src/projection/ossimCoarseGridModel.cpp

//*****************************************************************************
// FILE: ossimCoarseGridModel.cc
//
// License:  See LICENSE.txt file in the top level directory.
//
// AUTHOR: Oscar Kramer
//
// DESCRIPTION:
//   Contains implementation of class ossimCoarseGridModel. This is an
//   implementation of an interpolation sensor model.
//
//   IMPORTANT: The lat/lon grid is for ground points on the ellipsoid.
//   The dLat/dHgt and dLon/dHgt partials therefore are used against
//   elevations relative to the ellipsoid.
//
//*****************************************************************************
//  $Id: ossimCoarseGridModel.cpp 22825 2014-07-07 23:14:52Z dburken $

#include <ossim/projection/ossimCoarseGridModel.h>

RTTI_DEF1(ossimCoarseGridModel, "ossimCoarseGridModel", ossimSensorModel);

#include <ossim/base/ossimGpt.h>
#include <ossim/base/ossimDpt.h>
#include <ossim/base/ossimKeywordlist.h>
#include <ossim/base/ossimKeywordNames.h>
#include <ossim/base/ossimDatumFactory.h>
#include <ossim/base/ossimNotifyContext.h>
#include <ossim/elevation/ossimElevManager.h>
#include <ossim/imaging/ossimImageGeometry.h>
#include <ossim/support_data/ossimSupportFilesList.h>
#include <ossim/projection/ossimProjectionFactoryRegistry.h>
#include <ossim/projection/ossimBilinearProjection.h>
#include <cstdio>
#include <fstream>

//***
// Define Trace flags for use within this file:
//***
#include <ossim/base/ossimTrace.h>

using namespace std;

static ossimTrace traceExec  ("ossimCoarseGridModel:exec");
static ossimTrace traceDebug ("ossimCoarseGridModel:debug");

static const char* MODEL_TYPE = "ossimCoarseGridModel";
static const char* GRID_FILE_NAME_KW = "grid_file_name";
static const char* CROSSES_DATELINE_KW = "crosses_dateline";

const ossimFilename DEFAULT_GEOM_FILE_EXT ("geom");
const ossimFilename DEFAULT_GRID_FILE_EXT ("ocg");
double ossimCoarseGridModel::theInterpolationError = .1;
ossim_int32 ossimCoarseGridModel::theMinGridSpacing     = 100;

//*****************************************************************************
//  DEFAULT CONSTRUCTOR: ossimCoarseGridModel()
//
//*****************************************************************************
ossimCoarseGridModel::ossimCoarseGridModel()
   :
      ossimSensorModel(),
      theDlatDparamGrid (0),
      theDlonDparamGrid (0),
      theHeightEnabledFlag(true)
{
   if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG)
      << "DEBUG ossimCoarseGridModel::ossimCoarseGridModel: entering..."
      << std::endl;

   theLatGrid.setDomainType(ossimDblGrid::SAWTOOTH_90);
   theLonGrid.setDomainType(ossimDblGrid::WRAP_180);
   theLatGrid.enableExtrapolation();
   theLonGrid.enableExtrapolation();

   setErrorStatus();

   if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG)
      << "DEBUG ossimCoarseGridModel::ossimCoarseGridModel: returning..."
      << std::endl;
}

//*****************************************************************************
//  COPY CONSTRUCTOR: ossimCoarseGridModel(ossimCoarseGridModel)
//
//*****************************************************************************
ossimCoarseGridModel::ossimCoarseGridModel(const ossimCoarseGridModel& model)
   :
      ossimSensorModel  (model),
      theGridFilename   (model.theGridFilename),
      theLatGrid        (model.theLatGrid),
      theLonGrid        (model.theLonGrid),
      theDlatDhGrid     (model.theDlatDhGrid),
      theDlonDhGrid     (model.theDlonDhGrid),
      theDlatDparamGrid (0),
      theDlonDparamGrid (0),
      theHeightEnabledFlag(true)
{
   if (traceExec()) ossimNotify(ossimNotifyLevel_DEBUG)
      << "DEBUG ossimCoarseGridModel::ossimCoarseGridModel(model): entering..."
      << std::endl;

   int numberOfParams = getNumberOfAdjustableParameters();
   if(numberOfParams)
   {
      //***
      // Allocate adjustable parameter partials grids then assign:
      //***
      theDlatDparamGrid = new ossimDblGrid [numberOfParams];
      theDlonDparamGrid = new ossimDblGrid [numberOfParams];

      for (int i=0; i<numberOfParams; i++)
      {
         theDlatDparamGrid[i] = model.theDlatDparamGrid[i];
         theDlonDparamGrid[i] = model.theDlonDparamGrid[i];
      }
   }

   if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG)
      << "DEBUG ossimCoarseGridModel::ossimCoarseGridModel: returning..."
      << std::endl;
}

