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Isis::LroWideAngleCameraDistortionMap Class Reference
Spice, Instruments, and Cameras

Distort/undistort focal plane coordinates. More...

#include <LroWideAngleCameraDistortionMap.h>

Inheritance diagram for Isis::LroWideAngleCameraDistortionMap:
Inheritance graph
Collaboration diagram for Isis::LroWideAngleCameraDistortionMap:
Collaboration graph

Public Member Functions

 LroWideAngleCameraDistortionMap (Camera *parent, int naifIkCode)
 Camera distortion map constructor.
 
virtual ~LroWideAngleCameraDistortionMap ()
 Destroys the LroWideAngleCameraDistortionMap object.
 
void addFilter (int naifIkCode)
 Add an additional set of parameters for a given LROC/WAC filter.
 
void setBand (int vband)
 Implements band-dependant distortion parameters.
 
virtual bool SetFocalPlane (const double dx, const double dy)
 Compute undistorted focal plane x/y.
 
virtual bool SetUndistortedFocalPlane (const double ux, const double uy)
 Compute distorted focal plane x/y.
 
void SetDistortion (int naifIkCode)
 Load distortion coefficients.
 
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

QVector< std::vector< double > > m_odkFilters
 

Detailed Description

Distort/undistort focal plane coordinates.

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

See Also
LroWideAngleCamera
Author
2008-08-22 Steven Lambright
History:

2009-11-19 Kris Becker - Changed the convergence tolerance from 1/10,000 of a pixel to 1/100 of a pixel

2010-05-05 Ken Edmundson - Corrected distorted and undistorted computations; Fix requires coefficients in the lro_instruments_v??.ti to be negative (essentially matches what is reported in the calibration document); removed the GuessDx method as it was not used; updated the UV boresight in the IK based upon analysis of the VIS and UV.

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

2011-08-30 Kris Becker - Implemented new decentering distortion model. This becomes version 3 of the camera model

2012-03-06 Kris Becker - Added distortion model tolerance parameter

2013-03-07 Kris Becker - Modified to implement new distortion model with three terms and allow for band independant distortions.

Definition at line 58 of file LroWideAngleCameraDistortionMap.h.

Constructor & Destructor Documentation

Isis::LroWideAngleCameraDistortionMap::LroWideAngleCameraDistortionMap ( Camera *  parent,
int  naifIkCode 
)

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

Definition at line 47 of file LroWideAngleCameraDistortionMap.cpp.

References Isis::CameraDistortionMap::SetDistortion().

virtual Isis::LroWideAngleCameraDistortionMap::~LroWideAngleCameraDistortionMap ( )
inlinevirtual

Destroys the LroWideAngleCameraDistortionMap object.

Definition at line 63 of file LroWideAngleCameraDistortionMap.h.

Member Function Documentation

void Isis::LroWideAngleCameraDistortionMap::addFilter ( int  naifIkCode)

Add an additional set of parameters for a given LROC/WAC filter.

This method will read the parameters for LROC/WAC filter as indicated by the IK code provided. It will create a vector of these parameters and append them to the band list.

The filters added should correspond directly to the order in which the filters are physically stored in the ISIS cube (or the virtually selected bands).

Author
2013-03-07 Kris Becker
Parameters
naifIkCodeNAIF IK code for the desired filter to add.

Definition at line 69 of file LroWideAngleCameraDistortionMap.cpp.

References Isis::Spice::getDouble().

Referenced by Isis::LroWideAngleCamera::LroWideAngleCamera().

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::LroWideAngleCameraDistortionMap::setBand ( int  vband)

Implements band-dependant distortion parameters.

This method should be used to switch to another band's set of distortion parameters. See the addFilter() method to add additional band parameters to this object. Note that the band number should correspond with the same order as they were added in the addFilter() method.

Author
2013-03-07 Kris Becker
Parameters
vbandBand number to select. Range is 1 to Bands.

Definition at line 93 of file LroWideAngleCameraDistortionMap.cpp.

References _FILEINFO_, and Isis::IException::Programmer.

Referenced by Isis::LroWideAngleCamera::SetBand().

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

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
naifIkCodeCode 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(), LroWideAngleCameraDistortionMap(), Isis::LoHighDistortionMap::SetDistortion(), and Isis::LoMediumDistortionMap::SetDistortion().

bool Isis::LroWideAngleCameraDistortionMap::SetFocalPlane ( const double  dx,
const double  dy 
)
virtual

Compute undistorted focal plane x/y.

Compute undistorted focal plane x/y given a distorted focal plane x/y.

Parameters
dxdistorted focal plane x in millimeters
dydistorted focal plane y in millimeters
Returns
if the conversion was successful
See Also
SetDistortion
Todo:
Generalize polynomial equation

Reimplemented from Isis::CameraDistortionMap.

Definition at line 119 of file LroWideAngleCameraDistortionMap.cpp.

bool Isis::LroWideAngleCameraDistortionMap::SetUndistortedFocalPlane ( const double  ux,
const double  uy 
)
virtual

Compute distorted focal plane x/y.

Compute distorted focal plane x/y given an undistorted focal plane x/y.

Parameters
uxundistorted focal plane x in millimeters
uyundistorted focal plane y in millimeters
Returns
if the conversion was successful
See Also
SetDistortion
Todo:

Generalize polynomial equation

Figure out a better solution for divergence condition

Reimplemented from Isis::CameraDistortionMap.

Definition at line 155 of file LroWideAngleCameraDistortionMap.cpp.

double Isis::CameraDistortionMap::UndistortedFocalPlaneX ( ) const
inlineinherited

Return undistorted focal plane x.

Definition at line 82 of file CameraDistortionMap.h.

Referenced by Isis::BundleAdjust::ApproximatePoint_ClosestApproach(), Isis::ControlPoint::ComputeApriori(), and Isis::Camera::SetImage().

double Isis::CameraDistortionMap::UndistortedFocalPlaneY ( ) const
inlineinherited

Return undistorted focal plane y.

Definition at line 87 of file CameraDistortionMap.h.

Referenced by Isis::BundleAdjust::ApproximatePoint_ClosestApproach(), Isis::ControlPoint::ComputeApriori(), and Isis::Camera::SetImage().

double Isis::CameraDistortionMap::UndistortedFocalPlaneZ ( ) const
inlineinherited

Return undistorted focal plane z.

Definition at line 92 of file CameraDistortionMap.h.

References Isis::Camera::FocalLength().

Referenced by Isis::BundleAdjust::ApproximatePoint_ClosestApproach(), and Isis::Camera::SetImage().

double Isis::CameraDistortionMap::ZDirection ( ) const
inherited

Return the direction of the focal plane Z-axis.

Definition at line 201 of file CameraDistortionMap.cpp.

The documentation for this class was generated from the following files: