// fill-in "n" ortho views from the given point "axyh" on the first image
// The size of the geographic grid is "w,h
static void build_projection_states(
struct ortho_view *o, // output orthoviews
struct tiff_tile_cache *t, // input images
struct rpc *r, // input rpcs
int n, // number of images
double axyh[3], // corner on first image
int w, int h) // desired grid size
{
// center in geographic coordinates
double center[3], csouth[3];
eval_rpc(center, r, axyh[0], axyh[1] , axyh[2]);
eval_rpc(csouth, r, axyh[0], axyh[1] + 1, axyh[2]);
// stepsize given by 1 pixel to the south
// XXX WARNING WRONG TODO FIXME : assumes North-South oriented image (!)
double lat_step = csouth[1] - center[1];
double latitude = center[1] * (M_PI/180);
double lonfactor = cos(latitude);
double lon_step = -lat_step / lonfactor;
double lon_step_m = (lon_step*lonfactor) * (M_PI/180) * EARTH_RADIUS;
double lat_step_m = lat_step * (M_PI/180) * EARTH_RADIUS;
fprintf(stderr, "projection center (%g %g %g) => (%.8lf %.8lf)\n",
axyh[0], axyh[1], axyh[2], center[0], center[1]);
fprintf(stderr, "lon_step = %g (%g meters)\n", lon_step, lon_step_m);
fprintf(stderr, "lat_step = %g (%g meters)\n", lat_step, lat_step_m);
// fill-in the fields
for (int i = 0; i < n; i++)
{
o[i].t = t + i;
o[i].r = r + i;
o[i].w = w;
o[i].h = h;
o[i].lon_0 = center[0];
o[i].lat_0 = center[1];
o[i].lon_d = lon_step;
o[i].lat_d = lat_step;
//o->t = t + i;
//o->r = r + i;
//o->w = w;
//o->h = h;
//o->lon_0 = center[0];
//o->lat_0 = center[1];
//o->lon_d = lon_step;
//o->lat_d = lat_step;
}
}
void intersect_rays(double out[3], double p[2], double q[2], struct rpc *r1,
struct rpc *r2)
{
// compute height
double err;
out[2] = rpc_height(r1, r2, p[0], p[1], q[0], q[1], &err);
// compute lon, lat
eval_rpc(out, r1, p[0], p[1], out[2]);
}
static void build_projection_states(
struct projection_state *pa, struct projection_state *pb,
struct rpc *ra, struct rpc *rb,
double axyh[3],
int w, int h)
{
// center in geographic coordinates
double center[3], csouth[3];
eval_rpc(center, ra, axyh[0], axyh[1] , axyh[2]);
eval_rpc(csouth, ra, axyh[0], axyh[1] + 1, axyh[2]);
// stepsize given by 1 pixel to the south
// XXX WARNING WRONG TODO FIXME : assumes North-South oriented image (!)
double lat_step = csouth[1] - center[1];
double latitude = center[1] * (M_PI/180);
double lonfactor = cos(latitude);
double lon_step = -lat_step / lonfactor;
double lon_step_m = (lon_step*lonfactor) * (M_PI/180) * EARTH_RADIUS;
double lat_step_m = lat_step * (M_PI/180) * EARTH_RADIUS;
fprintf(stderr, "projection center (%g %g %g) => (%.8lf %.8lf)\n",
axyh[0], axyh[1], axyh[2], center[0], center[1]);
fprintf(stderr, "lon_step = %g (%g meters)\n", lon_step, lon_step_m);
fprintf(stderr, "lat_step = %g (%g meters)\n", lat_step, lat_step_m);
// fill-in the fields
pa->r = ra;
pb->r = rb;
pa->w = pb->w = w;
pa->h = pb->h = h;
pa->lon_0 = pb->lon_0 = center[0];
pa->lat_0 = pb->lat_0 = center[1];
pa->lon_d = pb->lon_d = lon_step;
pa->lat_d = pb->lat_d = lat_step;
}
void rpc_warpabt(float *outa, float *outb, int w, int h, int pd,
struct tiff_tile_cache *ta, struct rpc *rpca,
struct tiff_tile_cache *tb, struct rpc *rpcb,
double axyh[3])
{
// PA = rpca inverse
// LA = rpca direct
// PB = rpcb inverse
// LB = rpcb direct
// FALSE! it is actually the opposite (?)
