#include <ossimRpcProjection.h>

Inheritance diagram for ossimRpcProjection:

Public Types
enum	PolynomialType { A ='A', B ='B' }

Public Member Functions
	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)

virtual void	worldToLineSample (const ossimGpt &world_point, ossimDpt &image_point) const

virtual std::ostream &	print (std::ostream &out) const

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

virtual void	lineSampleHeightToWorld (const ossimDpt &image_point, const double &heightEllipsoid, ossimGpt &worldPoint) const

virtual ossimObject *	dup () const

virtual ossimGpt	origin () const

virtual ossimDpt	getMetersPerPixel () const

virtual bool	operator== (const ossimProjection &projection) const

virtual bool	setupOptimizer (const ossimString &setup)
	setupFromString() Derived classes should implement as needed. Initialize parameters needed for optimizeFit and degreesOfFreedom More...

virtual bool	useForward () const

virtual ossim_uint32	degreesOfFreedom () const

virtual double	optimizeFit (const ossimTieGptSet &tieSet, double *targetVariance=NULL)

virtual ossimDpt	getForwardDeriv (int parmIdx, const ossimGpt &gpos, double hdelta=1e-11)

virtual ossimGpt	getInverseDeriv (int parmIdx, const ossimDpt &ipos, double hdelta=1e-11)

virtual bool	isAffectedByElevation () const
	Implementation of pure virtual ossimProjection::isAffectedByElevation method. More...

Public Member Functions inherited from ossimProjection
	ossimProjection ()

virtual	~ossimProjection ()

virtual ossimDpt	forward (const ossimGpt &wp) const

virtual ossimGpt	inverse (const ossimDpt &pp) const

virtual void	getRoundTripError (const ossimDpt &imagePoint, ossimDpt &errorResult) const

virtual void	getRoundTripError (const ossimGpt &groundPoint, ossimDpt &errorResult) const

virtual void	getGroundClipPoints (ossimGeoPolygon &gpts) const

virtual bool	isEqualTo (const ossimObject &obj, ossimCompareType compareType=OSSIM_COMPARE_FULL) const

virtual bool	operator!= (const ossimProjection &projection) const

Public Member Functions inherited from ossimObject
	ossimObject ()

virtual	~ossimObject ()

virtual ossimString	getShortName () const

virtual ossimString	getLongName () const

virtual ossimString	getDescription () const

virtual ossimString	getClassName () const

virtual RTTItypeid	getType () const

virtual bool	canCastTo (ossimObject *obj) const

virtual bool	canCastTo (const RTTItypeid &id) const

virtual bool	canCastTo (const ossimString &parentClassName) const

virtual void	accept (ossimVisitor &visitor)

Public Member Functions inherited from ossimReferenced
	ossimReferenced ()

	ossimReferenced (const ossimReferenced &)

ossimReferenced &	operator= (const ossimReferenced &)

void	ref () const
	increment the reference count by one, indicating that this object has another pointer which is referencing it. More...

void	unref () const
	decrement the reference count by one, indicating that a pointer to this object is referencing it. More...

void	unref_nodelete () const
	decrement the reference count by one, indicating that a pointer to this object is referencing it. More...

int	referenceCount () const

Public Member Functions inherited from ossimErrorStatusInterface
	ossimErrorStatusInterface ()

virtual	~ossimErrorStatusInterface ()

virtual ossimErrorCode	getErrorStatus () const

virtual ossimString	getErrorStatusString () const

virtual void	setErrorStatus (ossimErrorCode error_status) const

virtual void	setErrorStatus () const

virtual void	clearErrorStatus () const

bool	hasError () const

Public Member Functions inherited from ossimOptimizableProjection
	ossimOptimizableProjection ()

	ossimOptimizableProjection (const ossimOptimizableProjection &source)

virtual	~ossimOptimizableProjection ()

virtual ossimOptimizableProjection &	operator= (const ossimOptimizableProjection &source)

virtual bool	needsInitialState () const
	needsInitialState() More...

Public Member Functions inherited from ossimAdjustableParameterInterface
	ossimAdjustableParameterInterface ()

	ossimAdjustableParameterInterface (const ossimAdjustableParameterInterface &rhs)

virtual	~ossimAdjustableParameterInterface ()

void	newAdjustment (ossim_uint32 numberOfParameters=0)

void	setAdjustmentDescription (const ossimString &description)

ossimString	getAdjustmentDescription () const

ossimString	getAdjustmentDescription (ossim_uint32 adjustmentIdx) const
	Returns adjustmentDescription of specific adjustmentInfo. More...

void	setCurrentAdjustment (ossim_uint32 adjustmentIndex, bool notify=false)

bool	setCurrentAdjustment (const ossimString &description, bool notify=false)
	Sets the current adjustment to the adjustment with a matching description. More...

void	eraseAdjustment (bool notify)

void	eraseAdjustment (ossim_uint32 idx, bool notify)

void	resetAdjustableParameters (bool notify=false)

void	copyAdjustment (ossim_uint32 idx, bool notify)

void	copyAdjustment (bool notify=false)

void	keepAdjustment (ossim_uint32 idx, bool createCopy)

virtual void	keepAdjustment (bool createCopy=true)

const ossimAdjustableParameterInterface &	operator= (const ossimAdjustableParameterInterface &rhs)

void	removeAllAdjustments ()

ossim_uint32	getNumberOfAdjustableParameters () const

double	getAdjustableParameter (ossim_uint32 idx) const

virtual void	setAdjustableParameter (ossim_uint32 idx, double value, bool notify=false)

virtual void	setAdjustableParameter (ossim_uint32 idx, double value, double sigma, bool notify=false)

double	getParameterSigma (ossim_uint32 idx) const

void	setParameterSigma (ossim_uint32 idx, double value, bool notify=false)

ossimUnitType	getParameterUnit (ossim_uint32 idx) const

void	setParameterUnit (ossim_uint32 idx, ossimUnitType unit)

void	setParameterUnit (ossim_uint32 idx, const ossimString &unit)

void	setParameterCenter (ossim_uint32 idx, double center, bool notify=false)

double	getParameterCenter (ossim_uint32 idx) const

double	computeParameterOffset (ossim_uint32 idx) const

void	setParameterOffset (ossim_uint32 idx, ossim_float64 value, bool notify=false)

ossimString	getParameterDescription (ossim_uint32 idx) const

void	setParameterDescription (ossim_uint32 idx, const ossimString &descrption)

ossim_int32	findParameterIdxGivenDescription (ossim_uint32 adjustmentIdx, const ossimString &name) const

ossim_int32	findParameterIdxContainingDescription (ossim_uint32 adjustmentIdx, const ossimString &name) const

bool	isParameterLocked (ossim_uint32 idx) const

void	setParameterLockFlag (ossim_uint32 idxParam, bool flag)

bool	getParameterLockFlag (ossim_uint32 idx) const

void	lockAllParametersCurrentAdjustment ()

void	unlockAllParametersCurrentAdjustment ()

void	lockAllParameters (ossim_uint32 idxAdjustment)

void	unlockAllParameters (ossim_uint32 idxAdjustment)

void	resizeAdjustableParameterArray (ossim_uint32 numberOfParameters)

void	setAdjustment (const ossimAdjustmentInfo &adj, bool notify=false)

void	setAdjustment (ossim_uint32 idx, const ossimAdjustmentInfo &adj, bool notify=false)

void	addAdjustment (const ossimAdjustmentInfo &adj, bool notify)

void	getAdjustment (ossimAdjustmentInfo &adj) const

void	getAdjustment (ossim_uint32 idx, ossimAdjustmentInfo &adj) const

ossim_uint32	getNumberOfAdjustments () const

ossim_uint32	getCurrentAdjustmentIdx () const

void	setDirtyFlag (bool flag=true)

void	setAllDirtyFlag (bool flag=true)

bool	hasDirtyAdjustments () const

virtual void	saveCurrentAdjustmentOnly (ossimKeywordlist &kwl, const ossimString &prefix=ossimString(""))
	Saves the current active adjustment to the KWL file. More...

bool	saveAdjustments (ossimKeywordlist &kwl, const ossimString &prefix=ossimString("")) const
	Save all adjustments to the KWL file. More...

bool	loadAdjustments (const ossimKeywordlist &kwl, const ossimString &prefix=ossimString(""))

virtual void	updateModel ()
	Provides the derived adjustable class an opportunity to update its state after a param change. More...

std::ostream &	print (std::ostream &out) const
	Dumps the currently active adjustment to ostream. More...

