00001 #ifndef __MAPPING_H__
00002 #define __MAPPING_H__
00003
00004 #include <math.h>
00005 #include <stdio.h>
00006 #include "utils.h"
00007
00008 #ifndef PI
00009 #define PI 3.14159
00010 #endif
00011 #ifndef PI_OVER_TWO
00012 #define PI_OVER_TWO (PI/2.0)
00013 #endif
00014
00015 namespace remap {
00016
00018 class Mapping
00019 {
00020 public:
00021 virtual ~Mapping(){}
00022 virtual bool MapTo(float lat, float lon, float &x, float &y) const = 0;
00023 virtual bool MapFrom(float x, float y, float &lat, float &lon) const = 0;
00024
00025 bool LatLongToVector(float lat, float lon, float *vector) const;
00026 bool VectorToLatLong(const float *vector, float &lat, float &lon) const;
00027 };
00028
00029
00031 class Equirectangular : public Mapping
00032 {
00033 public:
00034 Equirectangular(int xres, int yres, float phi1);
00035 virtual ~Equirectangular();
00036 virtual bool MapTo(float lat, float lon, float &x, float &y) const;
00037 virtual bool MapFrom(float x, float y, float &lat, float &lon) const;
00038 private:
00039 int m_xres, m_yres;
00040 float m_phi1;
00041 };
00042
00044 class AngularFisheye : public Mapping
00045 {
00046 public:
00047 AngularFisheye(float centre_x, float centre_y, float radius);
00048 virtual ~AngularFisheye();
00049 virtual bool MapTo(float lat, float lon, float &x, float &y) const;
00050 virtual bool MapFrom(float x, float y, float &lat, float &lon) const;
00051
00052 bool SetZenith(float x, float y);
00053 void GetCentre(float &x, float &y) const;
00054 void GetZenith(float &x, float &y) const;
00055 private:
00056 float m_centre_x, m_centre_y,
00057 m_zenith_x, m_zenith_y,
00058 m_radius;
00059 Matrix33 m_forward_transform,
00060 m_inverse_transform;
00061 };
00062
00063 void circumcircle(float, float, float, float, float, float, float&, float&, float&);
00064
00066
00067 }
00068
00069 #endif
00070
