public void model(
final SLCImage master, final SLCImage slave, Orbit masterOrbit, Orbit slaveOrbit)
throws Exception {
if (!masterOrbit.isInterpolated()) {
logger.debug("Baseline cannot be computed, master orbit not initialized.");
throw new Exception("Baseline.model_parameters: master orbit not initialized");
} else if (!slaveOrbit.isInterpolated()) {
logger.debug("Baseline cannot be computed, slave orbit not initialized.");
throw new Exception("Baseline.model_parameters: slave orbit not initialized");
}
if (isInitialized) {
logger.warn("baseline already isInitialized??? (returning)");
return;
}
masterWavelength = master.getRadarWavelength();
// Model r = nearRange + drange_dp*p -- p starts at 1
nearRange = master.pix2range(1.0);
drange_dp = master.pix2range(2.0) - master.pix2range(1.0);
nearRange -= drange_dp; // -- p starts at 1
// Set min/maxima for normalization
linMin = master.currentWindow.linelo; // also used during polyval...
linMax = master.currentWindow.linehi;
pixMin = master.currentWindow.pixlo;
pixMax = master.currentWindow.pixhi;
hMin = 0.0;
hMax = 5000.0;
// Loop counters and sampling
int cnt = 0; // matrix index
final double deltaPixels = master.currentWindow.pixels() / N_POINTS_RNG;
final double deltaLines = master.currentWindow.lines() / N_POINTS_AZI;
final double deltaHeight = (hMax - hMin) / N_HEIGHTS;
// Declare matrices for modeling Bperp
// Note: for stability of normalmatrix, fill aMatrix with normalized line, etc.
// perpendicular baseline
DoubleMatrix bPerpMatrix = new DoubleMatrix(N_POINTS_AZI * N_POINTS_RNG * N_HEIGHTS, 1);
// parallel baseline
DoubleMatrix bParMatrix = new DoubleMatrix(N_POINTS_AZI * N_POINTS_RNG * N_HEIGHTS, 1);
// viewing angle
DoubleMatrix thetaMatrix = new DoubleMatrix(N_POINTS_AZI * N_POINTS_RNG * N_HEIGHTS, 1);
// incidence angle
DoubleMatrix thetaIncMatrix = new DoubleMatrix(N_POINTS_AZI * N_POINTS_RNG * N_HEIGHTS, 1);
// design matrix
DoubleMatrix aMatrix = new DoubleMatrix(N_POINTS_AZI * N_POINTS_RNG * N_HEIGHTS, numCoeffs);
// Loop over heights(k), lines(i), pixels(j) to estimate baseline
// height levels
for (long k = 0; k < N_HEIGHTS; ++k) {
final double height = hMin + k * deltaHeight;
// azimuth direction
for (long i = 0; i < N_POINTS_AZI; ++i) {
final double line = master.currentWindow.linelo + i * deltaLines;
Point pointOnEllips; // point, returned by lp2xyz
double sTazi, sTrange;
// Azimuth time for this line
final double mTazi = master.line2ta(line);
// xyz for master satellite from time
final Point pointOnMasterOrb = masterOrbit.getXYZ(mTazi);
// Continue looping in range direction
for (long j = 0; j < N_POINTS_RNG; ++j) {
final double pixel = master.currentWindow.pixlo + j * deltaPixels;
// ______ Range time for this pixel ______
// final double m_trange = master.pix2tr(pixel);
pointOnEllips = masterOrbit.lph2xyz(line, pixel, height, master);
// Compute xyz for slave satellite from pointOnEllips
Point pointTime = slaveOrbit.xyz2t(pointOnEllips, slave);
sTazi = pointTime.y;
sTrange = pointTime.x;
// Slave position
final Point pointOnSlaveOrb = slaveOrbit.getXYZ(sTazi);
// Compute angle between near parallel orbits
final Point velOnMasterOrb = masterOrbit.getXYZDot(mTazi);
final Point velOnSlaveOrb = slaveOrbit.getXYZDot(sTazi);
final double angleOrbits = velOnMasterOrb.angle(velOnSlaveOrb);
logger.debug(
"Angle between orbits master-slave (at l,p= "
+ line
+ ","
+ pixel
+ ") = "
+ rad2deg(angleOrbits)
+ " [deg]");
// Note: convergence assumed constant!
orbitConvergence = angleOrbits;
// final heading = angle(velOnMasterOrb,[1 0 0]) //?