Protected Member Functions
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

void	buildNormalEquation (const ossimTieGptSet &tieSet, NEWMAT::SymmetricMatrix &A, NEWMAT::ColumnVector &residue, NEWMAT::ColumnVector &projResidue, double pstep_scale)

NEWMAT::ColumnVector	getResidue (const ossimTieGptSet &tieSet)

NEWMAT::ColumnVector	solveLeastSquares (NEWMAT::SymmetricMatrix &A, NEWMAT::ColumnVector &r) const

NEWMAT::Matrix	invert (const NEWMAT::Matrix &m) const
	stable invert stolen from ossimRpcSolver More...

Protected Member Functions inherited from ossimReferenced
virtual	~ossimReferenced ()

Protected Member Functions inherited from ossimAdjustableParameterInterface
bool	paramChanged (ossim_uint32 param_idx) const
	Returns true if specified parameter has been modified since last setAllChangeFlag(false) call. More...

void	setAllChangeFlags (bool areChanged)
	Sets all the change flags to the boolean indicated to indicate parameters are changed (TRUE) or not (FALSE). More...

void	initChangeFlags ()
	Initializes the change flags to TRUE. More...

Protected Attributes
PolynomialType	thePolyType

double	theLineScale

double	theSampScale

double	theLatScale

double	theLonScale

double	theHgtScale

double	theLineOffset

double	theSampOffset

double	theLatOffset

double	theLonOffset

double	theHgtOffset

double	theLineNumCoef [20]

double	theLineDenCoef [20]

double	theSampNumCoef [20]

double	theSampDenCoef [20]

double	theIntrackOffset

double	theCrtrackOffset

double	theIntrackScale

double	theCrtrackScale

double	theYawSkew

double	theCosMapRot

double	theSinMapRot

Protected Attributes inherited from ossimErrorStatusInterface
ossimErrorCode	theErrorStatus

Detailed Description

CLASS: ossimRpcProjection

Definition at line 28 of file ossimRpcProjection.h.

Member Enumeration Documentation

◆ PolynomialType

enum ossimRpcProjection::PolynomialType

Enumerator
A
B

Definition at line 36 of file ossimRpcProjection.h.

    {
       A='A',  // corresponds to "RPC00A"
       B='B'   // corresponds to "RPC00B"
    };

Constructor & Destructor Documentation

◆ ossimRpcProjection() [1/2]

ossimRpcProjection::ossimRpcProjection ( )

CONSTRUCTORS:

Definition at line 87 of file ossimRpcProjection.cpp.

    : ossimOptimizableProjection(),
      theIntrackOffset(0),
      theCrtrackOffset(0),
      theIntrackScale(0.0),
      theCrtrackScale(0.0),
      theYawSkew   (0.0),
      theCosMapRot (1.0),
      theSinMapRot (0.0)
 
  {
    if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimRpcProjection Default Constructor: entering..." << std::endl;
 
    initAdjustableParameters();
    
    if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimRpcProjection Default Constructor: returning..." << std::endl;
 }

◆ ossimRpcProjection() [2/2]

ossimRpcProjection::ossimRpcProjection ( const ossimRpcProjection & copy_this )

Definition at line 109 of file ossimRpcProjection.cpp.

    :
       ossimOptimizableProjection(model),
       ossimAdjustableParameterInterface(model),
       thePolyType     (model.thePolyType),
       theLineScale    (model.theLineScale),
       theSampScale    (model.theSampScale),
       theLatScale     (model.theLatScale),
       theLonScale     (model.theLonScale),
       theHgtScale     (model.theHgtScale),
       theLineOffset   (model.theLineOffset),
       theSampOffset   (model.theSampOffset),
       theLatOffset    (model.theLatOffset),
       theLonOffset    (model.theLonOffset),
       theHgtOffset    (model.theHgtOffset),
       theIntrackOffset(model.theIntrackOffset),
       theCrtrackOffset(model.theCrtrackOffset),
       theIntrackScale(model.theIntrackScale),
       theCrtrackScale(model.theCrtrackScale),
       theYawSkew      (model.theYawSkew),
       theCosMapRot    (model.theCosMapRot),
       theSinMapRot    (model.theSinMapRot)
 {
    if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimRpcProjection Copy Constructor: entering..." << std::endl;
 
    for (int i=0; i<20; i++)
    {
       theLineNumCoef[i] = model.theLineNumCoef[i];
       theLineDenCoef[i] = model.theLineDenCoef[i];
       theSampNumCoef[i] = model.theSampNumCoef[i];
       theSampDenCoef[i] = model.theSampDenCoef[i];
    }
    
    if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimRpcProjection Copy Constructor: returning..." << std::endl;
 }

◆ ~ossimRpcProjection()

ossimRpcProjection::~ossimRpcProjection ( )

Definition at line 149 of file ossimRpcProjection.cpp.

 {
    if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ~ossimRpcProjection() Destructor: entering..." << std::endl;
    
    if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimNotify(ossimNotifyLevel_DEBUG): returning..." << std::endl;
 }

Member Function Documentation

◆ adjustableParametersChanged()

void ossimRpcProjection::adjustableParametersChanged ( )

virtual

Reimplemented from ossimAdjustableParameterInterface.

Definition at line 924 of file ossimRpcProjection.cpp.

References ossimAdjustableParameterInterface::computeParameterOffset(), and theIntrackOffset.

 {
    theIntrackOffset    = computeParameterOffset(INTRACK_OFFSET);
    theCrtrackOffset    = computeParameterOffset(CRTRACK_OFFSET);
    theIntrackScale     = computeParameterOffset(INTRACK_SCALE);
    theCrtrackScale     = computeParameterOffset(CRTRACK_SCALE);
    double mapRotation  = computeParameterOffset(MAP_ROTATION);
    theCosMapRot        = ossim::cosd(mapRotation);
    theSinMapRot        = ossim::sind(mapRotation);
 }

◆ buildNormalEquation()

void ossimRpcProjection::buildNormalEquation	(	const ossimTieGptSet &	tieSet,
		NEWMAT::SymmetricMatrix &	A,
		NEWMAT::ColumnVector &	residue,
		NEWMAT::ColumnVector &	projResidue,
		double	pstep_scale
	)

protected

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

Definition at line 1050 of file ossimRpcProjection.cpp.

References A, ossimProjection::forward(), getForwardDeriv(), getInverseDeriv(), ossimAdjustableParameterInterface::getNumberOfAdjustableParameters(), ossimTieGptSet::getTiePoints(), ossimGpt::hgt, ossimProjection::inverse(), ossimGpt::lat, ossimGpt::lon, M_PI, ossimTieGptSet::size(), useForward(), ossimDpt::x, and ossimDpt::y.

 {
    //goal:       build Least Squares system
    //constraint: never store full Jacobian matrix in memory (can be huge)
    //            so we build the matrices incrementally
    // the system can be built using forward() or inverse() depending on the projection capabilities : useForward()
    //
    //TBD : add covariance matrix for each tie point
 
    //init
    int np = getNumberOfAdjustableParameters();
    int dimObs;
    bool useImageObs = useForward(); //caching
    if (useImageObs)
    {
       dimObs = 2; //image observation
    } else {
       dimObs = 3; //ground observations
    }
    int no = dimObs * tieSet.size(); //number of observations
 
    A.ReSize(np);
    residue.ReSize(no);
    projResidue.ReSize(np);
    //Zeroify matrices that will be accumulated
    A           = 0.0;
    projResidue = 0.0;
 
    const vector<ossimRefPtr<ossimTieGpt> >& theTPV = tieSet.getTiePoints();
    vector<ossimRefPtr<ossimTieGpt> >::const_iterator tit;
    unsigned long c=1;
 
    if (useImageObs)
    { 
      //image observations 
      ossimDpt* imDerp = new ossimDpt[np];
      ossimDpt resIm;
      // loop on tie points
       for (tit = theTPV.begin() ; tit != theTPV.end() ; ++tit)
       {
          //compute residue
          resIm = (*tit)->tie - forward(*(*tit));
          residue(c++) = resIm.x;
          residue(c++) = resIm.y;
 
          //compute all image derivatives regarding parametres for the tie point position
          for(int p=0;p<np;++p)
          {
             imDerp[p] = getForwardDeriv( p , *(*tit) , pstep_scale);
          }
 
          //compute influence of tie point on all sytem elements
          for(int p1=0;p1<np;++p1)
          {        
             //proj residue: J * residue
             projResidue.element(p1) += imDerp[p1].x * resIm.x + imDerp[p1].y * resIm.y;
 
             //normal matrix A = transpose(J)*J
             for(int p2=p1;p2<np;++p2)
             {
                A.element(p1,p2) += imDerp[p1].x * imDerp[p2].x + imDerp[p1].y * imDerp[p2].y;
             }
          }
       }
       delete []imDerp;
    }
    else
    {
       // ground observations
       std::vector<ossimGpt> gdDerp(np);
       ossimGpt gd, resGd;
       // loop on tie points
       for (tit = theTPV.begin() ; tit != theTPV.end() ; ++tit)
       {
          //compute residue
          gd = inverse((*tit)->tie);
          residue(c++) = resGd.lon = ((*tit)->lon - gd.lon) * 100000.0;
          residue(c++) = resGd.lat = ((*tit)->lat - gd.lat) * 100000.0 * cos(gd.lat / 180.0 * M_PI);
          residue(c++) = resGd.hgt = (*tit)->hgt - gd.hgt; //TBD : normalize to meters?
 
