadarImage) slcPort = Port(name='referenceslc',method=self.addReferenceSlc) #Piyush self._inputPorts.add(framePort) self._inputPorts.add(planetPort) self._inputPorts.add(demPort) self._inputPorts.add(ifgPort) self._inputPorts.add(slcPort) #Piyush return None