Distort/undistort focal plane coordinates. More...

#include <LoHighDistortionMap.h>

Inheritance diagram for Isis::LoHighDistortionMap:

Collaboration diagram for Isis::LoHighDistortionMap:

Public Member Functions
	LoHighDistortionMap (Camera *parent)
	Constructor for LunarOrbiterHighDistortionMap class.

void	SetDistortion (const int naifIkCode)
	Load LO High Resolution Camera perspective & distortion coefficients.

virtual bool	SetFocalPlane (const double dx, const double dy)
	Compute undistorted focal plane x/y for Lo High Resolution Camera.

virtual bool	SetUndistortedFocalPlane (const double ux, const double uy)
	Compute distorted focal plane x/y for Lo High Resolution Camera.

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

Private Attributes
double	p_xPerspective
	Perspective correction factor in x.

double	p_yPerspective
	Perspective correction factor in y.

double	p_x0
	Center of distortion on x axis.

double	p_y0
	Center of distortion on y axis.

std::vector< double >	p_coefs
	Distortion coefficients.

std::vector< double >	p_icoefs
	Distortion coefficients.

Detailed Description

Distort/undistort focal plane coordinates.

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

See Also: LoHighCamera

Author: 2007-06-29 Debbie A. Cook

History:

2007-06-29 Debbie A. Cook - Original version

2008-02-04 Jeff Anderson - Made change to allow for variable focal length in THEMIS IR

2008-07-25 Steven Lambright - Fixed constructor; CameraDistortionMap is responsible both for setting the p_camera protected member and calling Camera::SetDistortionMap. When the parent called Camera::SetDistortionMap the Camera took ownership of the instance of this object. By calling this twice, and with Camera only supporting having one distortion map, this object was deleted before the constructor was finished.

2011-05-03 Jeannie Walldren - Updated documentation. Removed Lo namespace wrap.

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

2013-02-22 Debbie A. Cook - Updated SetUndistortedFocalPlane method to reflect correction made to LookCtoFocalPlaneXY in CameraGroundMap. The adjustment for the z direction occurs in CameraGroundMap and is no needed here. Fixes Mantis ticket #1524

Definition at line 63 of file LoHighDistortionMap.h.

Constructor & Destructor Documentation

Isis::LoHighDistortionMap::LoHighDistortionMap ( Camera * parent )

Constructor for LunarOrbiterHighDistortionMap class.

Define the distortion model coefficients for a Lunar Orbiter High Resolution camera.

Parameters

parent A pointer to the parent camera object

History:: 2007-06-29 Debbie A. Cook Original version

Definition at line 38 of file LoHighDistortionMap.cpp.

Member Function Documentation

double Isis::CameraDistortionMap::FocalPlaneX ( ) const

inlineinherited

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

inlineinherited

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

inherited

Return optical distortion polynomial coefficients.

Definition at line 195 of file CameraDistortionMap.cpp.

void Isis::LoHighDistortionMap::SetDistortion ( const int naifIkCode )

Load LO High Resolution Camera perspective & distortion coefficients.

This method loads the perspective correction factors, distortion centers, and coefficients from the instrument kernel. The perspective correction factors in the NAIF instrument kernel are expected to be in the form of:

INSxxxxxxx_PERSPECTIVE_FACTORS = ( xpers, ypers)
where xxxxxxx is the instrument code (always a negative number) and
xpers and ypers are the X and Y perspective correction factors.

These factors will be used to convert from focal plane x,y to perspective-corrected x,y as follows.

pcx = FocalPlaneX * ( 1. + xpers*FocalPlaneX + ypers*FocalPlaneY); pcy = FocalPlaneY * ( 1. + xpers*FocalPlaneX + ypers*FocalPlaneY);

The distortion center coordinates (in mm) are expected to be in the form of:

INSxxxxxxx_DISTORTION_CENTER = ( xcenter, ycenter)
where xxxxxxx as is described above for the perspective factors.

The center will be used to calculate the radius of distortion in the equations below.

distX = PersCorrectedX - x0 distY = PersCorrectedY - y0

The distortion coefficients in the NAIF instrument kernel are expected to be in the form of:

INSxxxxxxx_OD_K = ( coef1, coef2, ..., coefN)
where xxxxxxx is as is described about for the perspective factors.

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

r^2 = DistX^2 + DistY^2 dr/r = k0 + k1*r^2 ux = PersCorrectedX - DistX*dr/r, similarly for uy

Parameters

naifIkCode Code to search for in instrument kernel

Definition at line 95 of file LoHighDistortionMap.cpp.

References p_x0, p_xPerspective, p_y0, p_yPerspective, Isis::CameraDistortionMap::SetDistortion(), and Isis::toString().

Referenced by Isis::LoHighCamera::LoHighCamera().

bool Isis::LoHighDistortionMap::SetFocalPlane	(	const double	dx,
		const double	dy
	)

virtual

Compute undistorted focal plane x/y for Lo High Resolution Camera.

Compute undistorted focal plane x/y given a distorted focal plane x/y for the Lunar Orbiter High Resolution Camera. The polynomial used is described in the SetDistortion documentation. After calling this method, the undistorted x/y can be obtained via the UndistortedFocalPlaneX and UndistortedFocalPlaneY methods of the parent class.

Parameters

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

Returns: if the conversion was successful

See Also: SetDistortion

Reimplemented from Isis::CameraDistortionMap.

Definition at line 124 of file LoHighDistortionMap.cpp.

References Isis::E(), p_x0, p_xPerspective, p_y0, and p_yPerspective.

bool Isis::LoHighDistortionMap::SetUndistortedFocalPlane	(	const double	ux,
		const double	uy
	)

virtual

Compute distorted focal plane x/y for Lo High Resolution Camera.

Compute distorted focal plane x/y given an undistorted focal plane x/y for the Lunar Orbiter High Resolution Camera. This method applies both a perspective error and a distortion error based on a polynomial defined in the SetDistortion method. After calling this method the distorted x/y can be obtained via the FocalPlaneX and FocalPlaneY methods.

Parameters