          //compute all image derivatives regarding parametres for the tie point position
          for(int p=0;p<np;++p)
          {
             gdDerp[p] = getInverseDeriv( p , (*tit)->tie, pstep_scale);
          }
 
          //compute influence of tie point on all sytem elements
          for(int p1=0;p1<np;++p1)
          {        
             //proj residue: J * residue
             projResidue.element(p1) += gdDerp[p1].lon * resGd.lon + gdDerp[p1].lat * resGd.lat + gdDerp[p1].hgt * resGd.hgt; //TBC
 
             //normal matrix A = transpose(J)*J
             for(int p2=p1;p2<np;++p2)
             {
                A.element(p1,p2) += gdDerp[p1].lon * gdDerp[p2].lon + gdDerp[p1].lat * gdDerp[p2].lat + gdDerp[p1].hgt * gdDerp[p2].hgt;
             }
          }
       }
    } //end of if (useImageObs)
 }

◆ degreesOfFreedom()

ossim_uint32 ossimRpcProjection::degreesOfFreedom ( ) const

virtual

degreesOfFreedom() number of degrees of freedom (eg: 8 for bilinear, 6 for affine, 2 for translation) especially useful when not inheriting from AdjustableParameterInterface

Implements ossimOptimizableProjection.

Definition at line 960 of file ossimRpcProjection.cpp.

References ossimAdjustableParameterInterface::getNumberOfAdjustableParameters(), and ossimAdjustableParameterInterface::isParameterLocked().

 {
    ossim_uint32 dof = 0;
    ossim_uint32 idx = 0;
    ossim_uint32 numAdj = getNumberOfAdjustableParameters();
    for(idx = 0; idx < numAdj; ++idx)
    {
       if(!isParameterLocked(idx))
       {
          ++dof;
       }
    }
    
    return dof;
 }

◆ dPoly_dLat()

double ossimRpcProjection::dPoly_dLat	(	const double &	nlat,
		const double &	nlon,
		const double &	nhgt,
		const double *	coeffs
	)		const

protected

Definition at line 575 of file ossimRpcProjection.cpp.

References A, and thePolyType.

 {
    double dr;
 
    if (thePolyType == A)
    {
       dr = c[2] + c[4]*L + c[6]*H + c[7]*L*H + 2*c[9]*P + c[12]*L*L +
            2*c[14]*L*P + 3*c[15]*P*P +2*c[16]*P*H + c[18]*H*H;
    }
    else
    {
       dr = c[2] + c[4]*L + c[6]*H + 2*c[8]*P + c[10]*L*H + 2*c[12]*L*P +
            c[14]*L*L + 3*c[15]*P*P + c[16]*H*H + 2*c[18]*P*H;
    }
    
    return dr;
 }

◆ dPoly_dLon()

double ossimRpcProjection::dPoly_dLon	(	const double &	nlat,
		const double &	nlon,
		const double &	nhgt,
		const double *	coeffs
	)		const

protected

Definition at line 600 of file ossimRpcProjection.cpp.

References A, and thePolyType.

 {
    double dr;
 
    if (thePolyType == A)
    {
       dr = c[1] + c[4]*P + c[5]*H + c[7]*P*H + 2*c[8]*L + 3*c[11]*L*L +
            2*c[12]*L*P + 2*c[13]*L*H + c[14]*P*P + c[17]*H*H;
    }
    else
    {
       dr = c[1] + c[4]*P + c[5]*H + 2*c[7]*L + c[10]*P*H + 3*c[11]*L*L +
            c[12]*P*P + c[13]*H*H + 2*c[14]*P*L + 2*c[17]*L*H;
    }
    return dr;
 }

◆ dup()

virtual ossimObject* ossimRpcProjection::dup ( ) const

inlinevirtual

METHOD: dup() Returns pointer to a new instance, copy of this.

Implements ossimProjection.

Definition at line 112 of file ossimRpcProjection.h.

112 { return new ossimRpcProjection(*this); }

ossimRpcProjection::ossimRpcProjection

ossimRpcProjection()

Definition: ossimRpcProjection.cpp:87

◆ getBaseObject() [1/2]

ossimObject * ossimRpcProjection::getBaseObject ( )

virtual

Implements ossimAdjustableParameterInterface.

Definition at line 156 of file ossimRpcProjection.cpp.

 {
    return this;
 }

◆ getBaseObject() [2/2]

const ossimObject * ossimRpcProjection::getBaseObject ( ) const

virtual

Implements ossimAdjustableParameterInterface.

Definition at line 161 of file ossimRpcProjection.cpp.

 {
    return this;
 }

◆ getForwardDeriv()

ossimDpt ossimRpcProjection::getForwardDeriv	(	int	parmIdx,
		const ossimGpt &	gpos,
		double	hdelta = `1e-11`
	)

virtual

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

Definition at line 1002 of file ossimRpcProjection.cpp.

References ossimProjection::forward(), ossimAdjustableParameterInterface::getAdjustableParameter(), and ossimAdjustableParameterInterface::setAdjustableParameter().

Referenced by buildNormalEquation().

 {   
    static double den = 0.5/hdelta;
    ossimDpt res;
 
    double middle = getAdjustableParameter(parmIdx);
    //set parm to high value
    setAdjustableParameter(parmIdx, middle + hdelta, true);
    res = forward(gpos);
    //set parm to low value and gte difference
    setAdjustableParameter(parmIdx, middle - hdelta, true);
    res -= forward(gpos);
    //get partial derivative
    res = res*den;
 
    //reset parm
    setAdjustableParameter(parmIdx, middle, true);
 
    return res;
 }

◆ getInverseDeriv()

ossimGpt ossimRpcProjection::getInverseDeriv	(	int	parmIdx,
		const ossimDpt &	ipos,
		double	hdelta = `1e-11`
	)

virtual

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

Definition at line 977 of file ossimRpcProjection.cpp.

References ossimAdjustableParameterInterface::getAdjustableParameter(), ossimGpt::hgt, ossimProjection::inverse(), ossimGpt::lat, ossimGpt::lon, M_PI, and ossimAdjustableParameterInterface::setAdjustableParameter().

Referenced by buildNormalEquation().

 {   
    double den = 0.5/hdelta;
    ossimGpt res,gd;
 
    double middle = getAdjustableParameter(parmIdx);
    //set parm to high value
    setAdjustableParameter(parmIdx, middle + hdelta, true);
    res = inverse(ipos);
    //set parm to low value and gte difference
    setAdjustableParameter(parmIdx, middle - hdelta, true);
    gd = inverse(ipos);
 
    //reset parm
    setAdjustableParameter(parmIdx, middle, true);
 
    res.lon = den*(res.lon - gd.lon) * 100000.0; //TBC : approx meters
    res.lat = den*(res.lat - gd.lat) * 100000.0 * cos(gd.lat / 180.0 * M_PI);
    res.hgt = den*(res.hgt - gd.hgt);
 
    return res;
 }

◆ getMetersPerPixel()

ossimDpt ossimRpcProjection::getMetersPerPixel ( ) const

virtual

ACCESS METHODS:

Implements ossimProjection.

Definition at line 500 of file ossimRpcProjection.cpp.

References lineSampleToWorld(), theLineOffset, theSampOffset, ossimDpt::x, and ossimDpt::y.