// orbitHeading = 0.0; // not yet used
// The baseline parameters, derived from the positions (x,y,z)
// alpha is angle counterclockwize(b, plane with normal=rho1=rho2)
// theta is angle counterclockwize(rho1 = pointOnMasterOrb, r1 = pointOnMasterOrb -
// pointOnEllips, r2 = pointOnSlaveOrb - pointOnEllips)
// construct helper class
BaselineComponents baselineComponents = new BaselineComponents().invoke();
compute_B_Bpar_Bperp_Theta(
baselineComponents, pointOnEllips, pointOnMasterOrb, pointOnSlaveOrb);
final double b = baselineComponents.getB();
final double bPar = baselineComponents.getBpar();
final double bPerp = baselineComponents.getBperp();
final double theta = baselineComponents.getTheta();
final double thetaInc = computeIncAngle(pointOnMasterOrb, pointOnEllips); // [rad]!!!
// Modelling of bPerp(l,p) = a00 + a10*l + a01*p
bPerpMatrix.put(cnt, 0, bPerp);
bParMatrix.put(cnt, 0, bPar);
thetaMatrix.put(cnt, 0, theta);
thetaIncMatrix.put(cnt, 0, thetaInc);
// --- b(l,p,h) = a000 +
// a100*l + a010*p + a001*h +
// a110*l*p + a101*l*h + a011*p*h +
// a200*l^2 + a020*p^2 + a002*h^2
aMatrix.put(cnt, 0, 1.0);
aMatrix.put(cnt, 1, normalize2(line, linMin, linMax));
aMatrix.put(cnt, 2, normalize2(pixel, pixMin, pixMax));
aMatrix.put(cnt, 3, normalize2(height, hMin, hMax));
aMatrix.put(cnt, 4, normalize2(line, linMin, linMax) * normalize2(pixel, pixMin, pixMax));
aMatrix.put(cnt, 5, normalize2(line, linMin, linMax) * normalize2(height, hMin, hMax));
aMatrix.put(cnt, 6, normalize2(pixel, pixMin, pixMax) * normalize2(height, hMin, hMax));
aMatrix.put(cnt, 7, sqr(normalize2(line, linMin, linMax)));
aMatrix.put(cnt, 8, sqr(normalize2(pixel, pixMin, pixMax)));
aMatrix.put(cnt, 9, sqr(normalize2(height, hMin, hMax)));
cnt++;
// b/alpha representation of baseline
final double alpha =
(bPar == 0 && bPerp == 0)
? Double.NaN
: theta - Math.atan2(bPar, bPerp); // sign ok atan2
// horizontal/vertical representation of baseline
final double bH = b * Math.cos(alpha); // sign ok
final double bV = b * Math.sin(alpha); // sign ok
// TODO: check sign of infinity!!!
