/
RAW_POS_interpretation_for_QL_Swath_KMLs.ahk
1063 lines (992 loc) · 27.7 KB
/
RAW_POS_interpretation_for_QL_Swath_KMLs.ahk
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;RAW_POS_interpretation_for_QL_Swath_KMLs
;This could be used for IPAS as well. Only the IPAS interpretation needs to be done.
GPS_UTM2LatLon(UTMEast, UTMNorth, Hemisphere, Longitude_Zone) {
b := 6356752.314
a := 6378137
e := 0.081819191
e1sq := 0.00673949676
k0 := 0.9996
ei := (1-(1-e*e)**(1/2))/(1+(1-e*e)**(1/2))
C1 := (3*ei/2-27*ei**3/32)
C2 := (21*ei**2/16-55*ei**4/32)
C3 := (151*ei**3/96)
C4 := (1097*ei**4/512)
If (Hemisphere = "S")
{
Corrected_Northing := (10000000-UTMNorth)
}
Else
{
Corrected_Northing := UTMNorth
}
East_Prime := (500000-UTMEast)
Arc_Length := (Corrected_Northing / k0)
Mu := (Arc_Length/(a*(1-e**2/4-3*e**4/64-5*e**6/256)))
Footprint_Latitude := (Mu+C1*Sin(2*Mu)+C2*Sin(4*Mu)+C3*Sin(6*Mu)+C4*Sin(8*Mu))
CC1 := (e1sq*Cos(Footprint_Latitude)**2)
T1 := (Tan(Footprint_Latitude)**2)
N1 := (a/(1-(e*Sin(Footprint_Latitude))**2)**(1/2))
R1 := (a*(1-e*e)/(1-(e*Sin(Footprint_Latitude))**2)**(3/2))
D := (East_Prime/(N1*k0))
Fact1 := (N1*Tan(Footprint_Latitude)/R1)
Fact2 := (D*D/2)
Fact3 := ((5+3*T1+10*CC1-4*CC1*CC1-9*e1sq)*D**4/24)
Fact4 := ((61+90*T1+298*CC1+45*T1*T1-252*e1sq-3*CC1*CC1)*D**6/720)
LoFact1 := D
LoFact2 := ((1+2*T1+CC1)*D**3/6)
LoFact3 := ((5-2*CC1+28*T1-3*CC1**2+8*e1sq+24*T1**2)*D**5/120)
Delta_Long := ((LoFact1-LoFact2+LoFact3)/Cos(Footprint_Latitude))
Zone_CM := (6*Longitude_Zone-183)
Raw_Latitude := (180*(Footprint_Latitude-Fact1*(Fact2+Fact3+Fact4))/(4*ATan(1)))
If (Hemisphere = "South")
{
Latitude := -Raw_Latitude
}
Else
{
Latitude := Raw_Latitude
}
Longitude := (Zone_CM-Delta_Long*180/(4*ATan(1)))
Return Longitude . "`," . Latitude
}
GPS_LatLon2UTM(Latitude, Longitude) {
b := 6356752.314
a := 6378137
e := 0.081819191
e1sq := 0.00673949676
k0 := 0.9996
n := (a-b)/(a+b)
A0 := a*(1-n+(5*n*n/4)*(1-n)+(81*n**4/64)*(1-n))
B0 := (3*a*n/2)*(1 - n - (7*n*n/8)*(1-n) + 55*n**4/64)
C0 := (15*a*n*n/16)*(1 - n +(3*n*n/4)*(1-n))
D0 := (35*a*n**3/48)*(1 - n + 11*n*n/16)
E0 := (315*a*n**4/512)*(1-n)
LatDegrees := Latitude
LonDegrees := Longitude
If (LonDegrees/6) < 0
{
Longitude_Zone := 31 + Floor(LonDegrees/6)
}
Else
{
Longitude_Zone := Round(31+Substr((LonDegrees/6), 1, InStr((LonDegrees/6), ".")))
