ApolloPanIO.h

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#ifndef ApolloPanIO_h
#define ApolloPanIO_h

namespace Isis {
 /* Numbering scheme for the fiducial marks
  * (gages on the right)
  * :--------------------------------------------------------------------------------------------:0
  * :0  2  4 ....                                                                  ... 84  86  88:0
  * :                                                                                            :0
  * :1  3  5 ....                                                                  ... 85  87  89:0
  * ----------------------------------------------------------------------------------------------0
 */


  class ApolloPanIO
  {
  private:
    /*  C style structure for storing the calculation optimized parameters of a foreward and
     *  reverse 2D affine transformation
     */
    typedef struct Affine2D {
      int flag;      //solve flag
      double A2I[6];    //transformation coefficients to go to image coordinates
      double A2M[6];    //transformation coefficients to go to machine coordinates
      double rotM[2];    //coefficients to rotate machine coordinates so that the right edge of the region is vertical    
      double rotI[2];     //coefficients to rotate Image coordinates so that the right edge of the region is vertical
      double mI;    //max rotated image y coordinate in the region
      double mM;    //max rotate machine y coordinate in the region
      int indeces[2];  //indeces of the first and last fiducial marks included in this region
    }Affine2D;

    typedef struct FidObs {
      int flag;  //flag to tell if the observation has been made
      double mach[2];  //machine coordinates of the fiducial mark
      double image[2]; //theoretically perfect image coordinates
      double residuals[2];  //residuals of the fiducial mark measurement in machine coordinates
    }FidObs;

    Affine2D affines[44];  //an array of discreet affine transformations pertaining to regions of the image (there can never be more than 44)

    FidObs obs[90];  //array to hold all possible observations of fiducial marks

    int n;   //the number of affines used to model the image

    double maxR;
    double meanR;     
    double stdevR;    

    void calc_residual_stats();

  public:
    ApolloPanIO();

    ~ApolloPanIO();

    void initialize();

    int fiducialObservation(int fiducialNumber, double machine_x, double machine_y);

    int clearFiducialObservation(int fiducialNumber);

    int computeInteriorOrienation();

    int machine2Image(double *machineX, double *machineY);

    int machine2Image(double machineX, double machineY, double *imageX, double *imageY);

    int image2Machine(double *imageX, double *imageY);

    int image2Machine(double imageX, double imageY, double *machineX, double *machineY);

    double stdevResiduals();
    double meanResiduals();
    double maxResiduals();
  };
} //end namespace Isis
#endif