/usr/include/ossim/projection/ossimRpcProjection.h is in libossim-dev 1.8.16-3+b1.
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// FILE: ossimRpcProjection.h
//
// LGPL
//
// DESCRIPTION: Contains declaration of class ossimRpcProjection.
// This is a replacement model utilizing the Rational Polynomial Coefficients
// (RPC), a.k.a. Rapid Positioning Capability, and Universal Sensor Model
// (USM).
//
//*****************************************************************************
// $Id: ossimRpcProjection.h 11805 2007-10-05 14:54:28Z dburken $
#ifndef ossimRpcProjection_HEADER
#define ossimRpcProjection_HEADER
#include <ossim/projection/ossimOptimizableProjection.h>
#include <ossim/projection/ossimProjection.h>
#include <ossim/base/ossimAdjustableParameterInterface.h>
#include <ossim/base/ossimIpt.h>
#include <ossim/matrix/newmat.h>
/*!****************************************************************************
*
* CLASS: ossimRpcProjection
*
*****************************************************************************/
class OSSIM_DLL ossimRpcProjection : public ossimProjection,
public ossimOptimizableProjection,
public ossimAdjustableParameterInterface
{
public:
//***
// Enumeration of supported RPC polynomial formats:
//***
enum PolynomialType
{
A='A', // corresponds to "RPC00A"
B='B' // corresponds to "RPC00B"
};
/*!
* CONSTRUCTORS:
*/
ossimRpcProjection();
ossimRpcProjection(const ossimRpcProjection& copy_this);
~ossimRpcProjection();
ossimRpcProjection& operator=(const ossimRpcProjection& source);
void initAdjustableParameters();
virtual void adjustableParametersChanged();
virtual ossimObject* getBaseObject();
virtual const ossimObject* getBaseObject()const;
void setAttributes(ossim_float64 theSampleOffset,
ossim_float64 theLineOffset,
ossim_float64 theSampleScale,
ossim_float64 theLineScale,
ossim_float64 theLatOffset,
ossim_float64 theLonOffset,
ossim_float64 theHeightOffset,
ossim_float64 theLatScale,
ossim_float64 theLonScale,
ossim_float64 theHeightScale,
const std::vector<double>& xNumeratorCoeffs,
const std::vector<double>& xDenominatorCoeffs,
const std::vector<double>& yNumeratorCoeffs,
const std::vector<double>& yDenominatorCoeffs,
PolynomialType polyType = B);
/*!
* METHOD: worldToLineSample()
* Overrides base class implementation. Directly computes line-sample from
* the polynomials.
*/
virtual void worldToLineSample(const ossimGpt& world_point,
ossimDpt& image_point) const;
/*!
* METHOD: print()
* Extends base-class implementation. Dumps contents of object to ostream.
*/
virtual std::ostream& print(std::ostream& out) const;
/*!
* METHODS: saveState, loadState
* Fulfills ossimObject base-class pure virtuals. Loads and saves geometry
* KWL files. Returns true if successful.
*/
virtual bool saveState(ossimKeywordlist& kwl,
const char* prefix=0) const;
virtual bool loadState(const ossimKeywordlist& kwl,
const char* prefix=0);
virtual void lineSampleToWorld(const ossimDpt& image_point,
ossimGpt& world_point) const;
//***
// METHOD: lineSampleHeightToWorld()
// Overrides base class pure virtual. Height understood to be relative to
// standard ellipsoid.
//***
virtual void lineSampleHeightToWorld(const ossimDpt& image_point,
const double& heightEllipsoid,
ossimGpt& worldPoint) const;
/*!
* METHOD: dup()
* Returns pointer to a new instance, copy of this.
*/
virtual ossimObject* dup() const { return new ossimRpcProjection(*this); }
virtual ossimGpt origin()const;
virtual ossimDpt getMetersPerPixel() const;
virtual bool operator==(const ossimProjection& projection) const;
/*
* optimizable interface
*/
virtual bool setupOptimizer(const ossimString& setup);
inline virtual bool useForward()const {return true;}
virtual ossim_uint32 degreesOfFreedom()const;
virtual double optimizeFit(const ossimTieGptSet& tieSet, double* targetVariance=NULL);
/*!
* METHOD: getForwardDeriv()
* gives forward() partial derivative regarding parameter parmIdx (>=0)
* default implementation is centered finite difference
* -should be reimplemented with formal derivative in child class
*/
virtual ossimDpt getForwardDeriv(int parmIdx, const ossimGpt& gpos, double hdelta=1e-11);
/*!
* METHOD: getInverseDeriv()
* gives inverse() partial derivative regarding parameter parmIdx (>=0)
* default implementation is centered finite difference
* -should be reimplemented with formal derivative in child class
*/
virtual ossimGpt getInverseDeriv(int parmIdx, const ossimDpt& ipos, double hdelta=1e-11);
/**
* @brief Implementation of pure virtual
* ossimProjection::isAffectedByElevation method.
* @return true.
*/
virtual bool isAffectedByElevation() const { return true; }
protected:
//***
// Methods for computing RPC polynomial and its derivatives:
//***
double polynomial(const double& nlat,
const double& nlon,
const double& nhgt,
const double* coeffs) const;
double dPoly_dLat(const double& nlat,
const double& nlon,
const double& nhgt,
const double* coeffs) const;
double dPoly_dLon(const double& nlat,
const double& nlon,
const double& nhgt,
const double* coeffs) const;
/*!
* METHOD: buildNormalEquation
* builds linearized system (LMS equivalent)
* A*dp = projResidue
*
* A: symetric matrix = tJ*J
* dp: system parameter shift that we want to estimate
* projResidue = tJ * residue
*
* t: transposition operator
* J = jacobian of transform relative to parameters p, transform can be forward() or inverse()
* jacobian is obtained via finite differences
* residue can be image (2D) or ground residue(3D)
*
* TODO: use image/ground points covariance matrices
*/
void buildNormalEquation(const ossimTieGptSet& tieSet,
NEWMAT::SymmetricMatrix& A,
NEWMAT::ColumnVector& residue,
NEWMAT::ColumnVector& projResidue,
double pstep_scale);
/*!
* METHOD: getResidue()
* returns ground opr image residue
*/
NEWMAT::ColumnVector getResidue(const ossimTieGptSet& tieSet);
NEWMAT::ColumnVector solveLeastSquares(NEWMAT::SymmetricMatrix& A, NEWMAT::ColumnVector& r)const;
/*!
* stable invert stolen from ossimRpcSolver
*/
NEWMAT::Matrix invert(const NEWMAT::Matrix& m)const;
PolynomialType thePolyType;
//***
// Quantities for zero-biasing and normalizing the image point and
// ground point coordinates referenced in the polynomials:
//***
double theLineScale;
double theSampScale;
double theLatScale;
double theLonScale;
double theHgtScale;
double theLineOffset;
double theSampOffset;
double theLatOffset;
double theLonOffset;
double theHgtOffset;
//***
// Coefficients:
//***
double theLineNumCoef[20];
double theLineDenCoef[20];
double theSampNumCoef[20];
double theSampDenCoef[20];
//*
// Quantities derived from the adjustable parameters:
//*
double theIntrackOffset;
double theCrtrackOffset;
double theIntrackScale;
double theCrtrackScale;
double theYawSkew; // = sin(theYawOffset)
double theCosMapRot;
double theSinMapRot;
TYPE_DATA
};
#endif
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