Distort/undistort focal plane coordinates. More...

#include <LroWideAngleCameraDistortionMap.h>

Inheritance diagram for Isis::LroWideAngleCameraDistortionMap:

Collaboration diagram for Isis::LroWideAngleCameraDistortionMap:

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.

virtual void	SetDistortion (int naifIkCode)
	Load distortion coefficients.

std::vector< double >	OpticalDistortionCoefficients () const
	Retrieve the distortion coefficients used for this model.

double	ZDirection () const
	Gets the z-direction for this camera.

double	FocalPlaneX () const
	Gets the x-value in the focal plane coordinate system.

double	FocalPlaneY () const
	Gets the y-value in the focal plane coordinate system.

double	UndistortedFocalPlaneX () const
	Gets the x-value in the undistorted focal plane coordinate system.

double	UndistortedFocalPlaneY () const
	Gets the y-value in the undistorted focal plane coordinate system.

double	UndistortedFocalPlaneZ () const
	Gets the z-value in the undistorted focal plane coordinate system.

Protected Attributes
Camera *	p_camera
	The camera to distort/undistort.

double	p_focalPlaneX
	Distorted focal plane x.

double	p_focalPlaneY
	Distorted focal plane y.

double	p_undistortedFocalPlaneX
	Undistorted focal plane x.

double	p_undistortedFocalPlaneY
	Undistorted focal plane y.

double	p_zDirection
	Undistorted focal plane z.

std::vector< double >	p_odk = {}
	Vector of distortion coefficients.

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 47 of file LroWideAngleCameraDistortionMap.h.

Constructor & Destructor Documentation

◆ LroWideAngleCameraDistortionMap()

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 33 of file LroWideAngleCameraDistortionMap.cpp.

References Isis::CameraDistortionMap::p_odk, and Isis::toString().

◆ ~LroWideAngleCameraDistortionMap()

virtual Isis::LroWideAngleCameraDistortionMap::~LroWideAngleCameraDistortionMap ( )

inlinevirtual

Destroys the LroWideAngleCameraDistortionMap object.

Definition at line 52 of file LroWideAngleCameraDistortionMap.h.

Member Function Documentation

◆ addFilter()

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

naifIkCode NAIF IK code for the desired filter to add.

Definition at line 59 of file LroWideAngleCameraDistortionMap.cpp.

References Isis::Spice::getDouble(), and Isis::CameraDistortionMap::p_camera.

◆ FocalPlaneX()

double Isis::CameraDistortionMap::FocalPlaneX ( ) const

inherited

Gets the x-value in the focal plane coordinate system.

This is represented in millimeters from the origin.

Returns: The distorted focal plane x.

Definition at line 216 of file CameraDistortionMap.cpp.

References Isis::CameraDistortionMap::p_focalPlaneX.

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

◆ FocalPlaneY()

double Isis::CameraDistortionMap::FocalPlaneY ( ) const

inherited

Gets the y-value in the focal plane coordinate system.

This is represented in millimeters from the origin.

Returns: The distorted focal plane y.

Definition at line 227 of file CameraDistortionMap.cpp.

References Isis::CameraDistortionMap::p_focalPlaneY.

Referenced by LineOffsetFunctor::operator()(), Isis::Camera::RawFocalPlanetoImage(), and Isis::Camera::SetRightAscensionDeclination().

◆ OpticalDistortionCoefficients()

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

inherited

Retrieve the distortion coefficients used for this model.

Returns: The optical distortion of polynomial coefficients.

Definition at line 195 of file CameraDistortionMap.cpp.

References Isis::CameraDistortionMap::p_odk.

◆ setBand()

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

vband Band number to select. Range is 1 to Bands.

Definition at line 83 of file LroWideAngleCameraDistortionMap.cpp.

References Isis::CameraDistortionMap::p_odk, and Isis::IException::Programmer.

◆ SetDistortion()

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

virtualinherited

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::KaguyaMiCameraDistortionMap, Isis::LoHighDistortionMap, Isis::LoMediumDistortionMap, Isis::LroNarrowAngleDistortionMap, Isis::TaylorCameraDistortionMap, and Isis::JunoDistortionMap.

Definition at line 58 of file CameraDistortionMap.cpp.

References Isis::CameraDistortionMap::p_camera, Isis::CameraDistortionMap::p_odk, and Isis::toString().