 {
    ossimDpt result;
    
 //    ossimDpt left  = ossimDpt(theSampOffset-1,
 //                              theLineOffset);
 //    ossimDpt right = ossimDpt(theSampOffset+1,
 //                              theLineOffset);
    ossimDpt top  = ossimDpt(theSampOffset,
                             theLineOffset-1);
    ossimDpt bottom = ossimDpt(theSampOffset,
                               theLineOffset+1);
 //    ossimGpt leftG;
 //    ossimGpt rightG;
    ossimGpt topG;
    ossimGpt bottomG;
    
 //    lineSampleToWorld(left, leftG);
 //    lineSampleToWorld(right, rightG);
    lineSampleToWorld(top, topG);
    lineSampleToWorld(bottom, bottomG);
    
 //    result.x = (ossimEcefPoint(leftG) - ossimEcefPoint(rightG)).magnitude()/2.0;
    result.y = (ossimEcefPoint(topG) - ossimEcefPoint(bottomG)).magnitude()/2.0;
    result.x = result.y;
 
    return result;
 }

◆ getResidue()

NEWMAT::ColumnVector ossimRpcProjection::getResidue ( const ossimTieGptSet & tieSet )

protected

METHOD: getResidue() returns ground opr image residue

Definition at line 1157 of file ossimRpcProjection.cpp.

References ossimProjection::forward(), ossimTieGptSet::getTiePoints(), ossimGpt::hgt, ossimProjection::inverse(), ossimGpt::lat, ossimGpt::lon, M_PI, ossimTieGptSet::size(), useForward(), ossimDpt::x, and ossimDpt::y.

 {
    //init
    NEWMAT::ColumnVector residue;
    int dimObs;
 
    bool useImageObs = useForward(); //caching
    if (useImageObs)
    {
       dimObs = 2; //image observation
    } else {
       dimObs = 3; //ground observations
    }
    int no = dimObs * tieSet.size(); //number of observations
 
    residue.ReSize(no);
 
    const vector<ossimRefPtr<ossimTieGpt> >& theTPV = tieSet.getTiePoints();
    vector<ossimRefPtr<ossimTieGpt> >::const_iterator tit;
    unsigned long c=1;
 
    if (useImageObs)
    { 
      //image observations 
      ossimDpt resIm;
      // loop on tie points
       for (tit = theTPV.begin() ; tit != theTPV.end() ; ++tit)
       {
          //compute residue
          resIm = (*tit)->tie - forward(**tit);
          residue(c++) = resIm.x;
          residue(c++) = resIm.y;
       }
    } else {
       // ground observations
       ossimGpt gd;
       // loop on tie points
       for (tit = theTPV.begin() ; tit != theTPV.end() ; ++tit)
       {
          //compute residue
          gd = inverse((*tit)->tie);
          residue(c++) = ((*tit)->lon - gd.lon) * 100000.0; //approx meters //TBC TBD
          residue(c++) = ((*tit)->lat - gd.lat) * 100000.0 * cos(gd.lat / 180.0 * M_PI);
          residue(c++) = (*tit)->hgt - gd.hgt; //meters
       }
    } //end of if (useImageObs)
 
    return residue;
 }

◆ initAdjustableParameters()

void ossimRpcProjection::initAdjustableParameters ( )

virtual

Reimplemented from ossimAdjustableParameterInterface.

Definition at line 906 of file ossimRpcProjection.cpp.

References ossimAdjustableParameterInterface::resizeAdjustableParameterArray().

 {
    resizeAdjustableParameterArray(NUM_ADJUSTABLE_PARAMS);
    int numParams = getNumberOfAdjustableParameters();
    for (int i=0; i<numParams; i++)
    {
       setAdjustableParameter(i, 0.0);
       setParameterDescription(i, PARAM_NAMES[i]);
       setParameterUnit(i,PARAM_UNITS[i]);
    }
    setParameterSigma(INTRACK_OFFSET, 50.0);
    setParameterSigma(CRTRACK_OFFSET, 50.0);
    setParameterSigma(INTRACK_SCALE, 50.0);  
    setParameterSigma(CRTRACK_SCALE, 50.0);  
    setParameterSigma(MAP_ROTATION, 0.1);
 //   setParameterSigma(YAW_OFFSET, 0.001);
 }

◆ invert()

NEWMAT::Matrix ossimRpcProjection::invert ( const NEWMAT::Matrix & m ) const

protected

stable invert stolen from ossimRpcSolver

Definition at line 1223 of file ossimRpcProjection.cpp.

References SVD().

Referenced by solveLeastSquares().

 {
    ossim_uint32 idx = 0;
    NEWMAT::DiagonalMatrix d;
    NEWMAT::Matrix u;
    NEWMAT::Matrix v;
 
    // decompose m.t*m which is stored in Temp into the singular values and vectors.
    //
    NEWMAT::SVD(m, d, u, v, true, true);
    
    // invert the diagonal
    // this is just doing the reciprical fo all diagonal components and store back int
    // d.  ths compute d inverse.
    //
    for(idx=0; idx < (ossim_uint32)d.Ncols(); ++idx)
    {
       if(d[idx] > 1e-14) //TBC : use DBL_EPSILON ?
       {
          d[idx] = 1.0/d[idx];
       }
       else
       {
          d[idx] = 0.0;
 
 //DEBUG TBR
 cout<<"warning: singular matrix in SVD"<<endl;
 
       }
    }
 
    //compute inverse of decomposed m;
    return v*d*u.t();
 }

◆ isAffectedByElevation()

virtual bool ossimRpcProjection::isAffectedByElevation ( ) const

inlinevirtual

Implementation of pure virtual ossimProjection::isAffectedByElevation method.

Returns: true.

Implements ossimProjection.

Definition at line 146 of file ossimRpcProjection.h.

146 { return true; }

◆ lineSampleHeightToWorld()

void ossimRpcProjection::lineSampleHeightToWorld	(	const ossimDpt &	lineSampPt,
		const double &	heightAboveEllipsoid,
		ossimGpt &	worldPt
	)		const

virtual

METHOD: lineSampleHeightToWorld This is the pure virtual that projects the image point to the given elevation above ellipsoid, thereby bypassing reference to a DEM. Useful for projections that are sensitive to elevation (such as sensor models).

Implements ossimProjection.

Definition at line 341 of file ossimRpcProjection.cpp.

Referenced by lineSampleToWorld().

 {
    if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimRpcProjection::lineSampleHeightToWorld: entering..." << std::endl;
 
    //***
    // Constants for convergence tests:
    //***
    static const int    MAX_NUM_ITERATIONS  = 10;
    static const double CONVERGENCE_EPSILON = 0.1;  // pixels
    
    //***
    // The image point must be adjusted by the adjustable parameters as well
    // as the scale and offsets given as part of the RPC param normalization.
    //
    //      NOTE: U = line, V = sample
    //***
    double skew = (image_point.x-theSampOffset - theCrtrackOffset)*theYawSkew;
    double U    = (image_point.y-theLineOffset - theIntrackOffset+skew) / (theLineScale+theIntrackScale);
    double V    = (image_point.x-theSampOffset - theCrtrackOffset) / (theSampScale+theCrtrackScale);
 
    //***
    // Rotate the normalized U, V by the map rotation error (adjustable param):
    //***
    double U_rot = theCosMapRot*U - theSinMapRot*V;
    double V_rot = theSinMapRot*U + theCosMapRot*V;
    U = U_rot; V = V_rot;
 
 
    // now apply adjust intrack and cross track
    //***
    // Initialize quantities to be used in the iteration for ground point:
    //***
    double nlat      = 0.0;  // normalized latitude
    double nlon      = 0.0;  // normalized longitude
    
    double nhgt;
 
    if(ossim::isnan(ellHeight))
    {
      nhgt = (theHgtScale - theHgtOffset) / theHgtScale;  // norm height
    }
    else
    {
       nhgt = (ellHeight - theHgtOffset) / theHgtScale;  // norm height
    }
    
    double epsilonU = CONVERGENCE_EPSILON/(theLineScale+theIntrackScale);
    double epsilonV = CONVERGENCE_EPSILON/(theSampScale+theCrtrackScale);
    int    iteration = 0;
 
    //***
    // Declare variables only once outside the loop. These include:
    // * polynomials (numerators Pu, Pv, and denominators Qu, Qv),
    // * partial derivatives of polynomials wrt X, Y,
    // * computed normalized image point: Uc, Vc,
    // * residuals of normalized image point: deltaU, deltaV,
    // * partial derivatives of Uc and Vc wrt X, Y,
    // * corrections to normalized lat, lon: deltaLat, deltaLon.
    //***
    double Pu, Qu, Pv, Qv;
    double dPu_dLat, dQu_dLat, dPv_dLat, dQv_dLat;
    double dPu_dLon, dQu_dLon, dPv_dLon, dQv_dLon;
    double Uc, Vc;
    double deltaU, deltaV;
    double dU_dLat, dU_dLon, dV_dLat, dV_dLon, W;
    double deltaLat, deltaLon;
    
