georeference.h

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// Copyright (c) 2014, Southwest Research Institute® (SwRI®)
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#ifndef TRANSFORM_UTIL_GEOREFERENCE_H_
#define TRANSFORM_UTIL_GEOREFERENCE_H_
 
#include <string>
 
#include <yaml-cpp/yaml.h>
 
//opencv includes
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/video/video.hpp>
 
namespace swri_transform_util
{
  class GeoReference
  {
  public:
    explicit GeoReference(const std::string& path);
    GeoReference(const GeoReference& geo);
    ~GeoReference();
 
    bool Load();
    void Print();
 
    std::string GeoPath() const { return path_; }
    std::string Path() const { return image_path_; }
    unsigned int Width() const { return width_; }
    unsigned int Height() const { return height_; }
    unsigned int TileSize() const { return tile_size_; }
    std::string Extension() const { return extension_; }
 
    std::string Datum() const { return datum_; }
    std::string Projection() const { return projection_; }
 
    void GetCoordinate(int x_pixel, int y_pixel, double& x_coordinate, double& y_coordinate) const;
    void GetPixel(double x_coordinate, double y_coordinate, int& x_pixel, int& y_pixel) const;
 
  private:
    bool loaded_;
 
    // Image properties
    std::string path_;
    std::string image_path_;
    unsigned int width_;
    unsigned int height_;
    unsigned int tile_size_;
    std::string extension_;
 
    // Coordinate system
    std::string datum_;
    std::string projection_;
 
    // Affine transform from pixel space
    cv::Mat transform_;
    cv::Mat inverse_transform_;
 
    // Tiepoints
    cv::Mat pixels_;
    cv::Mat coordinates_;
 
    double x_offset_;
    double y_offset_;
 
    void GetTransform();
  };
}
 
#endif  // TRANSFORM_UTIL_GEOREFERENCE_H_