}
Long_Zone_CM := (6*Longitude_Zone-183)
Delta_LonRad := (LonDegrees-Long_Zone_CM)*(4*ATan(1))/180
LatRad := LatDegrees*((4*ATan(1))/180)
LonRad := LonDegrees*((4*ATan(1))/180)
rho := a*(1-e*e)/((1-(e*Sin(LatRad))**2)**(3/2))
nu := a/((1-(e*Sin(LatRad))**2)**(1/2))
Arc_S := A0*LatRad - B0*Sin(2*LatRad) + C0*Sin(4*LatRad) - D0*Sin(6*LatRad) + E0*Sin(8*LatRad)
Ki := Arc_S*k0
Kii := nu*Sin(LatRad)*Cos(LatRad)/2
Kiii := ((nu*Sin(LatRad)*Cos(LatRad)**3)/24)*(5-Tan(LatRad)**2+9*e1sq*Cos(LatRad)**2+4*e1sq**2*Cos(LatRad)**4)*k0
Kiv := nu*Cos(LatRad)*k0
Kv := (Cos(LatRad))**3*(nu/6)*(1-Tan(LatRad)**2+e1sq*Cos(LatRad)**2)*k0
A6 := ((Delta_LonRad)**6*nu*Sin(LatRad)*Cos(LatRad)**5/720)*(61-58*Tan(LatRad)**2+Tan(LatRad)**4+270*e1sq*Cos(LatRad)**2-330*e1sq*Sin(LatRad)**2)*k0
Raw_Northing := (Ki+Kii*Delta_LonRad*Delta_LonRad+Kiii*Delta_LonRad**4)
If (Raw_Northing < 0)
{
Northing := (10000000m + Raw_Northing)
}
Else
{
Northing := Raw_Northing
}
Easting := 500000+(Kiv*Delta_LonRad+Kv*Delta_LonRad**3)
Return Northing . "`," . Easting . "`," . Longitude_Zone
}
GPS_LatLon2UTM_CustomZone(Latitude, Longitude, RequestedZone) {
b := 6356752.314
a := 6378137
e := 0.081819191
e1sq := 0.00673949676
k0 := 0.9996
n := (a-b)/(a+b)
A0 := a*(1-n+(5*n*n/4)*(1-n)+(81*n**4/64)*(1-n))
B0 := (3*a*n/2)*(1 - n - (7*n*n/8)*(1-n) + 55*n**4/64)
C0 := (15*a*n*n/16)*(1 - n +(3*n*n/4)*(1-n))
D0 := (35*a*n**3/48)*(1 - n + 11*n*n/16)
E0 := (315*a*n**4/512)*(1-n)
LatDegrees := Latitude
LonDegrees := Longitude
Longitude_Zone := RequestedZone
Long_Zone_CM := (6*Longitude_Zone-183)
Delta_LonRad := (LonDegrees-Long_Zone_CM)*(4*ATan(1))/180
LatRad := LatDegrees*((4*ATan(1))/180)
LonRad := LonDegrees*((4*ATan(1))/180)
rho := a*(1-e*e)/((1-(e*Sin(LatRad))**2)**(3/2))
nu := a/((1-(e*Sin(LatRad))**2)**(1/2))
Arc_S := A0*LatRad - B0*Sin(2*LatRad) + C0*Sin(4*LatRad) - D0*Sin(6*LatRad) + E0*Sin(8*LatRad)
Ki := Arc_S*k0
Kii := nu*Sin(LatRad)*Cos(LatRad)/2
Kiii := ((nu*Sin(LatRad)*Cos(LatRad)**3)/24)*(5-Tan(LatRad)**2+9*e1sq*Cos(LatRad)**2+4*e1sq**2*Cos(LatRad)**4)*k0
Kiv := nu*Cos(LatRad)*k0
Kv := (Cos(LatRad))**3*(nu/6)*(1-Tan(LatRad)**2+e1sq*Cos(LatRad)**2)*k0
A6 := ((Delta_LonRad)**6*nu*Sin(LatRad)*Cos(LatRad)**5/720)*(61-58*Tan(LatRad)**2+Tan(LatRad)**4+270*e1sq*Cos(LatRad)**2-330*e1sq*Sin(LatRad)**2)*k0
Raw_Northing := (Ki+Kii*Delta_LonRad*Delta_LonRad+Kiii*Delta_LonRad**4)
If (Raw_Northing < 0)
{
Northing := (10000000m + Raw_Northing)
}
Else
{
Northing := Raw_Northing
}
Easting := 500000+(Kiv*Delta_LonRad+Kv*Delta_LonRad**3)
Return Northing . "`," . Easting
}
GRPMSGHeader() {
Global
GRPMSGID := "", GRPMSGBCount := ""
GRPMSGID := RAWPOS.ReadUShort()
GRPMSGBCount := RAWPOS.ReadUShort()
}
Bin2Hex(Var) {
SetFormat, IntegerFast, hex
Var += 0, Var .= ""
SetFormat, IntegerFast, d
Return (Var)
}
toInt(b, s = 0, c = 0) {
Loop, % l := StrLen(b) - c
i += SubStr(b, ++c, 1) * 1 << l - c
Return, i - s * (1 << l)
}
toBin(i, s = 0, c = 0) {
l := StrLen(i := Abs(i + u := i < 0))
Loop, % Abs(s) + !s * l << 2
b := u ^ 1 & i // (1 << c++) . b