//*****************************************************************************
//  CONSTRUCTOR: ossimCoarseGridModel(filename)
//
//  Constructs model from geometry file
//
//*****************************************************************************
ossimCoarseGridModel::ossimCoarseGridModel(const ossimFilename& geom_file)
   :
      ossimSensorModel(),
      theDlatDparamGrid (0),
      theDlonDparamGrid (0),
      theHeightEnabledFlag(true)
{
   if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimCoarseGridModel::ossimCoarseGridModel(geom_file): entering..." << std::endl;

   theLatGrid.setDomainType(ossimDblGrid::SAWTOOTH_90);
   theLonGrid.setDomainType(ossimDblGrid::WRAP_180);
   theLatGrid.enableExtrapolation();
   theLonGrid.enableExtrapolation();

   ossimKeywordlist kwl;
   if(geom_file.exists()&&kwl.addFile(geom_file))
   {
      loadState(kwl);
      theGridFilename = geom_file.path();
   }
   else
   {
      ++theErrorStatus;
   }

   if (traceExec())   ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimCoarseGridModel::ossimCoarseGridModel(geom_file): returning..." << std::endl;
   return;
}

//*****************************************************************************
//  CONSTRUCTOR: ossimCoarseGridModel(kwl)
//
//  Constructs model from keywordlist geometry file
//
//*****************************************************************************
ossimCoarseGridModel::ossimCoarseGridModel(const ossimKeywordlist& geom_kwl)
   :
      ossimSensorModel(),
      theDlatDparamGrid (0),
      theDlonDparamGrid (0),
      theHeightEnabledFlag(true)
{
   if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimCoarseGridModel::ossimCoarseGridModel(geom_kwl): entering..." << std::endl;

   theLatGrid.setDomainType(ossimDblGrid::SAWTOOTH_90);
   theLonGrid.setDomainType(ossimDblGrid::WRAP_180);
   theLatGrid.enableExtrapolation();
   theLonGrid.enableExtrapolation();

  // Parse keywordlist for geometry:
   loadState(geom_kwl);
}

//*************************************************************************************************
//! Assigns the grid data given a projection (typically a rigorous sensor model)
//*************************************************************************************************
void ossimCoarseGridModel::buildGrid(const ossimDrect& imageBounds,
                                     ossimProjection* proj,
                                     double heightDelta,
                                     bool enableHeightFlag,
                                     bool makeAdjustableFlag)
{
   ossimRefPtr<ossimImageGeometry> geom = new ossimImageGeometry();
   geom->setProjection(proj);
   buildGrid(imageBounds, geom.get(), heightDelta, enableHeightFlag, makeAdjustableFlag);
}


//*************************************************************************************************
//! Assigns the grid data given a geometry
//*************************************************************************************************
void ossimCoarseGridModel::buildGrid(const ossimDrect& imageBounds,
                                     ossimImageGeometry* geom,
                                     double heightDelta,
                                     bool enableHeightFlag,
                                     bool makeAdjustableFlag)
{
   theHeightEnabledFlag =  enableHeightFlag;

   if (!geom->getProjection() || imageBounds.hasNans())
      return;

   // don't let it get any smaller than 100, 100 pixels
   // on the input projector
   //
   // may want this to be adjusted by outside
   //
   const ossimDatum* targetDatum = ossimDatumFactory::instance()->wgs84();
   ossimIpt gridSize(2,2);
   ossimDpt gridOrigin(0,0);
   ossimGpt gpt;
   ossimGpt gpt2;
   ossimGpt bilinearGpt;
   resizeAdjustableParameterArray(0);
   double normSplit = 1.0;
   ossimIpt imageSize = ossimIpt(imageBounds.width(), imageBounds.height());
   double error = 0.0;

   ossimIpt imageOrigin = imageBounds.ul();
   ossimDpt spacing ((double)(imageBounds.width()-1)/(gridSize.x-1),
      (double)(imageBounds.height()-1)/(gridSize.y-1));

   if(theDlatDparamGrid)
   {
      delete [] theDlatDparamGrid;
      theDlatDparamGrid = NULL;
   }
   if(theDlonDparamGrid)
   {
      delete [] theDlonDparamGrid;
      theDlonDparamGrid = NULL;
   }

   geom->localToWorld(imageBounds.midPoint(), gpt);

   do
   {
      if(traceDebug())
      {
         ossimNotify(ossimNotifyLevel_DEBUG) << "Checking grid size " << gridSize << std::endl;
      }

      spacing = ossimDpt((double)(imageBounds.width()-1)/(gridSize.x-1),
         (double)(imageBounds.height()-1)/(gridSize.y-1));

