void PhotoCamera::buildIntrinsic()
{
//Projection Matrix
Eigen::Matrix3f Mi;
// cout << "focal length: " << focalLength << endl;
// cout << "1/dx: " << oneOverDx << endl;
// cout << "1/dy: " << oneOverDy << endl;
Mi << -focalLength*oneOverDx, 0, principalPoint(0),
0, -focalLength*oneOverDy, principalPoint(1),
0, 0, 1;
intrinsicMatrix.topLeftCorner(3, 3) = Mi;
}
//*****************************************************************************
// BuckeyeSMPlugin::constructSensorModelFromISD
//*****************************************************************************
TSMWarning *BuckeyeSMPlugin::constructSensorModelFromISD(
const tsm_ISD& image_support_data,
const std::string& sensor_model_name,
TSMSensorModel*& sensor_model) const throw (TSMError)
{
TSMWarning * tsmWarn = NULL;
std::string myname("BuckeyeSMPlugin::constructSensorModelFromISD");
bool isISDSupported = false;
//canSensorModelBeConstructedFromISD(image_support_data, sensor_model_name, isISDSupported);
const filenameISD * filenameObject = dynamic_cast<const filenameISD*>(&image_support_data);
ossimFilename frameMetaGsti;
ossimRefPtr<ossimImageHandler> ih;
ossimFilename frameNumber;
if(filenameObject)
{
ossimFilename file(filenameObject->_filename);
if(file.ext() == "tif")
{
std::cout << "********* tif\n"; // Temporary -- Tiff development is underway but not operational
}
ossimFilename dir(file.path());
frameNumber = file.fileNoExtension();
frameMetaGsti = dir.dirCat("FrameMeta_GSTI.txt");
ih = ossimImageHandlerRegistry::instance()->open(file);
if(frameMetaGsti.exists()&&ih.valid())
{
isISDSupported = true;
}
}
BuckeyeSensorModel* result = 0;
if (isISDSupported)
{
ossimDpt pixelSize(.0068, .0068);
// Note: This system only works for Square pixels.......
ossimDpt principalPoint(-0.1853,1.2428);
double focalLength = 211.0211;
ossimIrect imageRect = ih->getBoundingRect();
double roll = 0.0;
double pitch = 0.0;
double yaw = 0.0;
ossimGpt platformPosition;
bool frameNumberFound = false;
ossimCsvFile csv(" \t"); // we will use tab or spaces as separator
if(csv.open(frameMetaGsti))
{
if(csv.readHeader())
{
ossimRefPtr<ossimCsvFile::Record> record;
while( ((record = csv.nextRecord()).valid()) && !frameNumberFound)
{
if( (*record)["Frame#"] == frameNumber)
{
frameNumberFound = true;
roll = (*record)["Roll(deg)"].toDouble();
pitch = (*record)["Pitch(deg)"].toDouble();
yaw = (*record)["Yaw(deg)"].toDouble();
platformPosition = ossimGpt((*record)["Lat(deg)"].toDouble(),
(*record)["Lon(deg)"].toDouble(),
(*record)["HAE(m)"].toDouble());
}
}
}
if(frameNumberFound)
{
result = new BuckeyeSensorModel();
BuckeyeSensorModel *bkSensorModel = static_cast<BuckeyeSensorModel*>(result);
bkSensorModel->buckeye->setRollPitchHeading(roll, pitch, yaw);
bkSensorModel->buckeye->setFocalLength(focalLength);
bkSensorModel->buckeye->setPlatformPosition(platformPosition);
bkSensorModel->buckeye->setPrincipalPoint(principalPoint);
bkSensorModel->buckeye->setPixelSize(pixelSize);
ossimSmacCallibrationSystem* distortion = new ossimSmacCallibrationSystem(1.06545826E-002, -1.58699040E-005, 1.12448462E-009, -8.67450914E-013, 0,
5.92909E-006, -1.66339E-005, 0, 0);
bkSensorModel->buckeye->setLensDistortion(distortion);
bkSensorModel->buckeye->setImageRect(imageRect);
bkSensorModel->buckeye->updateModel();
bkSensorModel->setSensorPosition(platformPosition);
bkSensorModel->setPrincipalPoint(principalPoint);
bkSensorModel->setFocalLength(focalLength);
bkSensorModel->setPixelSize(pixelSize);
bkSensorModel->setImageSize(imageRect.height(), imageRect.width());
bkSensorModel->setReferenceDateAndTime("Date TIME");
#if 0
testBuckeyeCSMSensor(bkSensorModel);
#endif
}
}
}
if(!result)
{
TSMError tsmError = TSMError(TSMError::ISD_NOT_SUPPORTED, "Unable to create sensor model from ISD.", myname);
throw tsmError;
}
sensor_model = result;
return tsmWarn;
}