Return, b
}
PitchRollCorrectStrong(Pitch,Roll,Heading,FoV) {
global
FixedR := Abs(Roll)
, FoVR := (FoV/2)+FixedR
, Ang := sqrt(FoVR**2+Pitch**2)
, AzCorr := (atan((abs(Pitch*0.01745329251))/(abs(FoVR*0.01745329251))))*57.2957795131
If (Roll > 0 AND Pitch > 0)
Az := (270+AzCorr)+Heading
else if (Roll > 0 AND Pitch < 0)
Az := (270-AzCorr)+Heading
else if (Roll < 0 AND Pitch < 0)
Az := (90+AzCorr)+Heading
else if (Roll < 0 AND Pitch > 0)
Az := (90-AzCorr)+Heading
If (FoVR < 0)
Az := Az-((Az-Heading)*2)
If (Az > 360)
Az := Az-360
PRC = %Az%,%Ang%
return (PRC)
}
PitchRollCorrectWeak(Pitch,Roll,Heading,FoV){
global
FixedR := Abs(Roll), FoVR := (FoV/2)-FixedR
Ang := sqrt(FoVR**2+Pitch**2)
AzCorr := (atan((abs(Pitch*0.01745329251))/(abs(FoVR*0.01745329251))))*57.2957795131
If (Roll > 0 AND Pitch > 0)
Az := (90-AzCorr)+Heading
else if (Roll > 0 AND Pitch < 0)
Az := (90+AzCorr)+Heading
else if (Roll < 0 AND Pitch < 0)
Az := (270-AzCorr)+Heading
else if (Roll < 0 AND Pitch > 0)
Az := (270+AzCorr)+Heading
If (FoVR < 0)
Az := Az-((Az-Heading)*2)
If (Az > 360)
Az := Az-360
PRC = %Az%,%Ang%
return (PRC)
}
Read_FLT4Array_Object(FLTvarPATH) {
global
aSpace := A_space
DEM := Object()
splitpath, FLTvarPATH, FLTwEXT, FLTDir, FLTExt, FLTnoExt
HDRpath := FLTDir . "\" . FLTnoEXT . ".hdr", FLTpath := FLTDir . "\" . FLTnoEXT . ".flt"
HDRobj := fileopen(HDRpath, "rw")
FLTobj := fileopen(FLTpath, "rw")
DEMlen := FLTobj.Length
fltCapacity := DEMlen/4
If (DEMlen > 3617587200)
{
msgbox, Whoa! That's a big GRID...try a smaller one before you burn the place down.
ExitApp
}
progress, R0-%DEMlen%, , Building DEM Array, INS 2 Swath
Loop
{
HDRline := HDRobj.ReadLine()
StringReplace HDRline, HDRline, %A_Space% %A_Space%, %A_Space%, All
StringReplace HDRline, HDRline, %A_Space% %A_Space%, %A_Space%, All
StringReplace HDRline, HDRline, %A_Space%%A_Space%, %A_Space%, All
StringReplace HDRline, HDRline, %A_Space%%A_Space%, %A_Space%, All
If (A_Index = 1)
{
StringSplit, COL, HDRline, %A_Space%
CLMN := Round(COL2)
continue
}
Else If (A_Index = 2)
{
StringSplit, ROW, HDRline, %A_Space%
ROWS := Round(ROW2)
continue
}
Else If (A_Index = 3)
{
StringSplit, XL, HDRline, %A_Space%
XLLC := Round(XL2)
continue
}
Else If (A_Index = 4)
{
StringSplit, YL, HDRline, %A_Space%
YLLC := Round(YL2)
continue
}
Else If (A_Index = 5)
{
StringSplit, CS, HDRline, %A_Space%
CSize := Round(CS2), XURC := XLLC+(CSize*CLMN), YURC := YLLC+(CSize*ROWS)
continue
}
Else If (A_Index = 6)
{
StringSplit, NOD, HDRline, %A_Space%
NODATA := NOD2
continue
}
If (HDRobj.AtEOF != 0)
Break
}
Loop, %ROWS%
{
DEMpos := FLTobj.Pos
progress, %DEMpos%
Row := A_Index
Loop, %CLMN%
{
Col += 1
DEM[Col,Row] := FLTobj.ReadFloat()
}
Col = 0
}
DEM.SetCapacity(0)
FLTobj.close()
HDRobj.close()
return DEM
}
Read_ASC4Array_Object(ASCvarPATH) {
global
aSpace := A_space
DEM := Object()
ASCobj := fileopen(ASCvarPATH, "rw")
DEMlen := ASCobj.Length
If (DEMlen > 3617587200)
{
msgbox, Whoa! That's a big ASCII...try a smaller one before you burn the place down.