      theLatGrid.setNullValue(ossim::nan());
      theLonGrid.setNullValue(ossim::nan());
      theDlatDhGrid.setNullValue(0.0);
      theDlonDhGrid.setNullValue(0.0);
      theLatGrid.setDomainType(ossimDblGrid::SAWTOOTH_90);
      theLonGrid.setDomainType(ossimDblGrid::WRAP_180);
      theLatGrid.initialize(gridSize, gridOrigin, spacing);
      theLonGrid.initialize(gridSize, gridOrigin, spacing);
      theDlatDhGrid.initialize(gridSize, gridOrigin, spacing);
      theDlonDhGrid.initialize(gridSize, gridOrigin, spacing);
      ossim_int32 x, y;

      for(y = 0; y < gridSize.y; ++y)
      {
         for(x = 0; x < gridSize.x; ++x)
         {
            ossimDpt norm((double)x/(double)(gridSize.x-1),
               (double)y/(double)(gridSize.y-1));

            ossimDpt pt(imageOrigin.x + norm.x*(imageSize.x-1),
               imageOrigin.y + norm.y*(imageSize.y-1));

            geom->localToWorld(pt, gpt);
            double h = gpt.height();
            if(ossim::isnan(h))
            {
               h += heightDelta;
            }
            ossimDpt fullPt;
            geom->rnToFull(pt, 0, fullPt);
            geom->getProjection()->lineSampleHeightToWorld(fullPt, h, gpt2);
            gpt.changeDatum(targetDatum);
            gpt2.changeDatum(targetDatum);

            theLatGrid.setNode(x, y, gpt.latd());
            theLonGrid.setNode(x, y, gpt.lond());

            theDlatDhGrid.setNode(x, y, (gpt2.latd() - gpt.latd())/heightDelta);
            theDlonDhGrid.setNode(x, y, (gpt2.lond() - gpt.lond())/heightDelta);
         }
      }
      ossim_int32 upperY = 2*gridSize.y;
      ossim_int32 upperX = 2*gridSize.x;
      error = 0.0;

      // Set all base-class data members needed for subsequent calls to projection code:
      initializeModelParams(imageBounds);

      for(y = 0; ((y < upperY)&&(error < theInterpolationError)); ++y)
      {
         for(x = 0; ((x < upperX)&&(error<theInterpolationError)); ++x)
         {
            ossimDpt norm((double)x/(double)(upperX-1),
               (double)y/(double)(upperY-1));

            ossimDpt imagePoint(imageOrigin.x + norm.x*(imageSize.x-1),
               imageOrigin.y + norm.y*(imageSize.y-1));
            ossimDpt testIpt;

            geom->localToWorld(imagePoint, gpt);
            worldToLineSample(gpt, testIpt);
            error = (testIpt-imagePoint).length();
         }
      }

      gridSize.x *= 2;
      gridSize.y *= 2;
      normSplit *= .5;
   } while((error > theInterpolationError) &&
           ((imageSize.x*normSplit) > theMinGridSpacing) &&
           ((imageSize.y*normSplit) > theMinGridSpacing));

   gridSize = theLatGrid.size();

   ossimAdjustableParameterInterface* adjustableParameters =
      PTR_CAST(ossimAdjustableParameterInterface, geom->getProjection());
   removeAllAdjustments();
   if(adjustableParameters&&makeAdjustableFlag)
   {
      if(adjustableParameters->getNumberOfAdjustableParameters() > 0)
      {
         newAdjustment(adjustableParameters->getNumberOfAdjustableParameters());

         int numberOfParams = getNumberOfAdjustableParameters();
         if(numberOfParams)
         {
            //***
            // Allocate adjustable parameter partials grids then assign:
            //***
            theDlatDparamGrid = new ossimDblGrid [numberOfParams];
            theDlonDparamGrid = new ossimDblGrid [numberOfParams];
            for(int paramIdx = 0; paramIdx < numberOfParams; ++ paramIdx)
            {
               theDlonDparamGrid[paramIdx].setNullValue(0.0);
               theDlatDparamGrid[paramIdx].setNullValue(0.0);
               theDlatDparamGrid[paramIdx].initialize(gridSize, gridOrigin, spacing);
               theDlonDparamGrid[paramIdx].initialize(gridSize, gridOrigin, spacing);
               setAdjustableParameter(paramIdx, 0.0);
               setParameterSigma(paramIdx, adjustableParameters->getParameterSigma(paramIdx));
               setParameterUnit(paramIdx, adjustableParameters->getParameterUnit(paramIdx));
               setParameterCenter(paramIdx, 0.0);
               setParameterDescription(paramIdx,
                  adjustableParameters->getParameterDescription(paramIdx));

               double oldParameter = adjustableParameters->getAdjustableParameter(paramIdx);
               adjustableParameters->setAdjustableParameter(paramIdx, 1.0, true);
               double adjust = adjustableParameters->computeParameterOffset(paramIdx);
               double deltaLat = 0;
               double deltaLon = 0;
               if(adjust != 0.0)
               {
                  for(int y = 0; y < gridSize.y; ++y)
                  {
                     for(int x = 0; x < gridSize.x; ++x)
                     {
                        ossimDpt norm((double)x/(double)(gridSize.x-1),
                           (double)y/(double)(gridSize.y-1));

