LinescanModelLMA: Move to its own file, not used only for linescan

src/vw/Camera/CameraSolve.h

@@ -18,11 +18,6 @@
 
 /// \file CameraSolve.h
 ///
-/// Contains assorted functions for solving for camera matrices.
-/// This is an expansion on Math/Geometry.h but requires that
-/// container p1 is Vector3 and container p2 is Vector4 since
-/// cameras map 3D points to 2D locations.
-///
 #ifndef __CAMERA_CAMERA_SOLVE_H__
 #define __CAMERA_CAMERA_SOLVE_H__
 

src/vw/Camera/LinescanModel.cc

@@ -16,21 +16,21 @@
 // __END_LICENSE__
 
 #include <vw/Camera/LinescanModel.h>
+#include <vw/Camera/CameraSolve.h>
 
 namespace vw {
 namespace camera {
 
-Vector2 LinescanModel
-::point_to_pixel(Vector3 const& point) const {
-  return point_to_pixel(point, -1); // Redirect to other function with no guess
+Vector2 LinescanModel::point_to_pixel(Vector3 const& point) const {
+  return point_to_pixel(point, -1); // Redirect to thefunction with no guess
 }
 
 
 Vector2 LinescanModel::point_to_pixel(Vector3 const& point, double starty) const {
 
   // Use the generic solver to find the pixel 
   // - This method will be slower but works for more complicated geometries
-  LinescanGenericLMA model( this, point );
+  CameraGenericLMA model( this, point );
   int status;
   Vector2 start = m_image_size / 2.0; // Use the center as the initial guess
   if (starty >= 0) // If the user provided a line number guess..

src/vw/Camera/LinescanModel.h

@@ -139,37 +139,6 @@ namespace camera {
     Vector3 apply_velocity_aberration_correction(Vector2 const& pixel,
                                                  Vector3 const& uncorrected_vector) const;
 
-  protected:
-
-    // Levenberg Marquardt solver for linescan number (y) and pixel
-    // number (x) for the given point in space. The obtained solution
-    // pixel (x, y) must be such that the vector from this camera
-    // pixel goes through the given point. This version does uses only
-    // functions declared in LinescanModel class and should work for 
-    // any LineScan camera. Some cameras may be able to use a faster
-    // implementation that solves for y first and then for x seperately.
-    class LinescanGenericLMA : public math::LeastSquaresModelBase<LinescanGenericLMA> {
-      const LinescanModel* m_model;
-      Vector3 m_point;
-    public:
-      typedef Vector2 domain_type;     // 2D pixel, input to cost function vector
-      typedef Vector3 result_type;     // 3D error, output of cost function vector
-      typedef Matrix<double, 3, 2> jacobian_type;
-
-      LinescanGenericLMA( const LinescanModel* model, const vw::Vector3& pt ) :
-        m_model(model), m_point(pt) {}
-
-      // Minimize the difference between the vector from the pixel and
-      //  the vector from the point to the camera.
-      inline result_type operator()( domain_type const& pix ) const {
-        try {
-          return m_model->pixel_to_vector(pix) - normalize(m_point - m_model->camera_center(pix));
-        } catch(...) { // Handle camera misses by returning a very large error
-          return Vector3(999999,999999,999999);
-        }
-      }
-    }; // End class LinescanGenericLMA
-
   }; // End class LinescanModel
 
 /*

src/vw/Camera/Makefile.am

@@ -30,6 +30,7 @@ endif
 if HAVE_PKG_LAPACK
 lapack_headers = \
 	CameraGeometry.h \
+	CameraSolve.h \
 	Extrinsics.h \
 	LensDistortion.h \
 	LinescanModel.h \