ExitApp
}
progress, R0-%DEMlen%, , Building DEM Array, INS 2 Swath
Loop
{
DEMline := ASCobj.ReadLine()
DEMpos := ASCobj.Pos
progress, %DEMpos%
If (A_Index = 1)
{
StringSplit, COL, DEMline, %A_Space%
CLMN := Round(COL2)
continue
}
Else If (A_Index = 2)
{
StringSplit, ROW, DEMline, %A_Space%
ROWS := Round(ROW2)
continue
}
Else If (A_Index = 3)
{
StringSplit, XL, DEMline, %A_Space%
XLLC := Round(XL2)
continue
}
Else If (A_Index = 4)
{
StringSplit, YL, DEMline, %A_Space%
YLLC := Round(YL2)
continue
}
Else If (A_Index = 5)
{
StringSplit, CS, DEMline, %A_Space%
CSize := Round(CS2), XURC := XLLC+(CSize*CLMN), YURC := YLLC+(CSize*ROWS)
continue
}
Else If (A_Index = 6)
{
IfNotInString, DEMline, NODATA_value
{
Row := A_Index
Loop, Parse, DEMline, %aSpace%
{
Col += 1
DEM[Col, Row] := A_LoopField
}
If !First
{
First := True
ColCount := Col
}
Col = 0, NODATA := ""
}
else
{
StringSplit, NOD, DEMline, %A_Space%
NODATA := NOD2
continue
}
}
Else
{
Row := A_Index
Loop, Parse, DEMline, %aSpace%
{
Col += 1
DEM[Col, Row] := A_LoopField
}
If !First
{
First := True
ColCount := Col
}
Col = 0
}
IsAtEOF := ASCobj.AtEOF
If (ASCobj.AtEOF != 0)
Break
}
}
Bilinear_Interpolation_Point(xLeft,xRight,yLower,X,Y,yUpper,valueUL,valueLL,valueUR,valueLR) {
R1 := (((xRight-X)/(xRight-xLeft))*valueLL) + (((X-xLeft)/(xRight-xLeft))*valueLR)
R2 := (((xRight-X)/(xRight-xLeft))*valueUL) + (((X-xLeft)/(xRight-xLeft))*valueUR)
P := ((yUpper-Y)/(yUpper-yLower))*R1 + ((Y-yLower)/(yUpper-yLower))*R2
;~ stepX := (abs(xLeft-xRight)/resolution)
;~ stepY := (abs(yLower-yUpper)/resolution)
;~ xScale := 0
;~ loop % stepX
;~ {
;~ ++xScale
;~ X := (xLeft+(resolution*xScale))
;~ R1 := (((xRight-X)/(xRight-xLeft))*valueLL) + (((X-xLeft)/(xRight-xLeft))*valueLR)
;~ R2 := (((xRight-X)/(xRight-xLeft))*valueUL) + (((X-xLeft)/(xRight-xLeft))*valueUR)
;~ yScale := 0
;~ Loop % stepY
;~ {
;~ ++yScale
;~ Y := (yLower+(resolution*yScale))
;~ P := ((yUpper-Y)/(yUpper-yLower))*R1 + ((Y-yLower)/(yUpper-yLower))*R2
;~ grid[xScale,yScale] := [X,Y,P]
;~ ListVars
;~ msgbox
;~ }
;~ }
;~ grid.col := stepX
;~ grid.row := stepY
;~ grid.llx := xLeft
;~ grid.lly := yLower
;~ grid.res := resolution
return P
}
FindPointZ_ASCDEM(x,y,z,p,r,h,FoV,columns,rows,xllc,yllc,xurc,yurc,arrayName,Omega,Phi,Kappa,DZ,cellSize:=10,K180:=0,nodata:="") {
global ;~ set function variables to GLOBAL USE! ~~~
If (K180 = 0) ;~ Check Kappa reference-to-aircraft rotations ~~~
K := 1
If (K180 = 180)
K := -1
r := (r*(K))+Omega,
p := (p*(K))+Phi,
h := h+Kappa+K180 ;~ Set final rotations with boresight angles ~~~
If (x > xurc OR x < xllc) ;~ is position outside DEM bounds ~~~
{
;~ progress, w500, , POS position (%x%`, %y%) is out of DEM bounds`nLL: %xllc%`, %yllc%`nUR: %xurc%`, %yurc%, INS 2 Swath
;~ Msgbox, , ,POS position (%x%`, %y%) is out of DEM bounds`nLL: %xllc%`, %yllc%`nUR: %xurc%`, %yurc%, 0.0001
goto, NoCoord
}
Else If (y > yurc OR y < yllc) ;~ is position outside DEM bounds ~~~
{
;~ progress, w500, , POS position (%x%`, %y%) is out of DEM bounds`nLL: %xllc%`, %yllc%`nUR: %xurc%`, %yurc%, INS 2 Swath
;~ Msgbox, , ,POS position (%x%`, %y%) is out of DEM bounds`nLL: %xllc%`, %yllc%`nUR: %xurc%`, %yurc%, 0.0001
goto, NoCoord
}
If (r > 0) ;~ If left wing up... ~~~
{
Corr_Right := PitchRollCorrectWeak(p,r,h,FoV) ;~ Get Azimuth and Angle from nadir for "weak" side (right)