                        ossimDpt pt(imageOrigin.x + norm.x*(imageSize.x-1),
                           imageOrigin.y + norm.y*(imageSize.y-1));
                        geom->localToWorld(pt, gpt);

                        gpt.changeDatum(targetDatum);
                        gpt2.latd(theLatGrid(pt));
                        gpt2.lond(theLonGrid(pt));
                        deltaLat = gpt.latd()-gpt2.latd();
                        deltaLon = gpt.lond()-gpt2.lond();

                        theDlatDparamGrid[paramIdx].setNode(x, y, deltaLat/adjust);
                        theDlonDparamGrid[paramIdx].setNode(x, y, deltaLon/adjust);
                     }
                  }

                  // The partials grids for this parameter are initialized, now initialize the
                  // grid's extrapolator:
                  theDlatDparamGrid[paramIdx].enableExtrapolation();
                  theDlonDparamGrid[paramIdx].enableExtrapolation();
               }
               adjustableParameters->setAdjustableParameter(paramIdx, oldParameter, true);
            }
         }
      }
   }
   getAdjustment(theInitialAdjustment);
}

void ossimCoarseGridModel::setInterpolationError(double error)
{
   theInterpolationError = error;
}

void ossimCoarseGridModel::setMinGridSpacing(ossim_int32 minSpacing)
{
   theMinGridSpacing = minSpacing;
}

//*************************************************************************************************
//! Initializes base class data members after grids have been assigned.
//! It is assumed that theImageSize and the origin image point were already set.
//*************************************************************************************************
void ossimCoarseGridModel::initializeModelParams(ossimIrect imageBounds)
{
   // NOTE: it is assumed that the grid size and spacing is the same for ALL grids:
   ossimIpt gridSize (theLatGrid.size());
   ossimDpt spacing  (theLatGrid.spacing());
   ossimDpt v[4];
   v[0].lat = theLatGrid.getNode(0,0);
   v[0].lon = theLonGrid.getNode(0,0);
   v[1].lat = theLatGrid.getNode(gridSize.x-1, 0);
   v[1].lon = theLonGrid.getNode(gridSize.x-1, 0);
   v[2].lat = theLatGrid.getNode(gridSize.x-1, gridSize.y-2);
   v[2].lon = theLonGrid.getNode(gridSize.x-1, gridSize.y-2);
   v[3].lat = theLatGrid.getNode(0, gridSize.y-2);
   v[3].lon = theLonGrid.getNode(0, gridSize.y-2);

   // Guaranty longitude values are -180 to 180
   for (int i=0; i<4; i++)
   {
      if (v[i].lon > 180.0)
         v[i].lon -= 360.0;
   }

   theBoundGndPolygon = ossimPolygon(4, v);

   theImageSize  = ossimDpt(imageBounds.width(), imageBounds.height());
   theRefImgPt   = imageBounds.midPoint();
   theRefGndPt.lat = theLatGrid(theRefImgPt);
   theRefGndPt.lon = theLonGrid(theRefImgPt);

   ossimDpt ref_ip_dx (theRefImgPt.x+1.0, theRefImgPt.y    );
   ossimDpt ref_ip_dy (theRefImgPt.x    , theRefImgPt.y+1.0);
   ossimGpt ref_gp_dx (theLatGrid(ref_ip_dx), theLonGrid(ref_ip_dx));
   ossimGpt ref_gp_dy (theLatGrid(ref_ip_dy), theLonGrid(ref_ip_dy));

   theGSD.x   = theRefGndPt.distanceTo(ref_gp_dx);
   theGSD.y   = theRefGndPt.distanceTo(ref_gp_dy);

   theMeanGSD = (theGSD.line + theGSD.samp)/2.0;
   theImageClipRect  = imageBounds;
   theSubImageOffset = imageBounds.ul();
}

//*****************************************************************************
//  DESTRUCTOR: ~ossimCoarseGridModel()
//
//*****************************************************************************
ossimCoarseGridModel::~ossimCoarseGridModel()
{
   if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG)
      << "DEBUG ossimCoarseGridModel::~ossimCoarseGridModel: entering..."
      << std::endl;

   if(theDlatDparamGrid&&theDlonDparamGrid)
   {
      //***
      // Deallocate memory:
      //***
      delete [] theDlatDparamGrid;
      delete [] theDlonDparamGrid;
      theDlatDparamGrid = NULL;
      theDlonDparamGrid = NULL;
   }
   if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG)
      << "DEBUG ossimCoarseGridModel::~ossimCoarseGridModel: returning..."
      << std::endl;
}