// Height ambiguity: [h] = -lambda/4pi * (r1sin(theta)/bPerp) * phi==2pi
final double hAmbiguity =
(bPerp == 0)
? Double.POSITIVE_INFINITY
: -master.getRadarWavelength()
* (pointOnMasterOrb.min(pointOnEllips)).norm()
* Math.sin(theta)
/ (2.0 * bPerp);
// Some extra info if in DEBUG unwrapMode
logger.debug(
"The baseline parameters for (l,p,h) = " + line + ", " + pixel + ", " + height);
logger.debug("\talpha (deg), BASELINE: \t" + rad2deg(alpha) + " \t" + b);
logger.debug("\tbPar, bPerp: \t" + bPar + " \t" + bPerp);
logger.debug("\tbH, bV: \t" + bH + " \t" + bV);
logger.debug("\tHeight ambiguity: \t" + hAmbiguity);
logger.debug("\ttheta (deg): \t" + rad2deg(theta));
logger.debug("\tthetaInc (deg): \t" + rad2deg(thetaInc));
logger.debug("\tpointOnMasterOrb (x,y,z) = " + pointOnMasterOrb.toString());
logger.debug("\tpointOnSlaveOrb (x,y,z) = " + pointOnSlaveOrb.toString());
logger.debug("\tpointOnEllips (x,y,z) = " + pointOnEllips.toString());
} // loop pixels
} // loop lines
} // loop heights
// Model all Baselines as 2d polynomial of degree 1
DoubleMatrix nMatrix = matTxmat(aMatrix, aMatrix);
DoubleMatrix rhsBperp = matTxmat(aMatrix, bPerpMatrix);
DoubleMatrix rhsBpar = matTxmat(aMatrix, bParMatrix);
DoubleMatrix rhsTheta = matTxmat(aMatrix, thetaMatrix);
DoubleMatrix rhsThetaInc = matTxmat(aMatrix, thetaIncMatrix);
// DoubleMatrix Qx_hat = nMatrix;
final DoubleMatrix Qx_hat =
LinearAlgebraUtils.invertChol(Decompose.cholesky(nMatrix).transpose());
// TODO: refactor to _internal_ cholesky decomposition
// choles(Qx_hat); // Cholesky factorisation normalmatrix
// solvechol(Qx_hat,rhsBperp); // Solution Bperp coefficients in rhsB
// solvechol(Qx_hat,rhsBpar); // Solution Theta coefficients in rhsTheta
// solvechol(Qx_hat,rhsTheta); // Solution Theta coefficients in rhsTheta
// solvechol(Qx_hat,rhsThetaInc); // Solution Theta_inc coefficients in rhsThetaInc
// invertchol(Qx_hat); // Covariance matrix of normalized unknowns
rhsBperp = Solve.solvePositive(nMatrix, rhsBperp);
rhsBpar = Solve.solvePositive(nMatrix, rhsBpar);
rhsTheta = Solve.solvePositive(nMatrix, rhsTheta);
rhsThetaInc = Solve.solvePositive(nMatrix, rhsThetaInc);
// Info on inversion, normalization is ok______
final DoubleMatrix yHatBperp = aMatrix.mmul(rhsBperp);
final DoubleMatrix eHatBperp = bPerpMatrix.sub(yHatBperp);
// DoubleMatrix Qe_hat = Qy - Qy_hat;
// DoubleMatrix y_hatT = aMatrix * rhsTheta;
// DoubleMatrix e_hatT = thetaMatrix - y_hatT;
// Copy estimated coefficients to private fields
bperpCoeffs = rhsBperp;
bparCoeffs = rhsBpar;
thetaCoeffs = rhsTheta;
thetaIncCoeffs = rhsThetaInc;
// Test inverse -- repair matrix!!!
for (int i = 0; i < Qx_hat.rows; i++) {
for (int j = 0; j < i; j++) {
Qx_hat.put(j, i, Qx_hat.get(i, j));
}
}
final double maxDev = abs(nMatrix.mmul(Qx_hat).sub(DoubleMatrix.eye(Qx_hat.rows))).max();
logger.debug("BASELINE: max(abs(nMatrix*inv(nMatrix)-I)) = " + maxDev);
if (maxDev > .01) {
logger.warn(
"BASELINE: max. deviation nMatrix*inv(nMatrix) from unity = "
+ maxDev
+ ". This is larger than .01: do not use this!");
} else if (maxDev > .001) {
logger.warn(
"BASELINE: max. deviation nMatrix*inv(nMatrix) from unity = "
+ maxDev
+ ". This is between 0.01 and 0.001 (maybe not use it)");
}
// Output solution and give max error
// --- B(l,p,h) = a000 +
// a100*l + a010*p + a001*h +
// a110*l*p + a101*l*h + a011*p*h +
// a200*l^2 + a020*p^2 + a002*h^2