Corr_Left := PitchRollCorrectStrong(p,r,h,FoV) ;~ Get Azimuth and Angle from nadir for "strong" side (left)
StringSplit, CR, Corr_Right, `,
StringSplit, CL, Corr_Left, `,
CRaz := CR1*0.01745329251
, CRang := CR2*0.01745329251
, CLaz := CL1*0.01745329251
, CLang := CL2*0.01745329251
If (CR1 > 180) ;~ Adjust X/Y for each corrected azimuth
XswitchR := (-1)
else
XswitchR := 1
If (CR1 > 90 AND CR1 < 270)
YswitchR := (-1)
else
YswitchR := 1
If (CL1 > 180)
XswitchL := (-1)
else
XswitchL := 1
If (CL1 > 90 AND CL1 < 270)
YswitchL := (-1)
else
YswitchL := 1
}
else if (r < 0)
{
Corr_Left := PitchRollCorrectWeak(p,r,h,FoV)
Corr_Right := PitchRollCorrectStrong(p,r,h,FoV)
StringSplit, CR, Corr_Right, `,
StringSplit, CL, Corr_Left, `,
CRaz := CR1*0.01745329251, CRang := CR2*0.01745329251, CLaz := CL1*0.01745329251, CLang := CL2*0.01745329251
If (CR1 > 180)
XswitchR := (-1)
else
XswitchR := 1
If (CR1 > 90 AND CR1 < 270)
YswitchR := (-1)
else
YswitchR := 1
If (CL1 > 180)
XswitchL := (-1)
else
XswitchL := 1
If (CL1 > 90 AND CL1 < 270)
YswitchL := (-1)
else
YswitchL := 1
}
If (nodata = "")
NDY := 0
else if (nodata != "")
NDY := 1
XshiftN := ""
, YshiftN := ""
XshiftN := Round((x-xllc)/cellSize)
, YshiftN := Round((rows+5+NDY)-((y-yllc)/cellSize))
, NH := NumGet(arrayName[XshiftN, YshiftN], "Float")
, NRange := z-NH
Loop ; right side
{
Rmag := (cellSize*A_Index)
, RrayZ := z-(Rmag/tan(CRang))
, RX := x+(((Sin(CRaz))*(Rmag)))
, RY := y+(((Cos(CRaz))*(Rmag)))
, XshiftR := Round((RX-xllc)/cellSize)
, YshiftR := Round((rows+5+NDY)-((RY-yllc)/cellSize))
XshiftRup := Ceil((RX-xllc)/cellSize), ;~ Which column to shift to / left-most X
YshiftRup := Ceil((rows+5+NDY)-((RY-yllc)/cellSize)), ;~ which row to shift to / top-most Y
XshiftRdown := floor((RX-xllc)/cellSize), ;~ Which column to shift to / right-most X
YshiftRDown := floor((rows+5+NDY)-((RY-yllc)/cellSize)), ;~ which row to shift to / bottom-most Y
ulRZ := NumGet(arrayName[XshiftRdown, YshiftRup], "Float")
urRZ := NumGet(arrayName[XshiftRup, YshiftRup], "Float")
llRZ := NumGet(arrayName[XshiftRdown, YshiftRdown], "Float")
lrRZ := NumGet(arrayName[XshiftRup, YshiftRdown], "Float")
PreRZ := RZ,
RZ := Bilinear_Interpolation_Point(XshiftRdown,XshiftRup,YshiftRDown,YshiftRup,RX,RY,ulRZ,llRZ,urRZ,lrRZ)
;~ , RZ := NumGet(arrayName[XshiftR, YshiftR], "Float")
PreRZDiff := RZDiff
, RZDiff := RrayZ-RZ
} Until (RZDiff <= 0)
Loop ; left side
{
Lmag := (0.5*A_Index)
, LrayZ := z-(Lmag/tan(CLang))
, LX := x+(((Sin(CLaz))*(Lmag)))
, LY := y+(((Cos(CLaz))*(Lmag)))
, XshiftL := Round((LX-xllc)/cellSize)
, YshiftL := Round((rows+5+NDY)-((LY-yllc)/cellSize))
, PreLZ := LZ
, LZ := NumGet(arrayName[XshiftL, YshiftL], "Float")
, PreLZDiff := LZDiff
, LZDiff := LrayZ-LZ
} Until (LZDiff <= 0)
Rslope := 3.14159265359-(Atan(cellSize/(RZ-PreRZ))+CRang)
ABC_Z := RX . "," . RY . "," . "0" . " " . LX . "," . LY . "," . "0"
return (ABC_Z)
NoCoord:
NRange := z-DZ
Loop ; right side
{
Rmag := (cellSize*A_Index)
, RrayZ := z-(Rmag/tan(CRang))
, RX := x+(((Sin(CRaz))*(Rmag)))
, RY := y+(((Cos(CRaz))*(Rmag)))
, XshiftR := Round((RX-xllc)/cellSize)
, YshiftR := Round((rows+5+NDY)-((RY-yllc)/cellSize))
, RZ := NumGet(arrayName[XshiftR, YshiftR], "Float")
, RZDiff := RrayZ-RZ
} Until (RZDiff <= 0)
Loop ; left side
{
Lmag := (cellSize*A_Index)
