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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:
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Collaboration diagram for Isis::LroWideAngleCameraDistortionMap:
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List of all members.

Public Member Functions

 LroWideAngleCameraDistortionMap (Camera *parent, int naifIkCode)
 Camera distortion map constructor.
virtual ~LroWideAngleCameraDistortionMap ()
 Destroys the LroWideAngleCameraDistortionMap object.
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 SetFilter (int filter)
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

int p_filter
double p_k1
double p_k2

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

For internal use only.

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

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

virtual Isis::LroWideAngleCameraDistortionMap::~LroWideAngleCameraDistortionMap (  )  [inline, virtual]

Destroys the LroWideAngleCameraDistortionMap object.

Definition at line 56 of file LroWideAngleCameraDistortionMap.h.

Member Function Documentation

double Isis::CameraDistortionMap::FocalPlaneX (  )  const [inline, inherited]

Return distorted focal plane x.

Definition at line 72 of file CameraDistortionMap.h.

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

double Isis::CameraDistortionMap::FocalPlaneY (  )  const [inline, inherited]

Return distorted focal plane y.

Definition at line 77 of file CameraDistortionMap.h.

Referenced by Isis::ControlPoint::ComputeResiduals(), Isis::PushFrameCameraGroundMap::FindDistance(), LineOffsetFunctor::operator()(), 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 191 of file CameraDistortionMap.cpp.

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:
naifIkCode Code to search for in instrument kernel
Todo:

Generalize to read variable number of coefficients

Add latex equation to the documentation

Reimplemented in Isis::LoHighDistortionMap, Isis::LoMediumDistortionMap, Isis::LroNarrowAngleDistortionMap, and Isis::TaylorCameraDistortionMap.

Definition at line 64 of file CameraDistortionMap.cpp.

References Isis::toString().

Referenced by Isis::CTXCamera::CTXCamera(), and Isis::HiriseCamera::HiriseCamera().

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:
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 from Isis::CameraDistortionMap.

Definition at line 60 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:
ux undistorted focal plane x in millimeters
uy undistorted 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 94 of file LroWideAngleCameraDistortionMap.cpp.

References tolerance.

double Isis::CameraDistortionMap::UndistortedFocalPlaneX (  )  const [inline, inherited]

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 [inline, inherited]

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 [inline, inherited]

Return undistorted focal plane z.

Definition at line 92 of file CameraDistortionMap.h.

References Isis::Camera::FocalLength().

Referenced by Isis::BundleAdjust::ApproximatePoint_ClosestApproach(), Isis::CameraGroundMap::GetdXYdOrientation(), Isis::CameraGroundMap::GetdXYdPoint(), Isis::CameraGroundMap::GetdXYdPosition(), Isis::CameraGroundMap::GetXY(), and Isis::Camera::SetImage().

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

Return the direction of the focal plane Z-axis.

Definition at line 196 of file CameraDistortionMap.cpp.

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