//*************************************************************************************************
// METHOD
//*************************************************************************************************
void ossimCoarseGridModel::lineSampleToWorld(const ossimDpt& image_point,
                                             ossimGpt&       gpt) const
{
   if(!theHeightEnabledFlag)
   {
      //
      // Extrapolate if image point is outside image:
      //
      if (!insideImage(image_point))
      {
         gpt = extrapolate(image_point);
         return;
      }

      lineSampleHeightToWorld(image_point, 0.0, gpt);
   }
   else
   {
      ossimSensorModel::lineSampleToWorld(image_point, gpt);
   }
}

//*****************************************************************************
//  METHOD: ossimCoarseGridModel::lineSampleHeightToWorld()
//
//  Establishes the ground point corresponding to the input image_point and
//  specified elevation above MSL
//
//*****************************************************************************
void
ossimCoarseGridModel::lineSampleHeightToWorld(const ossimDpt& lineSampPt,
                                              const double&   arg_hgt_above_ellipsoid,
                                              ossimGpt&       worldPt) const
{
   if (traceExec()) ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimCoarseGridModel::lineSampleHeightToWorld: entering..." << std::endl;

   if(theLatGrid.size().x < 1 ||
      theLatGrid.size().y < 1)
   {
      worldPt.makeNan();
      return;
   }

   double height = (ossim::isnan(arg_hgt_above_ellipsoid)) ? 0.0 : arg_hgt_above_ellipsoid;

   // Note that there is no check for image point outside of valid image rect because this model
   // uses the extrapolation inherent to the ossimDblGrid.

   // The image point may correspond to an offset sub-image. Need to convert
   // to full image space before anything:
   ossimDpt ip = lineSampPt + theSubImageOffset;

   // Establish the interpolated values from the grids:
   worldPt.lat = theLatGrid(ip);
   worldPt.lon = theLonGrid(ip);
   worldPt.hgt = height;

   if(theHeightEnabledFlag)
   {
      // Adjust horizontally due to elevation:
      worldPt.lat += theDlatDhGrid(ip)*height;
      worldPt.lon += theDlonDhGrid(ip)*height;
   }
   int numberOfParams = getNumberOfAdjustableParameters();

   // Now add increments due to adjustable parameter deltas:
   for (int p=0; p<numberOfParams; p++)
   {
       worldPt.lat += (theDlatDparamGrid[p](ip) * computeParameterOffset(p));
       worldPt.lon += (theDlonDparamGrid[p](ip) * computeParameterOffset(p));
   }

   worldPt.limitLonTo180();

   if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimCoarseGridModel::lineSampleHeightToWorld: returning..." << std::endl;
}

//*************************************************************************************************
// METHOD
//*************************************************************************************************
void ossimCoarseGridModel::initAdjustableParameters()
{
   if(getNumberOfAdjustableParameters() < 1)
   {
      addAdjustment(theInitialAdjustment, true);
   }
   else
   {
      setAdjustment(theInitialAdjustment, true);
   }
}

//*************************************************************************************************
// METHOD
//*************************************************************************************************
void ossimCoarseGridModel::imagingRay(const ossimDpt& image_point,
                                      ossimEcefRay&   image_ray) const
{
   ossimSensorModel::imagingRay(image_point, image_ray);
}


//*****************************************************************************
//  METHOD: ossimCoarseGridModel::print()
//
//  Formatted dump of data members.
//
//*****************************************************************************
std::ostream& ossimCoarseGridModel::print(std::ostream& out) const
{
   out << "\nDump of ossimCoarseGridModel object at: " << this << "\n"
       << "\n           Grid File Name: " << theGridFilename
       << "\n                 Image ID: " << theImageID
       << "\n                   Sensor: " << theSensorID
       << "\n  Image Size (rows, cols): " << theImageSize
       << "\n      Ref Pt (samp, line): " << theRefImgPt
       << "\n   Ref Pt (lat, lon, hgt): " << theRefGndPt
       << "\n           GSD (row, col): " << theGSD
       << "\n  Bounding Ground Polygon: " << theBoundGndPolygon << endl;
//      << "\n         Number of Params: " << theNumParams << "\n"<<endl;

   char buf[256];
   ossimIpt size (theLatGrid.size());
   ossimDpt spacing (theLatGrid.spacing());
   int line, samp;
   ossimIpt node;

   out << "[ line,  samp]        lat        lon         dLat/dH      dLon/dH\n"
       << "-------------------------------------------------------------------"
       <<endl;

   for (node.y=0; node.y<size.y; node.y++)
   {
      line = (int) (node.y*spacing.y);

      for (node.x=0; node.x<size.x; node.x++)
      {
         samp = (int) (node.x*spacing.x);

         sprintf(buf, "[%5d, %5d]    %+9.5f  %+10.5f    %+11.4e  %+11.4e",
                  line, samp,
                  theLatGrid.getNode(node),
                  theLonGrid.getNode(node),
                  theDlatDhGrid.getNode(node),
                  theDlonDhGrid.getNode(node));
         out << buf << endl;
      }
      out <<"-----------------------------------------------------------------"
          <<endl;
   }

   out << "\n\nDump of lat/lon Partials w.r.t. Adjustable Parameters:"<<endl;
   out << "\nEnd Dump of ossimCoarseGridModel.\n" <<  endl;
   return out;
}