logger.debug("--------------------");
logger.debug("Result of modeling: Bperp(l,p) = a000 + a100*l + a010*p + a001*h + ");
logger.debug(" a110*l*p + a101*l*h + a011*p*h + a200*l^2 + a020*p^2 + a002*h^2");
logger.debug("l,p,h in normalized coordinates [-2:2].");
logger.debug("Bperp_a000 = " + rhsBperp.get(0, 0));
logger.debug("Bperp_a100 = " + rhsBperp.get(1, 0));
logger.debug("Bperp_a010 = " + rhsBperp.get(2, 0));
logger.debug("Bperp_a001 = " + rhsBperp.get(3, 0));
logger.debug("Bperp_a110 = " + rhsBperp.get(4, 0));
logger.debug("Bperp_a101 = " + rhsBperp.get(5, 0));
logger.debug("Bperp_a011 = " + rhsBperp.get(6, 0));
logger.debug("Bperp_a200 = " + rhsBperp.get(7, 0));
logger.debug("Bperp_a020 = " + rhsBperp.get(8, 0));
logger.debug("Bperp_a002 = " + rhsBperp.get(9, 0));
double maxerr = (abs(eHatBperp)).max();
if (maxerr > 2.00) //
{
logger.warn("Max. error bperp modeling at 3D datapoints: " + maxerr + "m");
} else {
logger.info("Max. error bperp modeling at 3D datapoints: " + maxerr + "m");
}
logger.debug("--------------------");
logger.debug("Range: r(p) = r0 + dr*p");
logger.debug("l and p in un-normalized, absolute, coordinates (1:nMatrix).");
final double range1 = master.pix2range(1.0);
final double range5000 = master.pix2range(5000.0);
final double drange = (range5000 - range1) / 5000.0;
logger.debug("range = " + (range1 - drange) + " + " + drange + "*p");
// orbit initialized
isInitialized = true;
}
public static void main(String[] args) {
DoubleMatrix A = readJamaMatrixFromFile(".\\src\\test\\resources\\10_10_A");
DoubleMatrix B = readJamaMatrixFromFile(".\\src\\test\\resources\\10_10_B");
Long start = System.currentTimeMillis();
DoubleMatrix result = A.mmul(B);
Long end = System.currentTimeMillis();
Long time = end - start;
System.out.println("Time for JBLAS multiply 10x10 is: " + time);
A = readJamaMatrixFromFile(".\\src\\test\\resources\\100_100_M1");
B = readJamaMatrixFromFile(".\\src\\test\\resources\\100_100_M2");
start = System.currentTimeMillis();
result = A.mmul(B);
end = System.currentTimeMillis();
time = end - start;
System.out.println("Time for JBLAS multiply 100x100 is: " + time);
A = readJamaMatrixFromFile(".\\src\\test\\resources\\200_200_A");
B = readJamaMatrixFromFile(".\\src\\test\\resources\\200_200_B");
start = System.currentTimeMillis();
result = A.mmul(B);
end = System.currentTimeMillis();
time = end - start;
System.out.println("Time for JBLAS multiply 200x200 is: " + time);
A = readJamaMatrixFromFile(".\\src\\test\\resources\\300_300_A");
B = readJamaMatrixFromFile(".\\src\\test\\resources\\300_300_B");
start = System.currentTimeMillis();
result = A.mmul(B);
end = System.currentTimeMillis();
time = end - start;
System.out.println("Time for JBLAS multiply 300x300 is: " + time);
A = readJamaMatrixFromFile(".\\src\\test\\resources\\500_500_A");
B = readJamaMatrixFromFile(".\\src\\test\\resources\\500_500_B");
start = System.currentTimeMillis();
result = A.mmul(B);
end = System.currentTimeMillis();
time = end - start;
System.out.println("Time for JBLAS multiply 500x500 is: " + time);
A = readJamaMatrixFromFile(".\\src\\test\\resources\\1000_1000_A");
B = readJamaMatrixFromFile(".\\src\\test\\resources\\1000_1000_B");
start = System.currentTimeMillis();
result = A.mmul(B);
end = System.currentTimeMillis();
time = end - start;
System.out.println("Time for JBLAS multiply 1000x1000 is: " + time);
// Matrix Multiply x2
