Distort/undistort focal plane coordinates. More...

#include <CameraDistortionMap.h>

Inheritance diagram for Isis::CameraDistortionMap:

Collaboration diagram for Isis::CameraDistortionMap:

Public Member Functions
	CameraDistortionMap (Camera *parent, double zDirection=1.0)
	Camera distortion map constructor.

void	SetDistortion (int naifIkCode)
	Load distortion coefficients.

virtual	~CameraDistortionMap ()
	Destructor.

virtual bool	SetFocalPlane (double dx, double dy)
	Compute undistorted focal plane x/y.

virtual bool	SetUndistortedFocalPlane (double ux, double uy)
	Compute distorted focal plane x/y.

std::vector< double >	OpticalDistortionCoefficients () const
	Return optical distortion polynomial coefficients.

double	ZDirection () const
	Return the direction of the focal plane Z-axis.

double	FocalPlaneX () const
	Return distorted focal plane x.

double	FocalPlaneY () const
	Return distorted focal plane y.

double	UndistortedFocalPlaneX () const
	Return undistorted focal plane x.

double	UndistortedFocalPlaneY () const
	Return undistorted focal plane y.

double	UndistortedFocalPlaneZ () const
	Return undistorted focal plane z.

Protected Attributes
Camera *	p_camera

double	p_focalPlaneX

double	p_focalPlaneY

double	p_undistortedFocalPlaneX

double	p_undistortedFocalPlaneY

double	p_zDirection

std::vector< double >	p_odk

Detailed Description

Distort/undistort focal plane coordinates.

Creates a map for adding/removing optical distortions from the focal plane of a camera.

See Also: Camera

Author: 2005-02-01 Jeff Anderson

History:

2008-02-05 Jeff Anderson - Modified to allow for variable focal length

2008-02-21 Steven Lambright - Fixed a problem that resulted in infinities and NaNs

2012-07-06 Debbie A. Cook, Updated Spice members to be more compliant with Isis coding standards. References #972.

2013-02-11 E. Howington-Kraus - Added accessor methods OpticalDistortionCoefficients() and ZDirection(). These are tested by application socetlinescankeywords since no unitTest exists. Fixed indentation of history entries. References #1490.

Definition at line 54 of file CameraDistortionMap.h.

Constructor & Destructor Documentation

Isis::CameraDistortionMap::CameraDistortionMap	(	Camera *	parent,
		double	zDirection = `1.0`
	)

Camera distortion map constructor.

Create a camera distortion map. This class maps between distorted and undistorted focal plane x/y's. The default mapping is the identity, that is, the focal plane x/y and undistorted focal plane x/y will be identical.

Parameters

parent	the parent camera that will use this distortion map
zDirection	the direction of the focal plane Z-axis (either 1 or -1)

Definition at line 39 of file CameraDistortionMap.cpp.

References Isis::Camera::SetDistortionMap().

virtual Isis::CameraDistortionMap::~CameraDistortionMap ( )

inlinevirtual

Destructor.

Definition at line 61 of file CameraDistortionMap.h.

Member Function Documentation

double Isis::CameraDistortionMap::FocalPlaneX ( ) const

inline

Return distorted focal plane x.

Definition at line 72 of file CameraDistortionMap.h.

Referenced by Isis::ControlPoint::ComputeResiduals(), Isis::PushFrameCameraGroundMap::FindDistance(), Isis::Camera::RawFocalPlanetoImage(), Isis::Camera::SetRightAscensionDeclination(), and Isis::LineScanCameraSkyMap::SetSky().

double Isis::CameraDistortionMap::FocalPlaneY ( ) const

inline

Return distorted focal plane y.

Definition at line 77 of file CameraDistortionMap.h.

Referenced by Isis::ControlPoint::ComputeResiduals(), Isis::PushFrameCameraGroundMap::FindDistance(), Isis::Camera::RawFocalPlanetoImage(), Isis::Camera::SetRightAscensionDeclination(), and Isis::LineScanCameraSkyMap::SetSky().

std::vector< double > Isis::CameraDistortionMap::OpticalDistortionCoefficients ( ) const

Return optical distortion polynomial coefficients.

Definition at line 195 of file CameraDistortionMap.cpp.

void Isis::CameraDistortionMap::SetDistortion ( int naifIkCode )

Load distortion coefficients.

This method loads the distortion coefficients from the instrument kernel. The coefficients in the NAIF instrument kernel are expected to be in the form of:

INSxxxxx_OD_K = ( coef1, coef2, ..., coefN)
where xxxxx is the instrument code (always a negative number)

These coefficient will be used to convert from focal plane x,y to undistorted x,y as follows (add equation here)

Parameters

naifIkCode Code to search for in instrument kernel

Todo:

Generalize to read variable number of coefficients

Add latex equation to the documentation

Definition at line 65 of file CameraDistortionMap.cpp.

References Isis::toString().

Referenced by Isis::AmicaCamera::AmicaCamera(), Isis::CTXCamera::CTXCamera(), Isis::HiriseCamera::HiriseCamera(), Isis::LroWideAngleCameraDistortionMap::LroWideAngleCameraDistortionMap(), Isis::LoHighDistortionMap::SetDistortion(), and Isis::LoMediumDistortionMap::SetDistortion().

bool Isis::CameraDistortionMap::SetFocalPlane	(	double	dx,
		double	dy
	)

virtual

Compute undistorted focal plane x/y.

Compute undistorted focal plane x/y given a distorted focal plane x/y. This virtual method can be used to apply various techniques for removing optical distortion in the focal plane of a camera. The default implementation uses a polynomial distortion if the SetDistortion method is invoked. After calling this method, you can obtain the undistorted x/y via the UndistortedFocalPlaneX and UndistortedFocalPlaneY methods

Parameters

dx	distorted focal plane x in millimeters
dy	distorted focal plane y in millimeters

Returns: if the conversion was successful

See Also: SetDistortion

Todo:: Generalize polynomial equation

Reimplemented in Isis::LoMediumDistortionMap, Isis::LoHighDistortionMap, Isis::LroWideAngleCameraDistortionMap, Isis::RadarSlantRangeMap, Isis::LroNarrowAngleDistortionMap, Isis::TaylorCameraDistortionMap, Isis::Chandrayaan1M3DistortionMap, Isis::MarciDistortionMap, Isis::NewHorizonsMvicTdiCameraDistortionMap, Isis::KaguyaMiCameraDistortionMap, Isis::NewHorizonsMvicFrameCameraDistortionMap, Isis::ThemisVisDistortionMap, Isis::ThemisIrDistortionMap, Isis::MocWideAngleDistortionMap, Isis::ReseauDistortionMap, Isis::ApolloMetricDistortionMap, Isis::NewHorizonsLorriDistortionMap, Isis::RadialDistortionMap, and Isis::DawnFcDistortionMap.

Definition at line 89 of file CameraDistortionMap.cpp.

References Isis::E().

Referenced by Isis::Camera::SetImage().

bool Isis::CameraDistortionMap::SetUndistortedFocalPlane	(	double	ux,
		double	uy
	)

virtual

Compute distorted focal plane x/y.

Compute distorted focal plane x/y given an undistorted focal plane x/y. This virtual method is used to apply various techniques for adding optical distortion in the focal plane of a camera. The default implementation of this virtual method uses a polynomial distortion if the SetDistortion method was invoked. After calling this method, you can obtain the distorted x/y via the FocalPlaneX and FocalPlaneY methods

Parameters