core/vpgl/algo/vpgl_rational_adjust_onept.h

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// This is core/vpgl/algo/vpgl_rational_adjust_onept.h
#ifndef vpgl_rational_adjust_onept_h_
#define vpgl_rational_adjust_onept_h_
//:
// \file
// \brief Adjust image offsets to register a set of rational cameras
// \author J. L. Mundy
// \date July 29, 2007
//

#include <vcl_vector.h>
#include <vnl/vnl_vector.h>
#include <vnl/vnl_least_squares_function.h>
#include <vpgl/vpgl_rational_camera.h>
#include <vgl/vgl_vector_2d.h>
#include <vgl/vgl_point_2d.h>
#include <vgl/vgl_point_3d.h>

//:
// The image offsets of rational cameras typically must be adjusted to
// compensate for errors in geographic alignment. This algorithm finds
// a set of minimum translations that registers the input set of images.
// After registration, the images have geographically corresponding rational
// cameras. That is, a visible 3-d point will project into its corresponding
// image location in all the images.

class vpgl_z_search_lsqr : public vnl_least_squares_function
{
 public:
  //: Constructor
  vpgl_z_search_lsqr(vcl_vector<vpgl_rational_camera<double> > const& cams,
                     vcl_vector<vgl_point_2d<double> > const& image_pts,
                     vgl_point_3d<double> const& initial_pt);
  //: Destructor
  virtual ~vpgl_z_search_lsqr() {}

  //: The main function.
  //  Given the parameter vector x, compute the vector of residuals fx.
  //  fx has been sized appropriately before the call.
  virtual void f(vnl_vector<double> const& elevation,
                 vnl_vector<double>& projection_error);
  double xm() const {return xm_;}
  double ym() const {return ym_;}
 protected:
  vpgl_z_search_lsqr();//not valid
  vgl_point_3d<double> initial_pt_;
  vcl_vector<vpgl_rational_camera<double> > cameras_; //cameras
  vcl_vector<vgl_point_2d<double> > image_pts_; //image points
  double xm_, ym_;
};


class vpgl_rational_adjust_onept
{
 public:
  ~vpgl_rational_adjust_onept() {}

  static bool
  find_intersection_point(vcl_vector<vpgl_rational_camera<double> > const& cams,
                          vcl_vector<vgl_point_2d<double> > const& corrs,
                          vgl_point_3d<double>& p_3d);

  static bool
  refine_intersection_pt(vcl_vector<vpgl_rational_camera<double> > const& cams,
                         vcl_vector<vgl_point_2d<double> > const& image_pts,
                         vgl_point_3d<double> const& initial_pt,
                         vgl_point_3d<double>& final_pt);

  static bool adjust(vcl_vector<vpgl_rational_camera<double> > const& cams,
                     vcl_vector<vgl_point_2d<double> > const& corrs,
                     vcl_vector<vgl_vector_2d<double> >& cam_translations,
                     vgl_point_3d<double>& intersection);

 protected:
  vpgl_rational_adjust_onept();
};


#endif // vpgl_rational_adjust_onept_h_