//***************************************************************************** // FILE: ossimRpcModel.h // // License: MIT // // See LICENSE.txt file in the top level directory for more details. // // AUTHOR: Garrett Potts // //***************************************************************************** // $Id: ossimRpcSolver.h 23664 2015-12-14 14:17:27Z dburken $ #ifndef ossimRpcSolver_HEADER #define ossimRpcSolver_HEADER #include #include #include #include #include #include #include #include #include class ossimProjection; class ossimImageGeometry; class ossimNitfRegisteredTag; /** * This currently only support Rational poilynomial B format. This can be * found in the NITF registered commercial tag document. * * @note x=longitude, y=latitude, z=height * * 
 * Format is:
 *  coeff[ 0]       + coeff[ 1]*x     + coeff[ 2]*y     + coeff[ 3]*z     +
 *  coeff[ 4]*x*y   + coeff[ 5]*x*z   + coeff[ 6]*y*z   + coeff[ 7]*x*x   +
 *  coeff[ 8]*y*y   + coeff[ 9]*z*z   + coeff[10]*x*y*z + coeff[11]*x*x*x +
 *  coeff[12]*x*y*y + coeff[13]*x*z*z + coeff[14]*x*x*y + coeff[15]*y*y*y +
 *  coeff[16]*y*z*z + coeff[17]*x*x*z + coeff[18]*y*y*z + coeff[19]*z*z*z;
 *
 *       where coeff is one of XNum, XDen, YNum, and YDen.  So there are 80
 *       coefficients all together.
 *
 *       
 * Currently we use a linear least squares fit to solve the coefficients.
 * This is the simplest to implement.  We probably relly need a nonlinear
 * minimizer to fit the coefficients but I don't have time to experiment.
 * Levenberg Marquardt might be a solution to look into.
 *
 *
 * 
 * HOW TO USE:
 * 
 *        ossimRpcSolver solver;
 *        solver.solveCoefficients(rect,
 *                                 *proj.get());
 *                                 
 * We can also call solve coefficients with a list of ground control points.
 * First is the list of image points followed by the ground points.
 * NOTE: Thes must be equal in size.
 * 
 *        solver.solveCoefficients(imagePoints,
 *                                 groundPoints);
 *                                 
 *                                 
 * Once you call solveCoefficients you can create the projector:
 *                                 
 *        ossimRefPtr rpc = solver.createRpcProjection();
 *
 *
* */ class OSSIM_DLL ossimRpcSolver : public ossimReferenced { public: /** * The use elvation flag will deterimne if we force the height t be 0. * If the elevation is enabled then we use the height field of the control * points to determine the coefficients of the RPC00 polynomial. If its * false then we will ignore the height by setting the height field to 0.0. * * Note: even if the elevation is enabled all NAN heights are set to 0.0. */ ossimRpcSolver(bool useElevation=false, bool useHeightAboveMSLFlag=false); /** * This will convert any projector to an RPC model */ void solveCoefficients(const ossimDrect& imageBouunds, ossimProjection* imageProj, ossim_uint32 xSamples=8, ossim_uint32 ySamples=8, bool shiftTo0Flag=true); void solveCoefficients(const ossimDrect& imageBouunds, ossimImageGeometry* geom, ossim_uint32 xSamples=8, ossim_uint32 ySamples=8, bool shiftTo0Flag=true); /** * takes associated image points and ground points * and solves the coefficents for the rational polynomial for * line and sample calculations from world points. * * Note: All data will be normalized between -1 and 1 for * numerical robustness. */ void solveCoefficients(const std::vector& imagePoints, const std::vector& groundControlPoints, const ossimDpt& imageShift = ossimDpt(0.0,0.0)); /** * Creates and Rpc model from the coefficients */ ossimImageGeometry* createRpcModel()const; /** * Create a simple rpc projection which is a dumbed down * rpc model. */ ossimImageGeometry* createRpcProjection()const; /** * Gives access to the solved coefficients. For the image * X numerator */ const std::vector& getImageXNumCoefficients()const; /** * Gives access to the solved coefficients. For the image * X denominator */ const std::vector& getImageXDenCoefficients()const; /** * Gives access to the solved coefficients. For the image * Y numerator */ const std::vector& getImageYNumCoefficients()const; /** * Gives access to the solved coefficients. For the image * Y denominator */ const std::vector& getImageYDenCoefficients()const; double getImageXOffset()const; double getImageYOffset()const; double getLatOffset()const; double getLonOffset()const; double getHeightOffset()const; double getImageXScale()const; double getImageYScale()const; double getLatScale()const; double getLonScale()const; double getHeightScale()const; double getRmsError()const; /** * @return ossimRefPtr * * @note one of the solve methods should have been called prior to this. */ ossimRefPtr getNitfRpcBTag() const; protected: virtual ~ossimRpcSolver(){} virtual void solveInitialCoefficients(NEWMAT::ColumnVector& coeff, const std::vector& f, const std::vector& x, const std::vector& y, const std::vector& z)const; virtual void solveCoefficients(NEWMAT::ColumnVector& coeff, const std::vector& f, const std::vector& x, const std::vector& y, const std::vector& z)const; double eval(const std::vector& coeff, double x, double y, double z)const; /** * Inverts using the SVD method */ NEWMAT::Matrix invert(const NEWMAT::Matrix& m)const; void setupSystemOfEquations(NEWMAT::Matrix& equations, const NEWMAT::ColumnVector& f, const std::vector& x, const std::vector& y, const std::vector& z)const; void setupWeightMatrix(NEWMAT::DiagonalMatrix& result, // holds the resulting weights const NEWMAT::ColumnVector& coefficients, const NEWMAT::ColumnVector& f, const std::vector& x, const std::vector& y, const std::vector& z)const; bool theUseElevationFlag; bool theHeightAboveMSLFlag; ossimDpt theImageOffset; ossimGpt theGroundOffset; ossimDpt theImageScale; ossim_float64 theLatScale; ossim_float64 theLonScale; ossim_float64 theHeightScale; ossim_float64 theError; /** * there are 20 coefficients in the cubic RPC model */ std::vector theXNumCoeffs; /** * there are 20 coefficients in the cubic RPC model */ std::vector theXDenCoeffs; /** * there are 20 coefficients in the cubic RPC model */ std::vector theYNumCoeffs; /** * there are 20 coefficients in the cubic RPC model */ std::vector theYDenCoeffs; }; #endif