Distort/undistort focal plane coordinates. More...

#include <TaylorCameraDistortionMap.h>

Inheritance diagram for Isis::TaylorCameraDistortionMap:

Collaboration diagram for Isis::TaylorCameraDistortionMap:

Public Member Functions
	TaylorCameraDistortionMap (Camera *parent, double zDirection=1.0)
	Taylor series camera distortion map constructor.

void	SetDistortion (const int naifIkCode)
	Load distortion coefficients.

	~TaylorCameraDistortionMap ()
	Destructor.

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

bool	SetUndistortedFocalPlane (const double ux, const 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 Member Functions
void	DistortionFunction (double ux, double uy, double dx, double dy)
	Compute distorted focal plane dx,dy given an undistorted focal plane ux,uy.

void	DistortionFunctionJacobian (double x, double y, double Jxx, double Jxy, double Jyx, double Jyy)
	Jacobian of the distortion function.

Protected Attributes
std::vector< double >	p_odtx
	distortion x coefficients

std::vector< double >	p_odty
	distortion y coefficients

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. This class describes a non-radial distortion map. The distortion map is a third-order Taylor series expansion of a generic function.

See Also: MdisCamera; CameraDistortionMap

Author: ????-??-?? Kris Becker

History:

2011-05-03 Jeannie Walldren - Added Isis disclaimer.

2011-05-23 Janet Barrett and Steven Lambright - Spice::GetDouble is no longer a static call.

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

Definition at line 51 of file TaylorCameraDistortionMap.h.

Constructor & Destructor Documentation

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

Taylor series camera distortion map constructor.

Create a geometric distortion model which is approximated by a third-order Taylor series expansion. 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 41 of file TaylorCameraDistortionMap.cpp.

Isis::TaylorCameraDistortionMap::~TaylorCameraDistortionMap ( )

inline

Destructor.

Definition at line 58 of file TaylorCameraDistortionMap.h.

Member Function Documentation

void Isis::TaylorCameraDistortionMap::DistortionFunction	(	double	ux,
		double	uy,
		double *	dx,
		double *	dy
	)

protected

Compute distorted focal plane dx,dy given an undistorted focal plane ux,uy.

This describes the third order Taylor approximation to the distortion model.

Parameters

ux	Undistored x
uy	Undistored y
dx	Result distorted x
dy	Result distorted y

Definition at line 215 of file TaylorCameraDistortionMap.cpp.

References p_odtx, and p_odty.

Referenced by SetFocalPlane(), and SetUndistortedFocalPlane().

void Isis::TaylorCameraDistortionMap::DistortionFunctionJacobian	(	double	x,
		double	y,
		double *	Jxx,
		double *	Jxy,
		double *	Jyx,
		double *	Jyy
	)

protected

Jacobian of the distortion function.

The Jacobian was computed algebraically from the function described in the DistortionFunction method.

Parameters

x
y
Jxx
Jxy
Jyx
Jyy

Definition at line 251 of file TaylorCameraDistortionMap.cpp.

References p_odtx, and p_odty.

Referenced by SetFocalPlane().

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::TaylorCameraDistortionMap::SetDistortion ( const 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_T_X = ( xa, xb, xc, xd, xe, xf, xg, xh, xi, xj )
INSxxxxx_OD_T_Y = ( ya, yb, yc, yd, ye, yf, yg, yh, yi, yj )
where xxxxx is the instrument code (always a negative number)

These coefficient will be used to convert between focal plane xp,yp to undistorted x,y as follows

[ xp ] = [ xa xb xc xd xe xf xg xh xi xj ] * [ 1 ] [ yp ] [ ya yb yc yd ye yf yg yh yi yj ] [ x ] [ y ] [ x*x ] [ x*y ] [ y*y ] [ x*x*x ] [ x*x*y ] [ x*y*y ] [ y*y*y ]

Parameters

naifIkCode Code to search for in instrument kernel

Definition at line 75 of file TaylorCameraDistortionMap.cpp.

References Isis::Spice::getDouble(), p_odtx, p_odty, and Isis::toString().

Referenced by Isis::MdisCamera::MdisCamera().

bool Isis::TaylorCameraDistortionMap::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. The undistorted coordinates are solved for using the Newton-Raphson method for root-finding 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:

Review the tolerance and maximum iterations of the root- finding algorithm.

Review the handling of non-convergence of the root-finding algorithm.

Add error handling for near-zero determinant.

Reimplemented from Isis::CameraDistortionMap.

Definition at line 104 of file TaylorCameraDistortionMap.cpp.

References DistortionFunction(), DistortionFunctionJacobian(), Isis::E(), p_odtx, and p_odty.

bool Isis::TaylorCameraDistortionMap::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. The distortion model is approximated by a third order Taylor series expansion of a generic function if the SetDistortion method was invoked. After calling this method, you can obtain the distorted x/y via the FocalPlaneX and FocalPlaneY methods

Parameters