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|
//! Projections: image coordinates as a function of azimuth/elevation angle,
//! with symbolically pre-generated derivatives (see `codegen/`).
//!
//! Faithful port of gipfel's `ProjectionLSQ.{H,cxx}`, `ProjectionRectilinear.*`
//! and `ProjectionCylindrical.*`.
pub mod cylindrical;
pub mod rectilinear;
pub const NAN: f64 = f64::NAN;
/// The 7 fitted view parameters (radians where angular).
#[derive(Clone, Copy, Debug, Default, PartialEq)]
pub struct ViewParams {
/// azimuth of image center, radians
pub a_center: f64,
/// focal scale (pixels)
pub scale: f64,
/// pitch angle of image center (camera nose up), radians
pub a_pitch: f64,
/// camera roll, radians
pub a_roll: f64,
/// radial distortion coefficient 0
pub k0: f64,
/// radial distortion coefficient 1
pub k1: f64,
/// distortion center x, pixels
pub x0: f64,
}
impl ViewParams {
pub fn new() -> Self {
ViewParams {
a_center: 0.0,
scale: 3500.0,
a_pitch: 0.0,
a_roll: 0.0,
k0: 0.0,
k1: 0.0,
x0: 0.0,
}
}
}
/// The 9 arguments every generated macro function takes.
#[derive(Clone, Copy, Debug)]
pub struct ProjArgs {
pub c_view: f64,
pub c_pitch: f64,
pub c_roll: f64,
pub scale: f64,
pub k0: f64,
pub k1: f64,
pub x0: f64,
pub m_view: f64,
pub m_elev: f64,
}
impl ProjArgs {
pub fn from_params(p: &ViewParams, m_view: f64, m_elev: f64) -> Self {
ProjArgs {
c_view: p.a_center,
c_pitch: p.a_pitch,
c_roll: p.a_roll,
scale: p.scale,
k0: p.k0,
k1: p.k1,
x0: p.x0,
m_view,
m_elev,
}
}
}
#[derive(Clone, Copy, Debug, PartialEq, Eq)]
pub enum ProjectionType {
Rectilinear = 0,
Cylindrical = 1,
}
/// A projection plus its symbolic partial derivatives w.r.t. the view
/// parameters. Methods default to `NAN`, matching the C++ base class.
pub trait Projection: Send + Sync {
/// half-width of the visible azimuth range, radians
fn get_view_angle(&self) -> f64;
fn mac_x(&self, a: ProjArgs) -> f64 {
let _ = a;
NAN
}
fn mac_y(&self, a: ProjArgs) -> f64 {
let _ = a;
NAN
}
fn mac_x_dc_view(&self, a: ProjArgs) -> f64 {
let _ = a;
NAN
}
fn mac_x_dc_pitch(&self, a: ProjArgs) -> f64 {
let _ = a;
NAN
}
fn mac_x_dc_roll(&self, a: ProjArgs) -> f64 {
let _ = a;
NAN
}
fn mac_x_dscale(&self, a: ProjArgs) -> f64 {
let _ = a;
NAN
}
fn mac_x_dk0(&self, a: ProjArgs) -> f64 {
let _ = a;
NAN
}
fn mac_x_dk1(&self, a: ProjArgs) -> f64 {
let _ = a;
NAN
}
fn mac_x_dx0(&self, a: ProjArgs) -> f64 {
let _ = a;
NAN
}
fn mac_y_dc_view(&self, a: ProjArgs) -> f64 {
let _ = a;
NAN
}
fn mac_y_dc_pitch(&self, a: ProjArgs) -> f64 {
let _ = a;
NAN
}
fn mac_y_dc_roll(&self, a: ProjArgs) -> f64 {
let _ = a;
NAN
}
fn mac_y_dscale(&self, a: ProjArgs) -> f64 {
let _ = a;
NAN
}
fn mac_y_dk0(&self, a: ProjArgs) -> f64 {
let _ = a;
NAN
}
fn mac_y_dk1(&self, a: ProjArgs) -> f64 {
let _ = a;
NAN
}
fn mac_y_dx0(&self, a: ProjArgs) -> f64 {
let _ = a;
NAN
}
/// Project azimuth/elevation to image coordinates (relative to image center),
/// normalizing azimuth around the view center like the C++ original.
fn get_coordinates(&self, alph: f64, elev: f64, parms: &ViewParams) -> (f64, f64) {
let mut alph = alph;
let pi = crate::hill::PI;
if alph - parms.a_center > pi {
alph -= 2.0 * pi;
} else if alph - parms.a_center < -pi {
alph += 2.0 * pi;
}
let args = ProjArgs::from_params(parms, alph, elev);
(self.mac_x(args), self.mac_y(args))
}
}
pub fn projection_from_type(t: ProjectionType) -> Box<dyn Projection> {
match t {
ProjectionType::Rectilinear => Box::new(rectilinear::ProjectionRectilinear),
ProjectionType::Cylindrical => Box::new(cylindrical::ProjectionCylindrical),
}
}
|