    //***
    // Now iterate until the computed Uc, Vc is within epsilon of the desired
    // image point U, V:
    //***
    do
    {
       //***
       // Calculate the normalized line and sample Uc, Vc as ratio of
       // polynomials Pu, Qu and Pv, Qv:
       //***
       Pu = polynomial(nlat, nlon, nhgt, theLineNumCoef);
       Qu = polynomial(nlat, nlon, nhgt, theLineDenCoef);
       Pv = polynomial(nlat, nlon, nhgt, theSampNumCoef);
       Qv = polynomial(nlat, nlon, nhgt, theSampDenCoef);
       Uc = Pu/Qu;
       Vc = Pv/Qv;
       
       //***
       // Compute residuals between desired and computed line, sample:
       //***
       deltaU = U - Uc;
       deltaV = V - Vc;
       
       //***
       // Check for convergence and skip re-linearization if converged:
       //***
       if ((fabs(deltaU) > epsilonU) || (fabs(deltaV) > epsilonV))
       {
          //***
          // Analytically compute the partials of each polynomial wrt lat, lon:
          //***
          dPu_dLat = dPoly_dLat(nlat, nlon, nhgt, theLineNumCoef);
          dQu_dLat = dPoly_dLat(nlat, nlon, nhgt, theLineDenCoef);
          dPv_dLat = dPoly_dLat(nlat, nlon, nhgt, theSampNumCoef);
          dQv_dLat = dPoly_dLat(nlat, nlon, nhgt, theSampDenCoef);
          dPu_dLon = dPoly_dLon(nlat, nlon, nhgt, theLineNumCoef);
          dQu_dLon = dPoly_dLon(nlat, nlon, nhgt, theLineDenCoef);
          dPv_dLon = dPoly_dLon(nlat, nlon, nhgt, theSampNumCoef);
          dQv_dLon = dPoly_dLon(nlat, nlon, nhgt, theSampDenCoef);
          
          //***
          // Analytically compute partials of quotients U and V wrt lat, lon: 
          //***
          dU_dLat = (Qu*dPu_dLat - Pu*dQu_dLat)/(Qu*Qu);
          dU_dLon = (Qu*dPu_dLon - Pu*dQu_dLon)/(Qu*Qu);
          dV_dLat = (Qv*dPv_dLat - Pv*dQv_dLat)/(Qv*Qv);
          dV_dLon = (Qv*dPv_dLon - Pv*dQv_dLon)/(Qv*Qv);
          
          W = dU_dLon*dV_dLat - dU_dLat*dV_dLon;
          
          //***
          // Now compute the corrections to normalized lat, lon:
          //***
          deltaLat = (dU_dLon*deltaV - dV_dLon*deltaU) / W;
          deltaLon = (dV_dLat*deltaU - dU_dLat*deltaV) / W;
          nlat += deltaLat;
          nlon += deltaLon;
       }
       
       iteration++;
       
    } while (((fabs(deltaU)>epsilonU) || (fabs(deltaV)>epsilonV))
             && (iteration < MAX_NUM_ITERATIONS));
       
    //***
    // Test for exceeding allowed number of iterations. Flag error if so:
    //***
    if (iteration == MAX_NUM_ITERATIONS)
    {
       ossimNotify(ossimNotifyLevel_WARN) << "WARNING ossimRpcProjection::lineSampleHeightToWorld: \nMax number of iterations reached in ground point "
                                          << "solution. Results are inaccurate." << endl;
    }
 
    //***
    // Now un-normalize the ground point lat, lon and establish return quantity:
    //***
    gpt.lat = nlat*theLatScale + theLatOffset;
    gpt.lon = nlon*theLonScale + theLonOffset;
    gpt.hgt = ellHeight;
    
 }

◆ lineSampleToWorld()

void ossimRpcProjection::lineSampleToWorld	(	const ossimDpt &	lineSampPt,
		ossimGpt &	worldPt
	)		const

virtual

METHOD: lineSampleToWorld() Performs the inverse projection from line, sample to ground (world):

Implements ossimProjection.

Definition at line 316 of file ossimRpcProjection.cpp.

References ossimDpt::hasNans(), ossimGpt::height(), lineSampleHeightToWorld(), and ossimGpt::makeNan().

Referenced by getMetersPerPixel().

 {
    if(!imagePoint.hasNans())
    {
       
       lineSampleHeightToWorld(imagePoint,
                               worldPoint.height(),
                               worldPoint);
    }
    else
    {
       worldPoint.makeNan();
    }
 }

◆ loadState()

bool ossimRpcProjection::loadState	(	const ossimKeywordlist &	kwl,
		const char *	prefix = `0`
	)

virtual

Method to the load (recreate) the state of the object from a keyword list. Return true if ok or false on error.

Reimplemented from ossimProjection.

Definition at line 715 of file ossimRpcProjection.cpp.

Referenced by optimizeFit(), and setupOptimizer().

 {
    if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimRpcProjection::loadState(): entering..." << std::endl;
 
    const char* value;
    const char* keyword;
 
    //***
    // Pass on to the base-class for parsing first:
    //***
    bool success = ossimProjection::loadState(kwl, prefix);
    if (!success)
    {
       theErrorStatus++;
       if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimRpcProjection::loadState(): returning with error..." << std::endl;
       return false;
    }
       
    //***
    // Continue parsing for local members:
    //***
    keyword = POLY_TYPE_KW;
    value = kwl.find(prefix, keyword);
    if (!value)
    {
       ossimNotify(ossimNotifyLevel_FATAL) << "FATAL ossimRpcProjection::loadState(): Error encountered parsing the following required keyword: "
                                           << "<" << keyword << ">. Check the keywordlist for proper syntax."
                                           << std::endl;
       return false;
    }
    thePolyType = (PolynomialType) value[0];
       
    keyword = LINE_SCALE_KW;
    value = kwl.find(prefix, keyword);
    if (!value)
    {
       ossimNotify(ossimNotifyLevel_FATAL) << "FATAL ossimRpcProjection::loadState(): Error encountered parsing the following required keyword: "
                                           << "<" << keyword << ">. Check the keywordlist for proper syntax."
                                           << std::endl;
       return false;
    }
    theLineScale = ossimString(value).toDouble();
    
    keyword = SAMP_SCALE_KW;
    value = kwl.find(prefix, keyword);
    if (!value)
    {
       ossimNotify(ossimNotifyLevel_FATAL) << "FATAL ossimRpcProjection::loadState(): Error encountered parsing the following required keyword: "
                                           << "<" << keyword << ">. Check the keywordlist for proper syntax."
                                           << std::endl;
       return false;
    }
    theSampScale = ossimString(value).toDouble();
    
    keyword = LAT_SCALE_KW;
    value = kwl.find(prefix, keyword);
    if (!value)
    {
       ossimNotify(ossimNotifyLevel_FATAL) << "FATAL ossimRpcProjection::loadState(): Error encountered parsing the following required keyword: "
                                           << "<" << keyword << ">. Check the keywordlist for proper syntax."
                                           << std::endl;
       return false;
    }
    theLatScale = ossimString(value).toDouble();
    
    keyword = LON_SCALE_KW;
    value = kwl.find(prefix, keyword);
    if (!value)
    {
       ossimNotify(ossimNotifyLevel_FATAL) << "FATAL ossimRpcProjection::loadState(): Error encountered parsing the following required keyword: "
                                           << "<" << keyword << ">. Check the keywordlist for proper syntax."
                                           << std::endl;
       return false;
    }
    theLonScale = ossimString(value).toDouble();
    
    keyword = HGT_SCALE_KW;
    value = kwl.find(prefix, keyword);
    if (!value)
    {
       ossimNotify(ossimNotifyLevel_FATAL) << "FATAL ossimRpcProjection::loadState(): Error encountered parsing the following required keyword: "
                                           << "<" << keyword << ">. Check the keywordlist for proper syntax."
                                           << std::endl;
       return false;
    }
    theHgtScale = ossimString(value).toDouble();
    
    keyword = LINE_OFFSET_KW;
    value = kwl.find(prefix, keyword);
    if (!value)
    {
       ossimNotify(ossimNotifyLevel_FATAL) << "FATAL ossimRpcProjection::loadState(): Error encountered parsing the following required keyword: "
                                           << "<" << keyword << ">. Check the keywordlist for proper syntax."
                                           << std::endl;
       return false;
    }
    theLineOffset = ossimString(value).toDouble();
    