, LrayZ := z-(Lmag/tan(CLang))
, LX := x+(((Sin(CLaz))*(Lmag)))
, LY := y+(((Cos(CLaz))*(Lmag)))
, XshiftL := Round((LX-xllc)/cellSize)
, YshiftL := Round((rows+5+NDY)-((LY-yllc)/cellSize))
, LZ := NumGet(arrayName[XshiftL, YshiftL], "Float")
, LZDiff := LrayZ-LZ
} Until (LZDiff <= 0)
return ("No")
}
/*
SetBatchLines, -1
#NoEnv
#maxmem 3500
FileSelectFile, FilePOS, M3, , Select Raw POS Files
IF (FilePOS = "")
ExitApp
FileSelectFile, D, 3, , Select Arc GridFloat DEM, Float Grid (*.flt)
IF (D = "")
ExitApp
;*****************************SETUP VARS*****************************
appendix := "20140813_BASF_Fargo_ND_4"
A_Omega := -0.421
A_Phi := 0.465
A_Kappa := -1.450
A_FieldofView := 25.37
A_rollSign := 1
A_pitchSign := 1
A_FOV_Offset := 0
B_Omega := -0.059
B_Phi := 0.1531
B_Kappa := -1.259
B_FieldofView := 21.6
B_rollSign := 1
B_pitchSign := 1
B_FOV_Offset := 0
C_Omega := -0.044 ;0.4033, 13.9704
C_Phi := -0.134 ;13.9704, 0.4033
C_Kappa := -0.067
C_FieldofView := 21
C_rollSign := 1
C_pitchSign := 1
C_FOV_Offset := 0
KappaRot := 180
DefaultZ := 300
UTM_Zone := 14
geoidCorrect := 26.4
filterLine := 25
subsampleRate := 0.5 ; POS record subsample interval (in seconds)
sensorA := "VNIR"
sensorB := "SWIR"
sensorC := "Orion_331"
;**********************************************************************
;~ Inputbox, UTM_Zone, , Input UTM North Zone
loop, parse, FilePOS, `n
{
++POScount
}
Read_FLT4Array_Object(D)
;~ Read_ASC4Array_Object(D)
KMLH =
(
<?xml version="1.0" encoding="UTF-8"?>
<kml xmlns="http://www.opengis.net/kml/2.2" xmlns:gx="http://www.google.com/kml/ext/2.2" xmlns:kml="http://www.opengis.net/kml/2.2" xmlns:atom="http://www.w3.org/2005/Atom">
<Document>
<StyleMap id="msn_ylw-pushpin_A">
<Pair>
<key>normal</key>
<styleUrl>#sn_ylw-pushpin_A</styleUrl>
</Pair>
<Pair>
<key>highlight</key>
<styleUrl>#sh_ylw-pushpin_A</styleUrl>
</Pair>
</StyleMap>
<StyleMap id="msn_ylw-pushpin_B">
<Pair>
<key>normal</key>
<styleUrl>#sn_ylw-pushpin_B</styleUrl>
</Pair>
<Pair>
<key>highlight</key>
<styleUrl>#sh_ylw-pushpin_B</styleUrl>
</Pair>
</StyleMap>
<StyleMap id="msn_ylw-pushpin_C">
<Pair>
<key>normal</key>
<styleUrl>#sn_ylw-pushpin_C</styleUrl>
</Pair>
<Pair>
<key>highlight</key>
<styleUrl>#sh_ylw-pushpin_C</styleUrl>
</Pair>
</StyleMap>
<StyleMap id="msn_ylw-pushpin_OUT">
<Pair>
<key>normal</key>
<styleUrl>#sn_ylw-pushpin_OUT</styleUrl>
</Pair>
<Pair>
<key>highlight</key>
<styleUrl>#sh_ylw-pushpin_OUT</styleUrl>
</Pair>
</StyleMap>
<Style id="sh_ylw-pushpin_A">
<IconStyle>
<scale>1.3</scale>
<Icon>
<href>http://maps.google.com/mapfiles/kml/pushpin/ylw-pushpin.png</href>
</Icon>
<hotSpot x="20" y="2" xunits="pixels" yunits="pixels"/>
</IconStyle>
<LineStyle>
<color>FF0000FF</color>
<width>0</width>
</LineStyle>
<PolyStyle>
<color>90979797</color>
</PolyStyle>
</Style>
<Style id="sn_ylw-pushpin_A">
<IconStyle>
<scale>1.1</scale>
<Icon>
<href>http://maps.google.com/mapfiles/kml/pushpin/ylw-pushpin.png</href>
</Icon>
<hotSpot x="20" y="2" xunits="pixels" yunits="pixels"/>
</IconStyle>
<LineStyle>
<color>FF0000FF</color>
<width>0</width>
</LineStyle>
<PolyStyle>
<color>90FFFFFF</color>
</PolyStyle>
</Style>
<Style id="sh_ylw-pushpin_B">
<IconStyle>
<scale>1.3</scale>
<Icon>
<href>http://maps.google.com/mapfiles/kml/pushpin/ylw-pushpin.png</href>
</Icon>