//*****************************************************************************
//  METHOD: ossimCoarseGridModel::saveState()
//
//  Saves the model state to the KWL. This KWL also serves as a geometry file.
//
//  Returns true if successful.
//
//*****************************************************************************
bool ossimCoarseGridModel::saveState(ossimKeywordlist& kwl,
                                     const char* prefix) const
{
   if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimCoarseGridModel::saveState: entering..." << std::endl;

   kwl.add(prefix, ossimKeywordNames::TYPE_KW, "ossimCoarseGridModel");

   //---
   // Save just the file part so that the geometry stuff is relocatable.
   // Code was added to ossimProjectionFactoryBase::createProjectionFromGeometryFile
   // to handle this.
   //---
   kwl.add( prefix, GRID_FILE_NAME_KW, theGridFilename.file() );

   kwl.add(prefix, "height_enabled_flag", theHeightEnabledFlag, true);
   ossimSensorModel::saveState(kwl, prefix);
   ossimString initAdjPrefix = ossimString(prefix) + "init_adjustment.";
   theInitialAdjustment.saveState(kwl, initAdjPrefix);

   if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimCoarseGridModel::saveState: returning..." << std::endl;

   return true;
}

//*****************************************************************************
//  METHOD: ossimCoarseGridModel::loadState()
//
//  Restores the model's state from the KWL. This KWL also serves as a
//  geometry file.
//
//  Returns true if successful.
//
//*****************************************************************************
bool ossimCoarseGridModel::loadState(const ossimKeywordlist& kwl,
                                     const char* prefix)
{
   if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimCoarseGridModel::loadState: entering..." << std::endl;

   clearErrorStatus();
   const char* value;
   bool success;

   //***
   // Assure this keywordlist contains correct type info:
   //***
   value = kwl.find(prefix, ossimKeywordNames::TYPE_KW);
   if (!value || (strcmp(value, "ossimCoarseGridModel")))
   {
      if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimCoarseGridModel::loadState:  returning..." << std::endl;
      theErrorStatus++;
      return false;
   }
   value = kwl.find(prefix, "height_enabled_flag");
   if(value)
   {
      theHeightEnabledFlag = ossimString(value).toBool();
   }

   //***
   // Pass on to the base-class for parsing first:
   //***
   success = ossimSensorModel::loadState(kwl, prefix);
   if (!success)
   {
      theErrorStatus++;
      if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimCoarseGridModel::loadState: returning with error..." << std::endl;
      return false;
   }

   //***
   // Look for geom filename or explicit grid filename to establish path to grid:
   //***
   theGridFilename = kwl.find(prefix, GRID_FILE_NAME_KW);

   if (!theGridFilename.isReadable())
   {
      //---
      // This is set in ossimProjectionFactoryBase::createProjectionFromGeometryFile
      // so we can derive the dot.ocg from it.
      //---
      ossimFilename alt_path_to_grid = kwl.find("kwl_source");
      theGridFilename = alt_path_to_grid.setExtension(DEFAULT_GRID_FILE_EXT);

      if (!theGridFilename.isReadable())
      {
         ossimFilename alt_path_to_grid = kwl.find(prefix, ossimKeywordNames::GEOM_FILE_KW);
         theGridFilename = alt_path_to_grid.setExtension(DEFAULT_GRID_FILE_EXT);
      }
   }

   if (!theGridFilename.isReadable())
   {
      ossimNotify(ossimNotifyLevel_FATAL) << "ossimCoarseGridModel::loadState() -- Error "
         "encountered opening coarse grid file at "<< "<" <<theGridFilename << ">." << std::endl;
      if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimCoarseGridModel::loadState: returning with error..." << std::endl;
      theErrorStatus++;
      return false;
   }

   // Load the coarse grid file specified in KWL. This method resets the
   // theErrorStatus to OSSIM_OK if successful:
   if (!loadCoarseGrid(theGridFilename))
   {
      theErrorStatus++;
      return false;
   }

   // crossesDateline legacy. No longer saved.
   bool crossesDateline = false;
   kwl.getBoolKeywordValue(crossesDateline, CROSSES_DATELINE_KW, prefix);
   if (crossesDateline)
      theLonGrid.setDomainType(ossimDblGrid::WRAP_360);

