00001 // ***************************************************************************** 00002 // 00003 // Copyright (c) 2014, Southwest Research Institute® (SwRI®) 00004 // All rights reserved. 00005 // 00006 // Redistribution and use in source and binary forms, with or without 00007 // modification, are permitted provided that the following conditions are met: 00008 // * Redistributions of source code must retain the above copyright 00009 // notice, this list of conditions and the following disclaimer. 00010 // * Redistributions in binary form must reproduce the above copyright 00011 // notice, this list of conditions and the following disclaimer in the 00012 // documentation and/or other materials provided with the distribution. 00013 // * Neither the name of Southwest Research Institute® (SwRI®) nor the 00014 // names of its contributors may be used to endorse or promote products 00015 // derived from this software without specific prior written permission. 00016 // 00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 // ARE DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY 00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00027 // 00028 // ***************************************************************************** 00029 00030 #ifndef TRANSFORM_UTIL_GEOREFERENCE_H_ 00031 #define TRANSFORM_UTIL_GEOREFERENCE_H_ 00032 00033 #include <string> 00034 00035 #include <yaml-cpp/yaml.h> 00036 00037 //opencv includes 00038 #include <opencv2/core/core.hpp> 00039 #include <opencv2/highgui/highgui.hpp> 00040 #include <opencv2/imgproc/imgproc.hpp> 00041 #include <opencv2/video/video.hpp> 00042 00043 namespace swri_transform_util 00044 { 00045 class GeoReference 00046 { 00047 public: 00048 explicit GeoReference(const std::string& path); 00049 GeoReference(const GeoReference& geo); 00050 ~GeoReference(); 00051 00052 bool Load(); 00053 void Print(); 00054 00055 std::string GeoPath() const { return path_; } 00056 std::string Path() const { return image_path_; } 00057 unsigned int Width() const { return width_; } 00058 unsigned int Height() const { return height_; } 00059 unsigned int TileSize() const { return tile_size_; } 00060 std::string Extension() const { return extension_; } 00061 00062 std::string Datum() const { return datum_; } 00063 std::string Projection() const { return projection_; } 00064 00065 void GetCoordinate(int x_pixel, int y_pixel, double& x_coordinate, double& y_coordinate) const; 00066 void GetPixel(double x_coordinate, double y_coordinate, int& x_pixel, int& y_pixel) const; 00067 00068 private: 00069 bool loaded_; 00070 00071 // Image properties 00072 std::string path_; 00073 std::string image_path_; 00074 unsigned int width_; 00075 unsigned int height_; 00076 unsigned int tile_size_; 00077 std::string extension_; 00078 00079 // Coordinate system 00080 std::string datum_; 00081 std::string projection_; 00082 00083 // Affine transform from pixel space 00084 cv::Mat transform_; 00085 cv::Mat inverse_transform_; 00086 00087 // Tiepoints 00088 cv::Mat pixels_; 00089 cv::Mat coordinates_; 00090 00091 double x_offset_; 00092 double y_offset_; 00093 00094 void GetTransform(); 00095 }; 00096 } 00097 00098 #endif // TRANSFORM_UTIL_GEOREFERENCE_H_ 00099