<hotSpot x="20" y="2" xunits="pixels" yunits="pixels"/>
</IconStyle>
<LineStyle>
<color>FF00FF00</color>
<width>0</width>
</LineStyle>
<PolyStyle>
<color>90979797</color>
</PolyStyle>
</Style>
<Style id="sn_ylw-pushpin_B">
<IconStyle>
<scale>1.1</scale>
<Icon>
<href>http://maps.google.com/mapfiles/kml/pushpin/ylw-pushpin.png</href>
</Icon>
<hotSpot x="20" y="2" xunits="pixels" yunits="pixels"/>
</IconStyle>
<LineStyle>
<color>FF00FF00</color>
<width>0</width>
</LineStyle>
<PolyStyle>
<color>9000FFFF</color>
</PolyStyle>
</Style>
<Style id="sh_ylw-pushpin_C">
<IconStyle>
<scale>1.3</scale>
<Icon>
<href>http://maps.google.com/mapfiles/kml/pushpin/ylw-pushpin.png</href>
</Icon>
<hotSpot x="20" y="2" xunits="pixels" yunits="pixels"/>
</IconStyle>
<LineStyle>
<color>FFFF0000</color>
<width>0</width>
</LineStyle>
<PolyStyle>
<color>90979797</color>
</PolyStyle>
</Style>
<Style id="sn_ylw-pushpin_C">
<IconStyle>
<scale>1.1</scale>
<Icon>
<href>http://maps.google.com/mapfiles/kml/pushpin/ylw-pushpin.png</href>
</Icon>
<hotSpot x="20" y="2" xunits="pixels" yunits="pixels"/>
</IconStyle>
<LineStyle>
<color>FFFF0000</color>
<width>0</width>
</LineStyle>
<PolyStyle>
<color>90FF00FF</color>
</PolyStyle>
</Style>
<Style id="sh_ylw-pushpin_OUT">
<IconStyle>
<scale>1.3</scale>
<Icon>
<href>http://maps.google.com/mapfiles/kml/shapes/placemark_circle_highlight.png</href>
</Icon>
<hotSpot x="20" y="2" xunits="pixels" yunits="pixels"/>
</IconStyle>
</Style>
<Style id="sn_ylw-pushpin_OUT">
<IconStyle>
<scale>1.0</scale>
<Icon>
<href>http://maps.google.com/mapfiles/kml/shapes/placemark_circle.png</href>
</Icon>
<hotSpot x="20" y="2" xunits="pixels" yunits="pixels"/>
</IconStyle>
<LabelStyle>
<scale>0</scale>
</LabelStyle>
</Style>
<Style id="check-hide-children">
<ListStyle>
<listItemType>checkHideChildren</listItemType>
</ListStyle>
</Style>
<Folder>
<name>FlightLine_Swaths</name>
)
progress, R0-%POScount%, POS File: %A_LoopField%, Parsing POS and Writing KML, INS 2 Swath
NoCount := 0, YesCount := 0
Loop, parse, FilePOS, `n
{
If A_Index = 1
{
POSpath := A_LoopField
output = %POSpath%\POS_Check_%appendix%_%sensorA%_%sensorB%_%sensorC%.kml
FileDelete, %output%
ProPOS := FileOpen(output, "w")
ProPOS.Write(KMLH)
continue
}
else
{
POSfile = %POSpath%\%A_LoopField%
RAWPOS := FileOpen(POSfile, "rw")
PreTimeCH := 0
Loop
{
GRPMSGStart := ""
GRPMSGStart := RAWPOS.Read(4)
If (GRPMSGStart = "$GRP")
{
GRPMSGHeader()
;~ IDlog = %IDlog%%GRPMSGID%`n
If (GRPMSGID = 1)
{
GRP1Time1 := RAWPOS.ReadDouble()
RAWPOS.Seek(18, 1)
GRP1Lat := RAWPOS.ReadDouble()
GRP1Lon := RAWPOS.ReadDouble()
GRP1Alt := RAWPOS.ReadDouble()
GRP1NVel := RAWPOS.ReadFloat()
GRP1EVel := RAWPOS.ReadFloat()
GRP1DVel := RAWPOS.ReadFloat()
GRP1Roll := RAWPOS.ReadDouble()
GRP1Pitch := RAWPOS.ReadDouble()
GRP1Heading := RAWPOS.ReadDouble()
GRP1Wander := RAWPOS.ReadDouble()
GRP1Track := RAWPOS.ReadFloat()
GRP1Speed := RAWPOS.ReadFloat()
RAWPOS.Seek(30, 1)
position := RAWPOS.Tell()
TimeCH := GRP1Time1, TCheck := TimeCH-PreTimeCH
If (TCheck >= subsampleRate)
{
PreTimeCH := TimeCH
UTM := GPS_LatLon2UTM_CustomZone(GRP1Lat, GRP1Lon, UTM_Zone)
stringsplit, U, UTM, `,
NNorth := U1, NEast := U2
HRate := abs((GRP1Heading-PreHeading))
If (HRate > 100)
HRate := HRate-360
RRate := abs((GRP1Roll-PreRoll))
PreRoll := GRP1Roll