   // Add the coarse grid filename to list of support files being referenced for logging purposes:
   ossimSupportFilesList::instance()->add(theGridFilename.expand());

   ossimString initAdjPrefix = ossimString(prefix) + "init_adjustment.";
   theInitialAdjustment.loadState(kwl, initAdjPrefix.c_str());

   if((ossim::isnan(theRefGndPt.hgt)) ||
      (theRefGndPt.hgt == 0))
   {
      theRefGndPt.hgt = ossimElevManager::instance()->getHeightAboveEllipsoid(theRefGndPt);
      if(theRefGndPt.hgt < 0)
      {
         theRefGndPt.hgt = fabs(theRefGndPt.hgt);
      }
   }

   if(theInitialAdjustment.getNumberOfAdjustableParameters() < 1)
   {
      getAdjustment(theInitialAdjustment);
   }
   if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimCoarseGridModel::loadState: returning..." << std::endl;
   if (theErrorStatus)
      return false;

   return true;
}

//*****************************************************************************
//  METHOD: ossimCoarseGridModel::saveCoarseGrid(cgFileName)
//
//  Saves the coarse grid to disk file.
//
//  Returns true if successful.
//
//*****************************************************************************
bool ossimCoarseGridModel::saveCoarseGrid(const ossimFilename& fileName)const
{
   if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimCoarseGridModel::saveCoarseGrid: entering..." << std::endl;

   // Create and open grid file as stream:
   theGridFilename = fileName.expand();
   theGridFilename.setExtension(DEFAULT_GRID_FILE_EXT);
   ofstream outstream (theGridFilename.chars());
   if (!outstream.is_open())
   {
      theErrorStatus++;
      ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimCoarseGridModel::saveCoarseGrid: Error "
         "encountered creating coarse grid file <" << theGridFilename<< ">. Check that directory "
         "exists and is writable." << std::endl;
      if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimCoarseGridModel::saveCoarseGrid: returning with error..." << std::endl;
      return false;
   }

   // Let each grid object write itself to the output file:
   theLatGrid.save(outstream, "Latitude Grid");
   theLonGrid.save(outstream, "Longitude Grid");
   theDlatDhGrid.save(outstream, "dLat/dH Grid");
   theDlonDhGrid.save(outstream, "dLon_dH Grid");

   ossimString descr;
   int numberOfParams = getNumberOfAdjustableParameters();
   for (int p=0; p<numberOfParams; p++)
   {
      descr = getParameterDescription(p) + " dLat_dParam Grid";
      theDlatDparamGrid[p].save(outstream, descr.chars());
      descr = getParameterDescription(p) + " dLon_dParam Grid";
      theDlonDparamGrid[p].save(outstream, descr.chars());
   }

   // Since the geom file is needed in the same path as the grid file, take this opportunity to
   // write the geom file out as well:
   ossimFilename geom_file (theGridFilename);
   geom_file.setExtension(DEFAULT_GEOM_FILE_EXT);
   ossimKeywordlist kwl;
   saveState(kwl);
   kwl.write(geom_file);

   // Add to the list of support files referenced (though technically it has not yet been
   // referenced, but will be next time this image is opened):
   ossimSupportFilesList::instance()->add(geom_file);
   ossimSupportFilesList::instance()->add(theGridFilename);

   if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimCoarseGridModel::saveCoarseGrid: returning..." << std::endl;
   return true;
}


//*****************************************************************************
//  METHOD: ossimCoarseGridModel::loadCoarseGrid(cgFileName)
//
//  Loads the coarse grid from disk file.
//
//  Returns true if successful.
//
//*****************************************************************************
bool ossimCoarseGridModel::loadCoarseGrid(const ossimFilename& cgFileName)
{
   if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimCoarseGridModel::loadCoarseGrid: entering..." << std::endl;

   ossimDpt v[4];
   ossimIpt grid_size;

   //***
   // Open existing grid file:
   //***
   ifstream instream (cgFileName.chars());
   if (!instream.is_open())
   {
      theErrorStatus++;
      if(traceDebug())
      {
         ossimNotify(ossimNotifyLevel_FATAL) << "FATAL ossimCoarseGridModel::loadCoarseGrid: Error encountered opening coarse grid file <" << cgFileName
         << ">. Check that the file exists and is readable." << std::endl;
      }
      if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "CEBUG ossimCoarseGridModel::loadCoarseGrid: returning with error..." << std::endl;
      return false;
   }
   theGridFilename = cgFileName;
   if(theDlatDparamGrid)
     {
       delete [] theDlatDparamGrid;
       theDlatDparamGrid = NULL;
     }
   if(theDlonDparamGrid)
     {
       delete [] theDlonDparamGrid;
       theDlonDparamGrid = NULL;
     }
   //
   // Reallocate memory:
   //
   int numberOfParams = getNumberOfAdjustableParameters();
   if(numberOfParams)
   {
      theDlatDparamGrid = new ossimDblGrid [numberOfParams];
      theDlonDparamGrid = new ossimDblGrid [numberOfParams];
   }
   //***
   // Let each grid object read itself from the input file:
   //***
   if (!theLatGrid.load(instream))
   {
      ++theErrorStatus;
      return false;
   }
   if (!theLonGrid.load(instream))
   {
      ++theErrorStatus;
      return false;
   }
   if (!theDlatDhGrid.load(instream))
   {
      ++theErrorStatus;
      return false;
   }
   if (!theDlonDhGrid.load(instream))
   {
      ++theErrorStatus;
      return false;
   }

   for (int p=0; p<numberOfParams; p++)
   {
      if (!theDlatDparamGrid[p].load(instream))
      {
         ++theErrorStatus;
         return false;
      }
      if (!theDlonDparamGrid[p].load(instream))
      {
         ++theErrorStatus;
         return false;
      }
   }