    keyword = SAMP_OFFSET_KW;
    value = kwl.find(prefix, keyword);
    if (!value)
    {
       ossimNotify(ossimNotifyLevel_FATAL) << "FATAL ossimRpcProjection::loadState(): Error encountered parsing the following required keyword: "
                                           << "<" << keyword << ">. Check the keywordlist for proper syntax."
                                           << std::endl;
       return false;
    }
    theSampOffset = ossimString(value).toDouble();
    
    keyword = LAT_OFFSET_KW;
    value = kwl.find(prefix, keyword);
    if (!value)
    {
       ossimNotify(ossimNotifyLevel_FATAL) << "FATAL ossimRpcProjection::loadState(): Error encountered parsing the following required keyword: "
                                           << "<" << keyword << ">. Check the keywordlist for proper syntax."
                                           << std::endl;
       return false;
    }
    theLatOffset = ossimString(value).toDouble();
    
    keyword = LON_OFFSET_KW;
    value = kwl.find(prefix, keyword);
    if (!value)
    {
       ossimNotify(ossimNotifyLevel_FATAL) << "FATAL ossimRpcProjection::loadState(): Error encountered parsing the following required keyword: "
                                           << "<" << keyword << ">. Check the keywordlist for proper syntax."
                                           << std::endl;
       return false;
    }
    theLonOffset = ossimString(value).toDouble();
    
    keyword = HGT_OFFSET_KW;
    value = kwl.find(prefix, keyword);
    if (!value)
    {
       ossimNotify(ossimNotifyLevel_FATAL) << "FATAL ossimRpcProjection::loadState(): Error encountered parsing the following required keyword: "
                                           << "<" << keyword << ">. Check the keywordlist for proper syntax."
                                           << std::endl;
       return false;
    }
    theHgtOffset = ossimString(value).toDouble();
 
    for (int i=0; i<NUM_COEFFS; i++)
    {
       value = kwl.find(prefix, (LINE_NUM_COEF_KW+ossimString::toString(i)).c_str());
       if (!value)
       {
          ossimNotify(ossimNotifyLevel_FATAL) << "FATAL ossimRpcProjection::loadState(): Error encountered parsing the following required keyword: "
                                              << "<" << keyword << ">. Check the keywordlist for proper syntax."
                                              << std::endl;
          return false;
       }
       theLineNumCoef[i] = ossimString(value).toDouble();
    
       value = kwl.find(prefix, (LINE_DEN_COEF_KW+ossimString::toString(i)).c_str());
       if (!value)
       {
          ossimNotify(ossimNotifyLevel_FATAL) << "FATAL ossimRpcProjection::loadState(): Error encountered parsing the following required keyword: "
                                              << "<" << keyword << ">. Check the keywordlist for proper syntax."
                                              << std::endl;
          return false;
       }
       theLineDenCoef[i] = ossimString(value).toDouble();
    
       value = kwl.find(prefix, (SAMP_NUM_COEF_KW+ossimString::toString(i)).c_str());
       if (!value)
       {
          ossimNotify(ossimNotifyLevel_FATAL) << "FATAL ossimRpcProjection::loadState(): Error encountered parsing the following required keyword: "
                                              << "<" << keyword << ">. Check the keywordlist for proper syntax."
                                              << std::endl;
          return false;
       }
       theSampNumCoef[i] = ossimString(value).toDouble();
       
       value = kwl.find(prefix, (SAMP_DEN_COEF_KW+ossimString::toString(i)).c_str());
       if (!value)
       {
          ossimNotify(ossimNotifyLevel_FATAL) << "FATAL ossimRpcProjection::loadState(): Error encountered parsing the following required keyword: "
                                              << "<" << keyword << ">. Check the keywordlist for proper syntax."
                                              << std::endl;
          return false;
       }
       theSampDenCoef[i] = ossimString(value).toDouble();
    }
 
    if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimRpcProjection::loadState(): returning..." << std::endl;
 
    return true;
 }

◆ operator=()

ossimRpcProjection & ossimRpcProjection::operator= ( const ossimRpcProjection & source )

Definition at line 167 of file ossimRpcProjection.cpp.

References ossimOptimizableProjection::operator=(), theHgtOffset, theHgtScale, theLatOffset, theLatScale, theLineDenCoef, theLineNumCoef, theLineOffset, theLineScale, theLonOffset, theLonScale, thePolyType, theSampDenCoef, theSampNumCoef, theSampOffset, and theSampScale.

 {
    if (this != &source)
    {
       ossimOptimizableProjection::operator=(source);
 
       thePolyType    = source.thePolyType;
       theLineScale   = source.theLineScale;
       theSampScale   = source.theSampScale;
       theLatScale    = source.theLatScale;
       theLonScale    = source.theLonScale;
       theHgtScale    = source.theHgtScale;
       theLineOffset  = source.theLineOffset;
       theSampOffset  = source.theSampOffset;
       theLatOffset   = source.theLatOffset;
       theLonOffset   = source.theLonOffset;
       theHgtOffset   = source.theHgtOffset;
       for (int i=0; i<20; i++)
       {
          theLineNumCoef[i] = source.theLineNumCoef[i];
          theLineDenCoef[i] = source.theLineDenCoef[i];
          theSampNumCoef[i] = source.theSampNumCoef[i];
          theSampDenCoef[i] = source.theSampDenCoef[i];
       }
    }
    return *this;
 }

◆ operator==()

bool ossimRpcProjection::operator== ( const ossimProjection & projection ) const

virtual

OPERATOR: == Compares this instance with arg projection.

Implements ossimProjection.

Definition at line 529 of file ossimRpcProjection.cpp.

 {
    if(&projection == this) return true;
 
    // not implemented yet
    //
    return false;
 }

◆ optimizeFit()

double ossimRpcProjection::optimizeFit	(	const ossimTieGptSet &	tieSet,
		double *	targetVariance = `NULL`
	)

virtual

optimizeFit() adjusts projection to GLOBALLY fit best to ALL tie points (no outlier rejection) can select an optional threshold for accuracy

RETURNS : resulting image error variance of fitted model, or negative value for error

IMPORTANT : the unit for *targetVariance and the returned value is : meters^2 when useForward() is true OR pixel^2 if useForward() is false

Implements ossimOptimizableProjection.

Definition at line 1024 of file ossimRpcProjection.cpp.

References ossimRpcSolver::getRmsError(), ossimRpcSolver::getRpcModel(), ossimTieGptSet::getSlaveMasterPoints(), loadState(), ossimNotify(), ossimNotifyLevel_FATAL, ossimRpcModel::saveState(), and ossimRpcSolver::solveCoefficients().

 {
    //NOTE : ignore targetVariance
    ossimRefPtr<ossimRpcSolver> solver = new ossimRpcSolver(false, false); //TBD : choices should be part of setupFromString
 
    std::vector<ossimDpt> imagePoints;
    std::vector<ossimGpt> groundPoints;
    tieSet.getSlaveMasterPoints(imagePoints, groundPoints);
    solver->solveCoefficients(imagePoints, groundPoints);
 
    const ossimRefPtr< ossimRpcModel > optProj = solver->getRpcModel();
    if (!optProj)
    {
       ossimNotify(ossimNotifyLevel_FATAL) << "FATAL ossimRpcProjection::optimizeFit(): error when optimizing the RPC with given tie points"
                                              << std::endl;
       return -1.0;
    }
 
       ossimKeywordlist kwl;
       optProj->saveState(kwl);
       this->loadState(kwl);
 
    return std::pow(solver->getRmsError(), 2); //variance in pixel^2
 }

◆ origin()

ossimGpt ossimRpcProjection::origin ( ) const

virtual

METHOD: origin() Returns projection's ground point origin. That is the GP corresponding to line=0, sample=0.

Implements ossimProjection.

Definition at line 492 of file ossimRpcProjection.cpp.

References theHgtOffset, theLatOffset, and theLonOffset.

 {
    return ossimGpt(theLatOffset,
                    theLonOffset,
                    theHgtOffset);
 }

◆ polynomial()

double ossimRpcProjection::polynomial	(	const double &	nlat,
		const double &	nlon,
		const double &	nhgt,
		const double *	coeffs
	)		const

protected

Definition at line 544 of file ossimRpcProjection.cpp.

References A, and thePolyType.

