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| /** MIT License | ||
| Copyright (c) 2018 Benjamin Bercovici and Jay McMahon | ||
| Permission is hereby granted, free of charge, to any person obtaining a copy | ||
| of this software and associated documentation files (the "Software"), to deal | ||
| in the Software without restriction, including without limitation the rights | ||
| to use, copy, modify, merge, publish, distribute, sublicense, and/or sell | ||
| copies of the Software, and to permit persons to whom the Software is | ||
| furnished to do so, subject to the following conditions: | ||
| The above copyright notice and this permission notice shall be included in all | ||
| copies or substantial portions of the Software. | ||
| 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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| /*========================================================================= | ||
| Program: Small Body Geophysical Analysis | ||
| Module: SBGATObsRadar.hpp | ||
| Derived class from VTK's vtkPolyDataAlgorithm by Benjamin Bercovici | ||
| Copyright (c) Ken Martin, Will Schroeder, Bill Lorensen | ||
| All rights reserved. | ||
| See Copyright.txt or http://www.kitware.com/Copyright.htm for details. | ||
| This software is distributed WITHOUT ANY WARRANTY; without even | ||
| the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR | ||
| PURPOSE. See the above copyright notice for more information. | ||
| =========================================================================*/ | ||
| /** | ||
| * @class SBGATObsRadar | ||
| * @author Benjamin Bercovici | ||
| * @brief Computes range/range-rate Doppler images over the surface of | ||
| provided small body | ||
| * | ||
| * @details Computes range/range-rate Doppler images over the surface of | ||
| provided small body | ||
| * | ||
| */ | ||
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| #ifndef SBGATObsRadar_H | ||
| #define SBGATObsRadar_H | ||
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| #include <vtkFiltersCoreModule.h> // For export macro | ||
| #include <vtkPolyDataAlgorithm.h> | ||
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| #include <vtkModifiedBSPTree.h> | ||
| #include <vtkImageData.h> | ||
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| #include <armadillo> | ||
| #include <array> | ||
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| typedef typename std::vector<std::vector<std::array<double, 2> > > SBGATMeasurementsSequence; | ||
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| class VTKFILTERSCORE_EXPORT SBGATObsRadar : public vtkPolyDataAlgorithm{ | ||
| public: | ||
| /** | ||
| * Constructs with initial values of zero. | ||
| */ | ||
| static SBGATObsRadar *New(); | ||
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| vtkTypeMacro(SBGATObsRadar,vtkPolyDataAlgorithm); | ||
| void PrintSelf(std::ostream& os, vtkIndent indent) override; | ||
| void PrintHeader(std::ostream& os, vtkIndent indent) override; | ||
| void PrintTrailer(std::ostream& os, vtkIndent indent) override; | ||
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| /** | ||
| Collects range/range-rate samples over the surface of the small body at the | ||
| specified time after epoch. | ||
| The radar source is positionned at 1e6 * l meters from the target's center of mass, where | ||
| l is a measure of the object's diagonal | ||
| @param measurements_sequence reference to MeasurementsSequence, holding collected range/range-rate measurements at each observation time | ||
| @param N maximum number of measurements to produce per illuminated facet | ||
| @param dt time since epoch (s) | ||
| @param period rotation period of target (s) | ||
| @param dir (unit vector) direction of radar-to-target vector expressed in the target's body frame at epoch | ||
| @param spin (unit vector) direction of target's spin vector expressed in the target's body frame | ||
| */ | ||
| void CollectMeasurementsSimpleSpin( | ||
| SBGATMeasurementsSequence & measurements_sequence, | ||
| const int & N, | ||
| const double & dt, | ||
| const double & period, | ||
| const arma::vec & dir, | ||
| const arma::vec & spin); | ||
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| /** | ||
| Bins the provided measurements sequence into a series of 2d-histogram | ||
| Will throw an std::runtime_error exception if ither of the provided bin sizes are invalid (i.e <= 0) | ||
| @param measurements_sequence reference to MeasurementsSequence, holding collected range/range-rate measurements at each observation time | ||
| @param r_bin range bin size (m) | ||
| @param rr_bin range-rate bin size (m/s) | ||
| */ | ||
| void BinObservations( | ||
| const SBGATMeasurementsSequence & measurements_sequence, | ||
| const double & r_bin, | ||
| const double & rr_bin); | ||
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| /** | ||
| Save the binned radar images to the prescribed folder | ||
| @param savepath path to folder where images will be saved (ex: "output/") | ||
| */ | ||
| void SaveImages(std::string savepath); | ||
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| /** | ||
| Sets the scale factor to 1, indicative that the polydata has its coordinates expressed in meters (default) | ||
| */ | ||
| void SetScaleMeters() { this -> scaleFactor = 1; } | ||
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| /** | ||
| Sets the scale factor to 1000, indicative that the polydata has its coordinates expressed in kilometers | ||
| */ | ||
| void SetScaleKiloMeters() { this -> scaleFactor = 1000; } | ||
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| /** | ||
| Return vector holding the computed images | ||
| @return vector of radar images | ||
| */ | ||
| std::vector<vtkSmartPointer<vtkImageData>> GetImages() const; | ||
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| /** | ||
| Clears images, if any | ||
| */ | ||
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| void ClearImages() { this -> images.clear();} | ||
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| protected: | ||
| SBGATObsRadar(); | ||
| ~SBGATObsRadar() override; | ||
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| int RequestData(vtkInformation* request, | ||
| vtkInformationVector** inputVector, | ||
| vtkInformationVector* outputVector) override; | ||
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| vtkSmartPointer<vtkModifiedBSPTree> bspTree; | ||
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| std::vector<vtkSmartPointer<vtkImageData>> images; | ||
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| arma::vec center_of_mass; | ||
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| double scaleFactor = 1; | ||
| double max_value; | ||
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| private: | ||
| SBGATObsRadar(const SBGATObsRadar&) = delete; | ||
| void operator=(const SBGATObsRadar&) = delete; | ||
| }; | ||
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| #endif | ||
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