ossimSensorModelTuple.h

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//----------------------------------------------------------------------------
//
// License:  See top level LICENSE.txt file.
//
// Author:  David Hicks
//
// Description: Base class for tuple-based ossimSensorModel metric operations.
//----------------------------------------------------------------------------
// $Id: ossimSensorModelTuple.h 21806 2012-10-05 14:20:45Z dhicks $
#ifndef ossimSensorModelTuple_HEADER
#define ossimSensorModelTuple_HEADER

#include <ossim/projection/ossimSensorModel.h>
#include <ossim/base/ossimDpt.h>
#include <ossim/elevation/ossimHgtRef.h>
#include <ossim/matrix/newmat.h>

// Forward class declarations:
class ossimEcefPoint;

typedef vector<ossimDpt> DptSet_t;

class OSSIM_DLL ossimRpcPqeInputs
{
public:
   ossimRpcPqeInputs();
   ~ossimRpcPqeInputs();
   ossim_float64       theRpcElevationAngle; // decimal degrees
   ossim_float64       theRpcAzimuthAngle;   // decimal degrees
   ossim_float64       theRpcBiasError;
   ossim_float64       theRpcRandError;
   ossimColumnVector3d theSurfaceNormalVector;
   NEWMAT::Matrix      theSurfaceCovMatrix;
};

class OSSIM_DLL ossimSensorModelTuple
{
public:

   enum DeriveMode
   {
      OBS_INIT =-99,
      EVALUATE =-98,
      P_WRT_X = -1,
      P_WRT_Y = -2,
      P_WRT_Z = -3
   };

   enum IntersectStatus
   {
      OP_SUCCESS      = 0,
      ERROR_PROP_FAIL = 1,
      OP_FAIL         = 2
   };

   ossimSensorModelTuple();

   ~ossimSensorModelTuple();

   void addImage(ossimSensorModel* image);
   
   std::ostream& print(std::ostream& out) const;

   
   ossimSensorModelTuple::IntersectStatus intersect(
      const DptSet_t         obs,
      ossimEcefPoint&  pt,
      NEWMAT::Matrix&  covMat) const;
   
   ossimSensorModelTuple::IntersectStatus intersect(
      const ossim_int32&     img,
      const ossimDpt&        obs,
      ossimEcefPoint&  pt,
      NEWMAT::Matrix&  covMat);
   
   ossimSensorModelTuple::IntersectStatus intersect(
      const ossim_int32&     img,
      const ossimDpt&        obs,
      const ossim_float64&   heightAboveEllipsoid,
      ossimEcefPoint&  pt,
      NEWMAT::Matrix&  covMat);
            
   bool setIntersectionSurfaceAccuracy(const ossim_float64& surfCE90,
                                       const ossim_float64& surfLE90);

   void getRpcPqeInputs(ossimRpcPqeInputs& obj) const;

private:
   mutable std::vector<ossimRefPtr<ossimSensorModel> > theImages;

   ossim_int32    theNumImages;
   
   ossim_float64  theSurfCE90;
   ossim_float64  theSurfLE90;
   bool           theSurfAccSet;
   bool           theSurfAccRepresentsNoDEM;

   ossimRpcPqeInputs theRpcPqeInputs;
   
   bool computeSingleInterCov(const ossim_int32& img,
                              const ossimDpt&    obs,
                              const ossimGpt&    ptG,
                              HeightRefType_t    cRefType,
                              NEWMAT::Matrix&    covMat);
      
   
   bool getGroundObsEqComponents(const ossim_int32 img,
                                 const ossimDpt& obs,
                                 const ossimGpt& ptEst,
                                 ossimDpt& resid,
                                 NEWMAT::Matrix& B,
                                 NEWMAT::SymmetricMatrix& W) const;

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

};


#endif /* #ifndef ossimSensorModelTuple_HEADER */