Referenced by Isis::LoHighDistortionMap::SetDistortion(), and Isis::LoMediumDistortionMap::SetDistortion().

◆ SetFocalPlane()

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 109 of file LroWideAngleCameraDistortionMap.cpp.

References Isis::CameraDistortionMap::p_focalPlaneX, Isis::CameraDistortionMap::p_focalPlaneY, Isis::CameraDistortionMap::p_odk, Isis::CameraDistortionMap::p_undistortedFocalPlaneX, and Isis::CameraDistortionMap::p_undistortedFocalPlaneY.

◆ SetUndistortedFocalPlane()

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 145 of file LroWideAngleCameraDistortionMap.cpp.

References Isis::CameraDistortionMap::p_focalPlaneX, Isis::CameraDistortionMap::p_focalPlaneY, Isis::CameraDistortionMap::p_odk, Isis::CameraDistortionMap::p_undistortedFocalPlaneX, and Isis::CameraDistortionMap::p_undistortedFocalPlaneY.

◆ UndistortedFocalPlaneX()

double Isis::CameraDistortionMap::UndistortedFocalPlaneX ( ) const

inherited

Gets the x-value in the undistorted focal plane coordinate system.

This is represented in millimeters from the origin.

Returns: The undistorted focal plane x

Definition at line 238 of file CameraDistortionMap.cpp.

References Isis::CameraDistortionMap::p_undistortedFocalPlaneX.

Referenced by Isis::LidarControlPoint::ComputeResiduals(), Isis::Camera::SetImage(), Isis::Camera::SetImage(), and Isis::AdvancedTrackTool::updateRow().

◆ UndistortedFocalPlaneY()

double Isis::CameraDistortionMap::UndistortedFocalPlaneY ( ) const

inherited

Gets the y-value in the undistorted focal plane coordinate system.

This is represented in millimeters from the origin.

Returns: The undistorted focal plane y

Definition at line 249 of file CameraDistortionMap.cpp.

References Isis::CameraDistortionMap::p_undistortedFocalPlaneY.

Referenced by Isis::LidarControlPoint::ComputeResiduals(), Isis::Camera::SetImage(), and Isis::Camera::SetImage().

◆ UndistortedFocalPlaneZ()

double Isis::CameraDistortionMap::UndistortedFocalPlaneZ ( ) const

inherited

Gets the z-value in the undistorted focal plane coordinate system.

This is represented as the focal length, in millimeters, with the sign indicating z-direction.

Returns: The undistorted focal plane z

Definition at line 261 of file CameraDistortionMap.cpp.

References Isis::Camera::FocalLength(), Isis::CameraDistortionMap::p_camera, and Isis::CameraDistortionMap::p_zDirection.

Referenced by Isis::CameraGroundMap::GetdXYdOrientation(), Isis::CameraGroundMap::GetdXYdPoint(), Isis::CameraGroundMap::GetdXYdPosition(), Isis::CameraGroundMap::GetdXYdTOrientation(), Isis::CameraGroundMap::GetXY(), Isis::PixelFOV::instantaneousFov(), Isis::CameraGroundMap::LookCtoFocalPlaneXY(), Isis::Camera::SetImage(), and Isis::Camera::SetImage().

◆ ZDirection()

double Isis::CameraDistortionMap::ZDirection ( ) const

inherited

Gets the z-direction for this camera.

The direction is represented as +/- 1.

Returns: The direction of the focal plane Z-axis

Definition at line 205 of file CameraDistortionMap.cpp.

References Isis::CameraDistortionMap::p_zDirection.

Member Data Documentation

◆ m_odkFilters

QVector<std::vector<double> > Isis::LroWideAngleCameraDistortionMap::m_odkFilters

private

Definition at line 62 of file LroWideAngleCameraDistortionMap.h.

◆ p_camera

Camera* Isis::CameraDistortionMap::p_camera

protectedinherited

The camera to distort/undistort.

Definition at line 63 of file CameraDistortionMap.h.