 {
    double r;
 
    if (thePolyType == A)
    {
       r = c[ 0]       + c[ 1]*L     + c[ 2]*P     + c[ 3]*H     +
           c[ 4]*L*P   + c[ 5]*L*H   + c[ 6]*P*H   + c[ 7]*L*P*H +
           c[ 8]*L*L   + c[ 9]*P*P   + c[10]*H*H   + c[11]*L*L*L +
           c[12]*L*L*P + c[13]*L*L*H + c[14]*L*P*P + c[15]*P*P*P +
           c[16]*P*P*H + c[17]*L*H*H + c[18]*P*H*H + c[19]*H*H*H;
    }
    else
    {
       r = c[ 0]       + c[ 1]*L     + c[ 2]*P     + c[ 3]*H     +
           c[ 4]*L*P   + c[ 5]*L*H   + c[ 6]*P*H   + c[ 7]*L*L   +
           c[ 8]*P*P   + c[ 9]*H*H   + c[10]*L*P*H + c[11]*L*L*L +
           c[12]*L*P*P + c[13]*L*H*H + c[14]*L*L*P + c[15]*P*P*P +
           c[16]*P*H*H + c[17]*L*L*H + c[18]*P*P*H + c[19]*H*H*H;
    }
    
    return r;
 }

◆ print()

std::ostream & ossimRpcProjection::print ( std::ostream & out ) const

virtual

METHOD: print() Extends base-class implementation. Dumps contents of object to ostream.

Reimplemented from ossimProjection.

Definition at line 624 of file ossimRpcProjection.cpp.

 {
    out << "\nDump of ossimRpcProjection object at " << hex << this << ":\n"
        << POLY_TYPE_KW   << ": " << thePolyType   << "\n"
        << LINE_SCALE_KW  << ": " << theLineScale  << "\n"
        << SAMP_SCALE_KW  << ": " << theSampScale  << "\n"
        << LAT_SCALE_KW   << ": " << theLatScale   << "\n"
        << LON_SCALE_KW   << ": " << theLonScale   << "\n"
        << HGT_SCALE_KW   << ": " << theHgtScale   << "\n"
        << LINE_OFFSET_KW << ": " << theLineOffset << "\n"
        << SAMP_OFFSET_KW << ": " << theSampOffset << "\n"
        << LAT_OFFSET_KW  << ": " << theLatOffset  << "\n"
        << LON_OFFSET_KW  << ": " << theLonOffset  << "\n"
        << HGT_OFFSET_KW  << ": " << theHgtOffset  << endl;
 
    for (int i=0; i<NUM_COEFFS; i++)
       out<<"  "<<LINE_NUM_COEF_KW<<"["<<i<<"]: "<<theLineNumCoef[i]<<endl;
 
    out << endl;
    for (int i=0; i<NUM_COEFFS; i++)
       out<<"  "<<LINE_DEN_COEF_KW<<"["<<i<<"]: "<<theLineDenCoef[i]<<endl;
 
    out << endl;
    for (int i=0; i<NUM_COEFFS; i++)
       out<<"  "<<SAMP_NUM_COEF_KW<<"["<<i<<"]: "<<theSampNumCoef[i]<<endl;
 
    out << endl;
    for (int i=0; i<NUM_COEFFS; i++)
       out<<"  "<<SAMP_DEN_COEF_KW<<"["<<i<<"]: "<<theSampDenCoef[i]<<endl;
       
    out << endl;
 
    return ossimProjection::print(out);
 }

◆ saveState()

bool ossimRpcProjection::saveState	(	ossimKeywordlist &	kwl,
		const char *	prefix = `0`
	)		const

virtual

METHODS: saveState, loadState Fulfills ossimObject base-class pure virtuals. Loads and saves geometry KWL files. Returns true if successful.

Reimplemented from ossimProjection.

Definition at line 665 of file ossimRpcProjection.cpp.

 {
    if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimRpcProjection::saveState(): entering..." << std::endl;
 
    kwl.add(prefix, ossimKeywordNames::TYPE_KW, MODEL_TYPE);
 
    //***
    // Hand off to base class for common stuff:
    //***
    ossimProjection::saveState(kwl, prefix);
 
    kwl.add(prefix,
            POLY_TYPE_KW,
            (char)thePolyType,
            true);
    
    kwl.add(prefix, LINE_SCALE_KW, theLineScale);
    kwl.add(prefix, SAMP_SCALE_KW, theSampScale);
    kwl.add(prefix, LAT_SCALE_KW, theLatScale);
    kwl.add(prefix, LON_SCALE_KW, theLonScale);
    kwl.add(prefix, HGT_SCALE_KW, theHgtScale);
    kwl.add(prefix, LINE_OFFSET_KW, theLineOffset);
    kwl.add(prefix, SAMP_OFFSET_KW, theSampOffset);
    kwl.add(prefix, LAT_OFFSET_KW, theLatOffset);
    kwl.add(prefix, LON_OFFSET_KW, theLonOffset);
    
    kwl.add(prefix, HGT_OFFSET_KW, theHgtOffset);
 
    for (int i=0; i<NUM_COEFFS; i++)
    {
       kwl.add(prefix, (LINE_NUM_COEF_KW + ossimString::toString(i)).c_str(), theLineNumCoef[i]);
       kwl.add(prefix, (LINE_DEN_COEF_KW + ossimString::toString(i)).c_str(), theLineDenCoef[i]);
       kwl.add(prefix, (SAMP_NUM_COEF_KW + ossimString::toString(i)).c_str(), theSampNumCoef[i]);
       kwl.add(prefix, (SAMP_DEN_COEF_KW + ossimString::toString(i)).c_str(), theSampDenCoef[i]);
    }
       
    saveAdjustments(kwl, prefix);
    
    if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimRpcProjection::saveState(): returning..." << std::endl;
    return true;
 }

◆ setAttributes()

void ossimRpcProjection::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`
	)

Definition at line 195 of file ossimRpcProjection.cpp.

References theHgtOffset, theHgtScale, theLatOffset, theLatScale, theLineDenCoef, theLineNumCoef, theLineOffset, theLineScale, theLonOffset, theLonScale, thePolyType, theSampDenCoef, theSampNumCoef, theSampOffset, and theSampScale.

 {
    thePolyType = polyType;
    
    theLineScale  = lineScale;
    theSampScale  = sampleScale;
    theLatScale   = latScale;
    theLonScale   = lonScale;
    theHgtScale   = heightScale;
    theLineOffset = lineOffset;
    theSampOffset = sampleOffset;
    theLatOffset  = latOffset;
    theLonOffset  = lonOffset;
    theHgtOffset  = heightOffset;
 
    if(xNumeratorCoeffs.size() == 20)
    {
       std::copy(xNumeratorCoeffs.begin(),
                 xNumeratorCoeffs.end(),
                 theSampNumCoef);
    }
    if(xDenominatorCoeffs.size() == 20)
    {
       std::copy(xDenominatorCoeffs.begin(),
                 xDenominatorCoeffs.end(),
                 theSampDenCoef);
    }
    if(yNumeratorCoeffs.size() == 20)
    {
       std::copy(yNumeratorCoeffs.begin(),
                 yNumeratorCoeffs.end(),
                 theLineNumCoef);
    }
    if(yDenominatorCoeffs.size() == 20)
    {
       std::copy(yDenominatorCoeffs.begin(),
                 yDenominatorCoeffs.end(),
                 theLineDenCoef);
    }
 }

◆ setupOptimizer()

bool ossimRpcProjection::setupOptimizer ( const ossimString & setup )

virtual

setupFromString() Derived classes should implement as needed. Initialize parameters needed for optimizeFit and degreesOfFreedom

Returns: This implementation does nothing and returns false.

Reimplemented from ossimOptimizableProjection.

Definition at line 936 of file ossimRpcProjection.cpp.

References ossimKeywordlist::addFile(), ossimKeywordlist::clear(), ossimProjectionFactoryRegistry::createProjection(), ossimProjectionFactoryRegistry::instance(), loadState(), ossimProjection::saveState(), and ossimRefPtr< T >::valid().

 {
    ossimKeywordlist kwl;
 
    if(kwl.addFile(ossimFilename(setup)))
    {
       return loadState(kwl);
    }
    else
    {
       ossimRefPtr<ossimProjection> proj = ossimProjectionFactoryRegistry::instance()->createProjection(setup);
       if(proj.valid())
       {
          kwl.clear();
          proj->saveState(kwl);
          
          return loadState(kwl);
       }
    }
    
    return false;
 }

◆ solveLeastSquares()

NEWMAT::ColumnVector ossimRpcProjection::solveLeastSquares	(	NEWMAT::SymmetricMatrix &	A,
		NEWMAT::ColumnVector &	r
	)		const

protected

solves Ax = r , with A symmetric positive definite A can be rank deficient size of A is typically between 10 and 100 rows

Definition at line 1213 of file ossimRpcProjection.cpp.

