contrib/gel/mrc/vpgl/vpgl_local_rational_camera.h

Go to the documentation of this file.

// This is gel/mrc/vpgl/vpgl_local_rational_camera.h
#ifndef vpgl_local_rational_camera_h_
#define vpgl_local_rational_camera_h_
//:
// \file
// \brief A local rational camera model
// \author Joseph Mundy
// \date February 16, 2008
//
// Rational camera models are defined with respect to global geographic
// coordinates. In many applications it is necessary to project points wiht
// local 3-d Cartesian coordinates. This camera class incorporates a
// Local Vertical Coordinate System (LVCS) to convert local coordinates
// to geographic coordinates to input to the native geographic RPC model.

#include <vgl/vgl_fwd.h>
#include <vcl_iostream.h>
#include <vcl_string.h>
#include <vpgl/vpgl_rational_camera.h>
#include <vpgl/bgeo/bgeo_lvcs.h>
//
//--------------------=== composite rational camera ===---------------------------
//
template <class T>
class vpgl_local_rational_camera : public vpgl_rational_camera<T>
{
 public:
  //: default constructor
  vpgl_local_rational_camera();

  //: Constructor from a rational camera and a lvcs
  vpgl_local_rational_camera(bgeo_lvcs const& lvcs,
                            vpgl_rational_camera<T> const& rcam);

  //: Constructor from a rational camera and a geographic origin
  vpgl_local_rational_camera(T longitude, T latitude, T elevation,
                            vpgl_rational_camera<T> const& rcam);


  virtual ~vpgl_local_rational_camera() {}

  virtual vcl_string type_name() const { return "vpgl_local_rational_camera"; }

  //: Clone `this': creation of a new object and initialization
  //  See Prototype pattern
  virtual vpgl_local_rational_camera<T>* clone(void) const;

        // Mutators/Accessors

  //: set the local vertical coordinate system
  void set_lvcs(bgeo_lvcs const& lvcs){lvcs_ = lvcs;}

  bgeo_lvcs lvcs(){return lvcs_;}

  //: The generic camera interface. u represents image column, v image row.
  virtual void project(const T x, const T y, const T z, T& u, T& v) const;

        // Interface for vnl

  //: Project a world point onto the image
  virtual vnl_vector_fixed<T, 2> project(vnl_vector_fixed<T, 3> const& world_point) const;

        // Interface for vgl

  //: Project a world point onto the image
  virtual vgl_point_2d<T> project(vgl_point_3d<T> world_point) const;


  //: print the camera parameters
  virtual void print(vcl_ostream& s = vcl_cout) const;

  //: save to file (the lvcs is after the global rational camera parameters)
  virtual bool save(vcl_string cam_path);

  // binary IO

  //: Binary save self to stream.
  virtual void b_write(vsl_b_ostream &os) const;

  //: Binary load self from stream.
  virtual void b_read(vsl_b_istream &is);

 protected:
  bgeo_lvcs lvcs_;
};

//: Creates a local rational camera from a file
  // \relatesalso vpgl_local_rational_camera
template <class T>
  vpgl_local_rational_camera<T>* read_local_rational_camera(vcl_string cam_path);

//: Creates a local rational camera from a file
  // \relatesalso vpgl_local_rational_camera
 template <class T>
vpgl_local_rational_camera<T>* read_local_rational_camera(vcl_istream& istr);

//: Write to stream
// \relatesalso vpgl_local_rational_camera
template <class T>
vcl_ostream& operator<<(vcl_ostream& s, const vpgl_local_rational_camera<T>& p);

//: Read from stream
// \relatesalso vpgl_local_rational_camera
template <class T>
vcl_istream& operator>>(vcl_istream& is, vpgl_local_rational_camera<T>& p);

#define VPGL_LOCAL_RATIONAL_CAMERA_INSTANTIATE(T) extern "please include vgl/vpgl_local_rational_camera.txx first"


#endif // vpgl_local_rational_camera_h_