   //***
   // Initialize the bounding ground rectangle:
   //***
   grid_size = theLatGrid.size();

   v[0].lat = theLatGrid(0,0);
   v[0].lon = theLonGrid(0,0);
   v[1].lat = theLatGrid(theImageSize.x-1, 0);
   v[1].lon = theLonGrid(theImageSize.x-1, 0);
   v[2].lat = theLatGrid(theImageSize.x-1, theImageSize.y-1);
   v[2].lon = theLonGrid(theImageSize.x-1, theImageSize.y-1);
   v[3].lat = theLatGrid(0, theImageSize.y-1);
   v[3].lon = theLonGrid(0, theImageSize.y-1);

   theBoundGndPolygon = ossimPolygon(4, v);

   if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimCoarseGridModel::loadCoarseGrid: returning..." << std::endl;
   return true;
}


//*****************************************************************************
//  METHOD: ossimCoarseGridModel::reallocateGrid()
//
//  Deletes existing grid arrays and allocates new ones.
//
//*****************************************************************************
void ossimCoarseGridModel::reallocateGrid(const ossimIpt& grid_size)
{
   if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimCoarseGridModel::reallocateGrid:entering..." << endl;


   //***
   // Deallocate memory:
   //***
   if(theDlatDparamGrid)
     {
       delete [] theDlatDparamGrid;
       theDlatDparamGrid = NULL;
     }
   if(theDlonDparamGrid)
     {
       delete [] theDlonDparamGrid;
       theDlonDparamGrid = NULL;
     }
   //***
   // determine grid spacing given new info:
   //***
   ossimDpt spacing ((double)(theImageSize.x-1)/(double)(grid_size.x-1),
                     (double)(theImageSize.y-1)/(double)(grid_size.y-1));

   //***
   // Allocate all:
   //***
   ossimDpt grid_origin(0.0, 0.0);
   theLatGrid.setNullValue(ossim::nan());
   theLonGrid.setNullValue(ossim::nan());
   theDlatDhGrid.setNullValue(0.0);
   theDlonDhGrid.setNullValue(0.0);
   theLatGrid.initialize(grid_size, grid_origin, spacing);
   theLonGrid.initialize(grid_size, grid_origin, spacing);
   theDlatDhGrid.initialize(grid_size, grid_origin, spacing);
   theDlonDhGrid.initialize(grid_size, grid_origin, spacing);

   int numberOfParams = getNumberOfAdjustableParameters();
   if(numberOfParams)
   {

      theDlatDparamGrid = new ossimDblGrid [numberOfParams];
      theDlonDparamGrid = new ossimDblGrid [numberOfParams];
   }
   for (int p=0; p<numberOfParams; p++)
   {
      theDlonDparamGrid[p].setNullValue(0.0);
      theDlatDparamGrid[p].setNullValue(0.0);
      theDlatDparamGrid[p].initialize(grid_size, grid_origin, spacing);
      theDlonDparamGrid[p].initialize(grid_size, grid_origin, spacing);
   }

   if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimCoarseGridModel::reallocateGrid: returning..." << std::endl;
   return;
}

//*****************************************************************************
// STATIC METHOD: ossimCoarseGridModel::writeGeomTemplate
//
//  Writes a sample geometry KWL to the output stream.
//
//*****************************************************************************
void ossimCoarseGridModel::writeGeomTemplate(ostream& os)
{
   if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimCoarseGridModel::writeGeomTemplate: entering..." << std::endl;

   os <<
      "//**************************************************************\n"
      "// Template for OCG model kewordlist\n"
      "//**************************************************************\n"
      << ossimKeywordNames::TYPE_KW << ": " << MODEL_TYPE << endl;

   ossimSensorModel::writeGeomTemplate(os);

   os << "//\n"
      << "// Derived-class ossimCoarseGridModel Keywords:\n"
      << "//\n"
      << GRID_FILE_NAME_KW << ": <string>\n" << endl;

   if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimCoarseGridModel::writeGeomTemplate: returning..." << std::endl;
   return;
}

//*************************************************************************************************
// Overrides base-class extrapolation code. Uses extrapolation inherent to ossimDbleGrid
//*************************************************************************************************
ossimGpt ossimCoarseGridModel::extrapolate(const ossimDpt& local_ip, const double& height) const
{
   ossimGpt gpt;
   lineSampleHeightToWorld(local_ip, height, gpt);
   return gpt;
}

bool ossimCoarseGridModel::isAffectedByElevation() const
{
   return theHeightEnabledFlag;
}