/usr/include/OTB-6.4/otbLineOfSightOptimizer.txx is in libotb-dev 6.4.0+dfsg-1.
This file is owned by root:root, with mode 0o644.
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* Copyright (C) 2005-2017 Centre National d'Etudes Spatiales (CNES)
*
* This file is part of Orfeo Toolbox
*
* https://www.orfeo-toolbox.org/
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef otbLineOfSightOptimizer_txx
#define otbLineOfSightOptimizer_txx
#include "otbLineOfSightOptimizer.h"
#include "vnl/vnl_inverse.h"
namespace otb
{
template <class TPrecision, class TLabel>
LineOfSightOptimizer<TPrecision,TLabel>
::LineOfSightOptimizer()
{
m_Residues.clear();
m_GlobalResidue = 0;
m_InvCumul = vnl_matrix<PrecisionType>(3,3);
m_Identity = vnl_matrix<PrecisionType>(3,3);
m_Identity.fill(0);
m_Identity.fill_diagonal(1.);
m_SecCumul = vnl_vector<PrecisionType>(3);
}
template <class TPrecision, class TLabel>
typename LineOfSightOptimizer<TPrecision,TLabel>::PointType
LineOfSightOptimizer<TPrecision,TLabel>
::Compute(PointSetPointerType pointA, PointSetPointerType pointB)
{
// First, empty the cumulators and residues
m_InvCumul.fill(0);
m_SecCumul.fill(0);
m_Residues.clear();
vnl_matrix<PrecisionType> idMinusViViT(3,3);
vnl_matrix<PrecisionType> vi(3,1);
vnl_vector<PrecisionType> si(3);
PointType result;
//check inputs
if (pointA->GetNumberOfPoints() != pointB->GetNumberOfPoints() ||
pointA->GetNumberOfPoints() < 2)
{
itkExceptionMacro(<<"Points are missing in at least one of the input point sets.");
return result;
}
// iterate over lines of sight
PointSetConstIteratorType itPointA = pointA->GetPoints()->Begin();
PointSetConstIteratorType itPointB = pointB->GetPoints()->Begin();
while (itPointA != pointA->GetPoints()->End() &&
itPointB != pointB->GetPoints()->End())
{
vi(0,0) = itPointB.Value()[0] - itPointA.Value()[0];
vi(1,0) = itPointB.Value()[1] - itPointA.Value()[1];
vi(2,0) = itPointB.Value()[2] - itPointA.Value()[2];
PrecisionType norm_inv = 1. / vcl_sqrt(vi(0,0)*vi(0,0)+vi(1,0)*vi(1,0)+vi(2,0)*vi(2,0));
vi(0,0) *= norm_inv;
vi(1,0) *= norm_inv;
vi(2,0) *= norm_inv;
si(0) = itPointA.Value()[0];
si(1) = itPointA.Value()[1];
si(2) = itPointA.Value()[2];
idMinusViViT = m_Identity - (vi * vi.transpose());
m_InvCumul+=idMinusViViT;
m_SecCumul+=(idMinusViViT * si);
++itPointA;
++itPointB;
}
vnl_vector<PrecisionType> intersection = vnl_inverse(m_InvCumul) * m_SecCumul;
result[0] = intersection[0];
result[1] = intersection[1];
result[2] = intersection[2];
// Compute residues
m_GlobalResidue = 0;
vnl_vector<PrecisionType> AB(3);
vnl_vector<PrecisionType> AC(3);
PrecisionType res2;
itPointA = pointA->GetPoints()->Begin();
itPointB = pointB->GetPoints()->Begin();
while (itPointA != pointA->GetPoints()->End() &&
itPointB != pointB->GetPoints()->End())
{
AB[0] = itPointB.Value()[0] - itPointA.Value()[0];
AB[1] = itPointB.Value()[1] - itPointA.Value()[1];
AB[2] = itPointB.Value()[2] - itPointA.Value()[2];
AC[0] = intersection[0] - itPointA.Value()[0];
AC[1] = intersection[1] - itPointA.Value()[1];
AC[2] = intersection[2] - itPointA.Value()[2];
res2 = std::max(0.0,dot_product(AC,AC) - (dot_product(AB,AC) * dot_product(AB,AC)) / (dot_product(AB,AB)));
m_Residues.push_back( vcl_sqrt( res2 ) );
m_GlobalResidue += res2;
++itPointA;
++itPointB;
}
m_GlobalResidue = vcl_sqrt(m_GlobalResidue);
return result;
}
}
#endif
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