PreHeading := GRP1Heading
;~ ListVars
;~ msgbox,
If (HRate > 0.6)
{
HcountN := 0
++HcountY
}
else
{
HcountY := 0
++HcountN
}
If (HcountY > 6)
If (Go != "No")
Go := "No", ++NoCount
If (HcountN > 30)
If (Go != "Yes")
Go := "Yes", ++YesCount
If (Go = "Yes")
{
A_FoV := FindPointZ_ASCDEM(NEast,NNorth,(GRP1Alt+geoidCorrect),(GRP1Pitch*A_pitchSign),(GRP1Roll*A_rollSign),GRP1Heading,A_FieldofView,CLMN,ROWS,XLLC,YLLC,XURC,YURC,DEM,A_Omega,A_Phi,A_Kappa,DefaultZ,CSize,KappaRot,NODATA)
B_FoV := FindPointZ_ASCDEM(NEast,NNorth,(GRP1Alt+geoidCorrect),(GRP1Pitch*B_pitchSign),(GRP1Roll*B_rollSign),GRP1Heading,B_FieldofView,CLMN,ROWS,XLLC,YLLC,XURC,YURC,DEM,B_Omega,B_Phi,B_Kappa,DefaultZ,CSize,KappaRot,NODATA)
C_FoV := FindPointZ_ASCDEM(NEast,NNorth,(GRP1Alt+geoidCorrect),(GRP1Pitch*C_pitchSign),(GRP1Roll*C_rollSign),GRP1Heading,C_FieldofView,CLMN,ROWS,XLLC,YLLC,XURC,YURC,DEM,C_Omega,C_Phi,C_Kappa,DefaultZ,CSize,KappaRot,NODATA)
If (A_FoV != "No")
{
StringSplit, K, A_FoV, %A_Space%
StringSplit, GeoAR, K1, `,
A_Right := GPS_UTM2LatLon(GeoAR1, GeoAR2, N, UTM_Zone)
StringSplit, GeoAL, K2, `,
A_Left := GPS_UTM2LatLon(GeoAL1, GeoAL2, N, UTM_Zone)
A_KML_Coord_%YesCount% := A_Right . "," . "0" . " " . A_KML_Coord_%YesCount% . " " A_Left . "," . "0"
A_RightEnd_%YesCount% := A_Space . A_Right . "," . "0"
}
If (B_FoV != "No")
{
StringSplit, K, B_FoV, %A_Space%
StringSplit, GeoBR, K1, `,
B_Right := GPS_UTM2LatLon(GeoBR1, GeoBR2, N, UTM_Zone)
StringSplit, GeoBL, K2, `,
B_Left := GPS_UTM2LatLon(GeoBL1, GeoBL2, N, UTM_Zone)
B_KML_Coord_%YesCount% := B_Right . "," . "0" . " " . B_KML_Coord_%YesCount% . " " B_Left . "," . "0"
B_RightEnd_%YesCount% := A_Space . B_Right . "," . "0"
}
If (C_FoV != "No")
{
StringSplit, K, C_FoV, %A_Space%
StringSplit, GeoCR, K1, `,
C_Right := GPS_UTM2LatLon(GeoCR1, GeoCR2, N, UTM_Zone)
StringSplit, GeoCL, K2, `,
C_Left := GPS_UTM2LatLon(GeoCL1, GeoCL2, N, UTM_Zone)
C_KML_Coord_%YesCount% := C_Right . "," . "0" . " " . C_KML_Coord_%YesCount% . " " C_Left . "," . "0"
C_RightEnd_%YesCount% := A_Space . C_Right . "," . "0"
}
If (B_FoV != "No" OR A_FoV != "No" OR C_FoV != "No") ; Comment out A, B, or C if you are adjusting number of different swaths
FilterCount_%YesCount% += 1
else
{
outsidePts .= "<Placemark><name>" . GRP1Time1 . "</name><styleUrl>msn_ylw-pushpin_OUT</styleUrl><Point><coordinates>" . GRP1Lon . "," . GRP1Lat . "," . "0" . "</coordinates></Point></Placemark>" . "`r`n"
}
}
}
continue
}
else
RAWPOS.Seek(GRPMSGBCount, 1)
}
else if (GRPMSGStart = "$MSG")
{
GRPMSGHeader()
RAWPOS.Seek(GRPMSGBCount, 1)
continue
}
If RAWPOS.AtEOF
Break
}
RAWPOS.Close()
}
progress, %A_Index%, POS File: %A_LoopField%, Parsing POS and Writing KML, INS 2 Swath
}
Loop, %YesCount%
{
If FilterCount_%A_Index% < %filterLine%
continue
A_KML_Coord := A_KML_Coord_%A_Index% . " " . A_RightEnd_%A_Index%
, B_KML_Coord := B_KML_Coord_%A_Index% . " " . B_RightEnd_%A_Index%
, C_KML_Coord := C_KML_Coord_%A_Index% . " " . C_RightEnd_%A_Index%
KMLA =
(
<Placemark>
<name>%sensorB%_%A_Index%</name>
<styleUrl>#msn_ylw-pushpin_A</styleUrl>
<Polygon>
<tessellate>1</tessellate>
<outerBoundaryIs>
<LinearRing>
<coordinates>
%A_KML_Coord%
</coordinates>
</LinearRing>
</outerBoundaryIs>
</Polygon>
</Placemark>
)
KMLB =
(
<Placemark>
<name>%sensorA%_%A_Index%</name>
<styleUrl>#msn_ylw-pushpin_B</styleUrl>