References A, invert(), and x.

 {
    NEWMAT::ColumnVector x = invert(A)*r;
    return x;
 }

◆ useForward()

virtual bool ossimRpcProjection::useForward ( ) const

inlinevirtual

useForward() return true when it's better (more accurate / fast) to use forward (from ground to image) than inverse(from image to ground)

Implements ossimOptimizableProjection.

Definition at line 122 of file ossimRpcProjection.h.

Referenced by buildNormalEquation(), and getResidue().

122 {return true;}

◆ worldToLineSample()

void ossimRpcProjection::worldToLineSample	(	const ossimGpt &	world_point,
		ossimDpt &	image_point
	)		const

virtual

METHOD: worldToLineSample() Overrides base class implementation. Directly computes line-sample from the polynomials.

Implements ossimProjection.

Definition at line 257 of file ossimRpcProjection.cpp.

 {
    if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimRpcProjection::worldToLineSample(): entering..." << std::endl;
 
    if(ground_point.isLatNan() ||
       ground_point.isLonNan() )
      {
        imgPt.makeNan();
        return;
      }
          
    //*
    // Normalize the lat, lon, hgt:
    //*
    double nlat = (ground_point.lat - theLatOffset) / theLatScale;
    double nlon = (ground_point.lon - theLonOffset) / theLonScale;
    double nhgt;
 
    if(ossim::isnan(ground_point.hgt))
    {
       nhgt = (theHgtScale - theHgtOffset) / theHgtScale;
    }
    else
    {
       nhgt = (ground_point.hgt - theHgtOffset) / theHgtScale;
    }
 
    
    //***
    // Compute the adjusted, normalized line (U) and sample (V):
    //***
    double Pu = polynomial(nlat, nlon, nhgt, theLineNumCoef);
    double Qu = polynomial(nlat, nlon, nhgt, theLineDenCoef);
    double Pv = polynomial(nlat, nlon, nhgt, theSampNumCoef);
    double Qv = polynomial(nlat, nlon, nhgt, theSampDenCoef);
    double U_rot  = Pu / Qu;
    double V_rot  = Pv / Qv;
 
    //***
    // U, V are normalized quantities. Need now to establish the image file
    // line and sample. First, back out the adjustable parameter effects
    // starting with rotation:
    //***
    double U = U_rot*theCosMapRot + V_rot*theSinMapRot;
    double V = V_rot*theCosMapRot - U_rot*theSinMapRot;
 
    //***
    // Now back out skew, scale, and offset adjustments:
    //***
    imgPt.line = U*(theLineScale+theIntrackScale) + theLineOffset + theIntrackOffset;
    imgPt.samp = V*(theSampScale+theCrtrackScale) + theSampOffset + theCrtrackOffset;
 
 
    if (traceExec())  ossimNotify(ossimNotifyLevel_DEBUG) << "DEBUG ossimRpcProjection::worldToLineSample(): returning..." << std::endl;
 
    return;
 }

Member Data Documentation

◆ theCosMapRot

double ossimRpcProjection::theCosMapRot

protected

Definition at line 232 of file ossimRpcProjection.h.

◆ theCrtrackOffset

double ossimRpcProjection::theCrtrackOffset

protected

Definition at line 228 of file ossimRpcProjection.h.

◆ theCrtrackScale

double ossimRpcProjection::theCrtrackScale

protected

Definition at line 230 of file ossimRpcProjection.h.

◆ theHgtOffset

double ossimRpcProjection::theHgtOffset

protected

Definition at line 214 of file ossimRpcProjection.h.

Referenced by operator=(), origin(), and setAttributes().

◆ theHgtScale

double ossimRpcProjection::theHgtScale

protected

Definition at line 209 of file ossimRpcProjection.h.

Referenced by operator=(), and setAttributes().

◆ theIntrackOffset

double ossimRpcProjection::theIntrackOffset

protected

Definition at line 227 of file ossimRpcProjection.h.

Referenced by adjustableParametersChanged().

◆ theIntrackScale

double ossimRpcProjection::theIntrackScale

protected

Definition at line 229 of file ossimRpcProjection.h.

◆ theLatOffset

double ossimRpcProjection::theLatOffset

protected

Definition at line 212 of file ossimRpcProjection.h.

Referenced by operator=(), origin(), and setAttributes().

◆ theLatScale

double ossimRpcProjection::theLatScale

protected

Definition at line 207 of file ossimRpcProjection.h.

Referenced by operator=(), and setAttributes().

◆ theLineDenCoef

double ossimRpcProjection::theLineDenCoef[20]

protected

Definition at line 220 of file ossimRpcProjection.h.

Referenced by operator=(), and setAttributes().

◆ theLineNumCoef

double ossimRpcProjection::theLineNumCoef[20]

protected

Definition at line 219 of file ossimRpcProjection.h.

Referenced by operator=(), and setAttributes().

◆ theLineOffset

double ossimRpcProjection::theLineOffset

protected

Definition at line 210 of file ossimRpcProjection.h.

Referenced by getMetersPerPixel(), operator=(), and setAttributes().

◆ theLineScale

double ossimRpcProjection::theLineScale

protected

Definition at line 205 of file ossimRpcProjection.h.

Referenced by operator=(), and setAttributes().

◆ theLonOffset

double ossimRpcProjection::theLonOffset

protected

Definition at line 213 of file ossimRpcProjection.h.

Referenced by operator=(), origin(), and setAttributes().

◆ theLonScale

double ossimRpcProjection::theLonScale

protected

Definition at line 208 of file ossimRpcProjection.h.

Referenced by operator=(), and setAttributes().

◆ thePolyType

PolynomialType ossimRpcProjection::thePolyType

protected

Definition at line 200 of file ossimRpcProjection.h.

Referenced by dPoly_dLat(), dPoly_dLon(), operator=(), polynomial(), and setAttributes().

◆ theSampDenCoef

double ossimRpcProjection::theSampDenCoef[20]

protected

Definition at line 222 of file ossimRpcProjection.h.

Referenced by operator=(), and setAttributes().

◆ theSampNumCoef

double ossimRpcProjection::theSampNumCoef[20]

protected

Definition at line 221 of file ossimRpcProjection.h.

Referenced by operator=(), and setAttributes().

◆ theSampOffset

double ossimRpcProjection::theSampOffset

protected

Definition at line 211 of file ossimRpcProjection.h.

Referenced by getMetersPerPixel(), operator=(), and setAttributes().

◆ theSampScale

double ossimRpcProjection::theSampScale

protected

Definition at line 206 of file ossimRpcProjection.h.

Referenced by operator=(), and setAttributes().

◆ theSinMapRot

double ossimRpcProjection::theSinMapRot

protected

Definition at line 233 of file ossimRpcProjection.h.

◆ theYawSkew

double ossimRpcProjection::theYawSkew

protected

Definition at line 231 of file ossimRpcProjection.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ PolynomialType

Constructor & Destructor Documentation

◆ ossimRpcProjection() [1/2]

◆ ossimRpcProjection() [2/2]

◆ ~ossimRpcProjection()

Member Function Documentation

◆ adjustableParametersChanged()

◆ buildNormalEquation()

◆ degreesOfFreedom()

◆ dPoly_dLat()

◆ dPoly_dLon()

◆ dup()

◆ getBaseObject() [1/2]

◆ getBaseObject() [2/2]

◆ getForwardDeriv()

◆ getInverseDeriv()

◆ getMetersPerPixel()

◆ getResidue()

◆ initAdjustableParameters()

◆ invert()

◆ isAffectedByElevation()

◆ lineSampleHeightToWorld()

◆ lineSampleToWorld()

◆ loadState()

◆ operator=()

◆ operator==()

◆ optimizeFit()

◆ origin()

◆ polynomial()

◆ print()

◆ saveState()

◆ setAttributes()

◆ setupOptimizer()

◆ solveLeastSquares()

◆ useForward()

◆ worldToLineSample()

Member Data Documentation

◆ theCosMapRot

◆ theCrtrackOffset

◆ theCrtrackScale

◆ theHgtOffset

◆ theHgtScale

◆ theIntrackOffset

◆ theIntrackScale

◆ theLatOffset

◆ theLatScale

◆ theLineDenCoef

◆ theLineNumCoef

◆ theLineOffset

◆ theLineScale

◆ theLonOffset

◆ theLonScale

◆ thePolyType

◆ theSampDenCoef

◆ theSampNumCoef

◆ theSampOffset

◆ theSampScale

◆ theSinMapRot

◆ theYawSkew