41 TaylorCameraDistortionMap::TaylorCameraDistortionMap(
Camera *parent,
double zDirection):
76 QString odtxkey =
"INS" +
toString(naifIkCode) +
"_OD_T_X";
77 QString odtykey =
"INS" +
toString(naifIkCode) +
"_OD_T_Y";
78 for(
int i = 0; i < 10; ++i) {
110 p_undistortedFocalPlaneX = dx;
111 p_undistortedFocalPlaneY = dy;
117 const double tol = 1.4E-5;
120 const int maxTries = 20;
137 for(
int count = 1; ((fabs(fx) + fabs(fy)) > tol) && (count < maxTries); count++) {
146 double determinant = Jxx * Jyy - Jxy * Jyx;
147 if(determinant < 1
E-6) {
155 x = x + (Jyy * fx - Jxy * fy) / determinant;
156 y = y + (Jxx * fy - Jyx * fx) / determinant;
159 if((fabs(fx) + fabs(fy)) <= tol) {
161 p_undistortedFocalPlaneX = x;
162 p_undistortedFocalPlaneY = y;
167 p_undistortedFocalPlaneX = dx;
168 p_undistortedFocalPlaneY = dy;
191 p_undistortedFocalPlaneX = ux;
192 p_undistortedFocalPlaneY = uy;
232 for(
int i = 0; i < 10; i++) {
233 *dx = *dx + f[i] *
p_odtx[i];
234 *dy = *dy + f[i] *
p_odty[i];
281 for(
int i = 0; i < 10; i++) {
282 *Jxx = *Jxx + d_dx[i] *
p_odtx[i];
283 *Jxy = *Jxy + d_dy[i] * p_odtx[i];
284 *Jyx = *Jyx + d_dx[i] *
p_odty[i];
285 *Jyy = *Jyy + d_dy[i] * p_odty[i];