A = readJamaMatrixFromFile(".\\src\\test\\resources\\2_2_A");
B = readJamaMatrixFromFile(".\\src\\test\\resources\\2_2_B");
start = System.currentTimeMillis();
result = A.mmul(B);
end = System.currentTimeMillis();
time = end - start;
System.out.println("Time for JBLAS multiply 2x2 is: " + time);
A = readJamaMatrixFromFile(".\\src\\test\\resources\\4_4_A");
B = readJamaMatrixFromFile(".\\src\\test\\resources\\4_4_B");
start = System.currentTimeMillis();
result = A.mmul(B);
end = System.currentTimeMillis();
time = end - start;
System.out.println("Time for JBLAS multiply 4x4 is: " + time);
A = readJamaMatrixFromFile(".\\src\\test\\resources\\8_8_A");
B = readJamaMatrixFromFile(".\\src\\test\\resources\\8_8_A");
start = System.currentTimeMillis();
result = A.mmul(B);
end = System.currentTimeMillis();
time = end - start;
System.out.println("Time for JBLAS multiply 8x8 is: " + time);
A = readJamaMatrixFromFile(".\\src\\test\\resources\\16_16_A");
B = readJamaMatrixFromFile(".\\src\\test\\resources\\16_16_A");
start = System.currentTimeMillis();
result = A.mmul(B);
end = System.currentTimeMillis();
time = end - start;
System.out.println("Time for JBLAS multiply 16x16 is: " + time);
A = readJamaMatrixFromFile(".\\src\\test\\resources\\32_32_A");
B = readJamaMatrixFromFile(".\\src\\test\\resources\\32_32_A");
start = System.currentTimeMillis();
result = A.mmul(B);
end = System.currentTimeMillis();
time = end - start;
System.out.println("Time for JBLAS multiply 32x32 is: " + time);
A = readJamaMatrixFromFile(".\\src\\test\\resources\\64_64_A");
B = readJamaMatrixFromFile(".\\src\\test\\resources\\64_64_A");
start = System.currentTimeMillis();
result = A.mmul(B);
end = System.currentTimeMillis();
time = end - start;
System.out.println("Time for JBLAS multiply 64x64 is: " + time);
A = readJamaMatrixFromFile(".\\src\\test\\resources\\128_128_A");
B = readJamaMatrixFromFile(".\\src\\test\\resources\\128_128_A");
start = System.currentTimeMillis();
result = A.mmul(B);
end = System.currentTimeMillis();
time = end - start;
System.out.println("Time for JBLAS multiply 128x128 is: " + time);
A = readJamaMatrixFromFile(".\\src\\test\\resources\\256_256_A");
B = readJamaMatrixFromFile(".\\src\\test\\resources\\256_256_A");
start = System.currentTimeMillis();
result = A.mmul(B);
end = System.currentTimeMillis();
time = end - start;
System.out.println("Time for JBLAS multiply 256x256 is: " + time);
A = readJamaMatrixFromFile(".\\src\\test\\resources\\512_512_A");
B = readJamaMatrixFromFile(".\\src\\test\\resources\\512_512_A");
start = System.currentTimeMillis();
result = A.mmul(B);
end = System.currentTimeMillis();
time = end - start;
System.out.println("Time for JBLAS multiply 512x512 is: " + time);
A = readJamaMatrixFromFile(".\\src\\test\\resources\\1024_1024_A");
B = readJamaMatrixFromFile(".\\src\\test\\resources\\1024_1024_A");
start = System.currentTimeMillis();
result = A.mmul(B);
end = System.currentTimeMillis();
time = end - start;
System.out.println("Time for JBLAS multiply 1024x1024 is: " + time);
A = readJamaMatrixFromFile(".\\src\\test\\resources\\2048_2048_A");
B = readJamaMatrixFromFile(".\\src\\test\\resources\\2048_2048_A");
start = System.currentTimeMillis();
result = A.mmul(B);
end = System.currentTimeMillis();
time = end - start;
System.out.println("Time for JBLAS multiply 2048x2048 is: " + time);
A = readJamaMatrixFromFile(".\\src\\test\\resources\\4096_4096_A");