// center in geographic coordinates
double c[3];
eval_rpc(c, rpca, axyh[0], axyh[1], axyh[2]);
fprintf(stderr, "(%g %g %g) => %g %g\n",
axyh[0], axyh[1], axyh[2], c[0], c[1]);
// TODO: compute the stem more inteligently here
// step = nominal resolution
double csouth[3];
eval_rpc(csouth, rpca, axyh[0], axyh[1] + 1, axyh[2]);
fprintf(stderr, "(%g %g %g) => %g %g\n",
axyh[0], axyh[1]+1, axyh[2], csouth[0], csouth[1]);
double ceast[3];
eval_rpc(ceast, rpca, axyh[0] + 1, axyh[1], axyh[2]);
fprintf(stderr, "(%g %g %g) => %g %g\n",
axyh[0]+1, axyh[1], axyh[2], ceast[0], ceast[1]);
double lon_step = ceast[0] - c[0]; // in degrees
double lat_step = csouth[1] - c[1]; // in degrees
double latitude = c[1] * (M_PI/180); // in radians
double lonfactor = cos(latitude);
double lon_step_m = lon_step * (M_PI/180) * EARTH_RADIUS / lonfactor;
double lat_step_m = lat_step * (M_PI/180) * EARTH_RADIUS;
fprintf(stderr, "lon_step = %g (%g meters)\n", lon_step, lon_step_m);
fprintf(stderr, "lat_step = %g (%g meters)\n", lat_step, lat_step_m);
// actually apply the factor
lon_step = lonfactor;
if (1) { // some consistency tests
double pc[3];
eval_rpci(pc, rpca, c[0], c[1], axyh[2]);
fprintf(stderr, "(%g %g %g) => %g %g\n",
c[0], c[1], axyh[2], pc[0], pc[1]);
}
assert(pd = ta->i->spp);
assert(pd = tb->i->spp);
for (int j = 0; j < h; j++)
for (int i = 0; i < w; i++)
{
double lon = c[0] + i * lon_step;
double lat = c[1] + j * lat_step;
double paij[3]; eval_rpci(paij, rpca, lon, lat, axyh[2]);
double pbij[3]; eval_rpci(pbij, rpcb, lon, lat, axyh[2]);
float *oaij = outa + (j*w + i) * pd;
float *obij = outb + (j*w + i) * pd;
tiff_cache_interpolate_float(oaij, ta, paij[0], paij[1]);
tiff_cache_interpolate_float(obij, tb, pbij[0], pbij[1]);
}
}
//build the set of sights
void build_set_sights(type_sight *sights_list,list_of_pairs *list_pairs)
{
int N_pairs = list_pairs->real_size;
double alt1=3000.;
double alt2=45.;
bool first_sight_found = false;
// pid (pair id), to loop over pairs
// ind, insertion variable
int pid=0, ind=0;
while(pid<N_pairs)
{
if (list_pairs->data[pid].process)
{
int ID;
struct rpc *rpc_to_use;
double X1,Y1,Z1,X2,Y2,Z2,q[3];
if (!first_sight_found)
{
rpc_to_use = &list_pairs->data[pid].rpc_master;
ID = 1;
q[0] = list_pairs->data[pid].q0[0];
q[1] = list_pairs->data[pid].q0[1];
q[2] = list_pairs->data[pid].q0[2];
first_sight_found = true;
// look at this pair twice :
// 1st : get the first sight
// 2nd : get the slave sight
// so : pid-- to go backwards
pid--;
}
else
{
rpc_to_use = &list_pairs->data[pid].rpc_slave;
ID = list_pairs->data[pid].sight_slave;
q[0] = list_pairs->data[pid].q1[0];
q[1] = list_pairs->data[pid].q1[1];
q[2] = list_pairs->data[pid].q1[2];
}
double point1[2],point2[2];
eval_rpc(point2, rpc_to_use, q[0], q[1], alt2);
eval_rpc(point1, rpc_to_use, q[0], q[1], alt1);
geotedic_to_ECEF(point1[0],point1[1],alt1,&X1,&Y1,&Z1);
geotedic_to_ECEF(point2[0],point2[1],alt2,&X2,&Y2,&Z2);
sights_list[ind].p[0] = X1;
sights_list[ind].p[1] = Y1;
sights_list[ind].p[2] = Z1;
sights_list[ind].s[0] = X2;
sights_list[ind].s[1] = Y2;
sights_list[ind].s[2] = Z2;
sights_list[ind].v[0] = X2-X1;
sights_list[ind].v[1] = Y2-Y1;
sights_list[ind].v[2] = Z2-Z1;
VEC_NORMALIZE(sights_list[ind].v);
sights_list[ind].ID = ID;
ind++;
}
pid++;
}
}