Referenced by addFilter(), Isis::CameraDistortionMap::CameraDistortionMap(), Isis::NewHorizonsMvicTdiCameraDistortionMap::computeResidualDistortionCorrections(), Isis::KaguyaTcCameraDistortionMap::KaguyaTcCameraDistortionMap(), Isis::MarciDistortionMap::MarciDistortionMap(), Isis::NewHorizonsMvicFrameCameraDistortionMap::NewHorizonsMvicFrameCameraDistortionMap(), Isis::NewHorizonsMvicTdiCameraDistortionMap::NewHorizonsMvicTdiCameraDistortionMap(), Isis::OsirisRexDistortionMap::OsirisRexDistortionMap(), Isis::KaguyaMiCameraDistortionMap::SetDistortion(), Isis::LoHighDistortionMap::SetDistortion(), Isis::LoMediumDistortionMap::SetDistortion(), Isis::LroNarrowAngleDistortionMap::SetDistortion(), Isis::TaylorCameraDistortionMap::SetDistortion(), Isis::CameraDistortionMap::SetDistortion(), Isis::JunoDistortionMap::SetDistortion(), Isis::OsirisRexDistortionMap::SetDistortion(), Isis::ReseauDistortionMap::SetFocalPlane(), Isis::LoMediumDistortionMap::SetFocalPlane(), Isis::MocWideAngleDistortionMap::SetFocalPlane(), Isis::MarciDistortionMap::SetFocalPlane(), Isis::JunoDistortionMap::SetFocalPlane(), Isis::ReseauDistortionMap::SetUndistortedFocalPlane(), Isis::LoMediumDistortionMap::SetUndistortedFocalPlane(), Isis::MocWideAngleDistortionMap::SetUndistortedFocalPlane(), Isis::MarciDistortionMap::SetUndistortedFocalPlane(), Isis::CameraDistortionMap::SetUndistortedFocalPlane(), Isis::Hyb2OncDistortionMap::SetUndistortedFocalPlane(), Isis::TgoCassisDistortionMap::TgoCassisDistortionMap(), and Isis::CameraDistortionMap::UndistortedFocalPlaneZ().

◆ p_focalPlaneX

double Isis::CameraDistortionMap::p_focalPlaneX

protectedinherited

Distorted focal plane x.

Definition at line 65 of file CameraDistortionMap.h.

◆ p_focalPlaneY

double Isis::CameraDistortionMap::p_focalPlaneY

protectedinherited

Distorted focal plane y.

Definition at line 66 of file CameraDistortionMap.h.

◆ p_odk

std::vector<double> Isis::CameraDistortionMap::p_odk = {}

protectedinherited

Vector of distortion coefficients.

Definition at line 71 of file CameraDistortionMap.h.

◆ p_undistortedFocalPlaneX

double Isis::CameraDistortionMap::p_undistortedFocalPlaneX

protectedinherited

Undistorted focal plane x.

Definition at line 67 of file CameraDistortionMap.h.

◆ p_undistortedFocalPlaneY

double Isis::CameraDistortionMap::p_undistortedFocalPlaneY

protectedinherited

Undistorted focal plane y.

Definition at line 68 of file CameraDistortionMap.h.

◆ p_zDirection

double Isis::CameraDistortionMap::p_zDirection

protectedinherited

Undistorted focal plane z.

Definition at line 69 of file CameraDistortionMap.h.

Referenced by Isis::CameraDistortionMap::CameraDistortionMap(), Isis::CameraDistortionMap::UndistortedFocalPlaneZ(), and Isis::CameraDistortionMap::ZDirection().

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

src/lro/objs/LroWideAngleCamera/LroWideAngleCameraDistortionMap.h
src/lro/objs/LroWideAngleCamera/LroWideAngleCameraDistortionMap.cpp

Public Member Functions

Protected Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ LroWideAngleCameraDistortionMap()

◆ ~LroWideAngleCameraDistortionMap()

Member Function Documentation

◆ addFilter()

◆ FocalPlaneX()

◆ FocalPlaneY()

◆ OpticalDistortionCoefficients()

◆ setBand()

◆ SetDistortion()

◆ SetFocalPlane()

◆ SetUndistortedFocalPlane()

◆ UndistortedFocalPlaneX()

◆ UndistortedFocalPlaneY()

◆ UndistortedFocalPlaneZ()

◆ ZDirection()

Member Data Documentation

◆ m_odkFilters

◆ p_camera

◆ p_focalPlaneX

◆ p_focalPlaneY

◆ p_odk

◆ p_undistortedFocalPlaneX

◆ p_undistortedFocalPlaneY

◆ p_zDirection