B = readJamaMatrixFromFile(".\\src\\test\\resources\\4096_4096_A");
start = System.currentTimeMillis();
result = A.mmul(B);
end = System.currentTimeMillis();
time = end - start;
System.out.println("Time for JBLAS multiply 4096x4096 is: " + time);
// LU Decomp
A = readJamaMatrixFromFile(".\\src\\test\\resources\\2_2_A");
Decompose lucalc = new Decompose();
start = System.currentTimeMillis();
Decompose.LUDecomposition<DoubleMatrix> resultLu = lucalc.lu(A);
end = System.currentTimeMillis();
time = end - start;
System.out.println("Time for JBLAS LU 2x2 is: " + time);
A = readJamaMatrixFromFile(".\\src\\test\\resources\\4_4_A");
// Decompose lucalc = new Decompose();
start = System.currentTimeMillis();
resultLu = lucalc.lu(A);
end = System.currentTimeMillis();
time = end - start;
System.out.println("Time for JBLAS LU 4x4 is: " + time);
A = readJamaMatrixFromFile(".\\src\\test\\resources\\8_8_A");
start = System.currentTimeMillis();
resultLu = lucalc.lu(A);
end = System.currentTimeMillis();
time = end - start;
System.out.println("Time for JBLAS LU 8x8 is: " + time);
A = readJamaMatrixFromFile(".\\src\\test\\resources\\16_16_A");
// Decompose lucalc = new Decompose();
start = System.currentTimeMillis();
resultLu = lucalc.lu(A);
end = System.currentTimeMillis();
time = end - start;
System.out.println("Time for JBLAS LU 16x16 is: " + time);
A = readJamaMatrixFromFile(".\\src\\test\\resources\\32_32_A");
start = System.currentTimeMillis();
resultLu = lucalc.lu(A);
end = System.currentTimeMillis();
time = end - start;
System.out.println("Time for JBLAS LU 32x32 is: " + time);
A = readJamaMatrixFromFile(".\\src\\test\\resources\\64_64_A");
// Decompose lucalc = new Decompose();
start = System.currentTimeMillis();
resultLu = lucalc.lu(A);
end = System.currentTimeMillis();
time = end - start;
System.out.println("Time for JBLAS LU 64x64 is: " + time);
A = readJamaMatrixFromFile(".\\src\\test\\resources\\128_128_A");
start = System.currentTimeMillis();
resultLu = lucalc.lu(A);
end = System.currentTimeMillis();
time = end - start;
System.out.println("Time for JBLAS LU 128x128 is: " + time);
A = readJamaMatrixFromFile(".\\src\\test\\resources\\256_256_A");
// Decompose lucalc = new Decompose();
start = System.currentTimeMillis();
resultLu = lucalc.lu(A);
end = System.currentTimeMillis();
time = end - start;
System.out.println("Time for JBLAS LU 256x256 is: " + time);
A = readJamaMatrixFromFile(".\\src\\test\\resources\\512_512_A");
start = System.currentTimeMillis();
resultLu = lucalc.lu(A);
end = System.currentTimeMillis();
time = end - start;
System.out.println("Time for JBLAS LU 512x512 is: " + time);
A = readJamaMatrixFromFile(".\\src\\test\\resources\\1024_1024_A");
// Decompose lucalc = new Decompose();
start = System.currentTimeMillis();
resultLu = lucalc.lu(A);
end = System.currentTimeMillis();
time = end - start;
System.out.println("Time for JBLAS LU 1024x1024 is: " + time);
A = readJamaMatrixFromFile(".\\src\\test\\resources\\2048_2048_A");
start = System.currentTimeMillis();
resultLu = lucalc.lu(A);
end = System.currentTimeMillis();
time = end - start;
System.out.println("Time for JBLAS LU 2048x2048 is: " + time);
A = readJamaMatrixFromFile(".\\src\\test\\resources\\4096_4096_A");
start = System.currentTimeMillis();
resultLu = lucalc.lu(A);
end = System.currentTimeMillis();
time = end - start;
System.out.println("Time for JBLAS LU 4096x4096 is: " + time);
}