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Isis::TaylorCameraDistortionMap Class Reference

#include <TaylorCameraDistortionMap.h>

Inheritance diagram for Isis::TaylorCameraDistortionMap:

[legend]Collaboration diagram for Isis::TaylorCameraDistortionMap:

[legend]List of all members.

Detailed Description

Distort/undistort focal plane coordinates.

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

See also:: Camera

Author:

For internal use only.

Definition at line 31 of file TaylorCameraDistortionMap.h.

Public Member Functions

TaylorCameraDistortionMap (Camera *parent, double zDirection=1.0)

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.

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

Constructor & Destructor Documentation

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

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 27 of file TaylorCameraDistortionMap.cpp.

Isis::TaylorCameraDistortionMap::~TaylorCameraDistortionMap ( ) [inline]

Destructor.

Definition at line 38 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 202 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 238 of file TaylorCameraDistortionMap.cpp.

References p_odtx, and p_odty.

Referenced by SetFocalPlane().

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

Return distorted focal plane x.

Definition at line 62 of file CameraDistortionMap.h.

References Isis::CameraDistortionMap::p_focalPlaneX.

Referenced by Isis::PushFrameCameraGroundMap::FindDistance(), Isis::LineScanCameraGroundMap::FindFocalPlane(), 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 65 of file CameraDistortionMap.h.

References Isis::CameraDistortionMap::p_focalPlaneY.

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

Reimplemented from Isis::CameraDistortionMap.

Definition at line 61 of file TaylorCameraDistortionMap.cpp.

References Isis::Spice::GetDouble(), p_odtx, and p_odty.

Referenced by Isis::Messenger::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 89 of file TaylorCameraDistortionMap.cpp.

References DistortionFunction(), DistortionFunctionJacobian(), Isis::E(), Isis::CameraDistortionMap::p_focalPlaneX, Isis::CameraDistortionMap::p_focalPlaneY, p_odtx, p_odty, Isis::CameraDistortionMap::p_undistortedFocalPlaneX, Isis::CameraDistortionMap::p_undistortedFocalPlaneY, x, and y.

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:

	ux	undistorted focal plane x in millimeters
	uy	undistorted focal plane y in millimeters

Returns:: if the conversion was successful

See also:: SetDistortion

Reimplemented from Isis::CameraDistortionMap.

Definition at line 176 of file TaylorCameraDistortionMap.cpp.

References DistortionFunction(), Isis::CameraDistortionMap::p_focalPlaneX, Isis::CameraDistortionMap::p_focalPlaneY, p_odtx, p_odty, Isis::CameraDistortionMap::p_undistortedFocalPlaneX, and Isis::CameraDistortionMap::p_undistortedFocalPlaneY.

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

Return undistorted focal plane x.

Definition at line 68 of file CameraDistortionMap.h.

References Isis::CameraDistortionMap::p_undistortedFocalPlaneX.

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

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

Return undistorted focal plane y.

Definition at line 71 of file CameraDistortionMap.h.

References Isis::CameraDistortionMap::p_undistortedFocalPlaneY.

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

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

Return undistorted focal plane z.

Definition at line 74 of file CameraDistortionMap.h.

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

Member Data Documentation

std::vector<double> Isis::TaylorCameraDistortionMap::p_odtx [protected]

distortion x coefficients

Definition at line 45 of file TaylorCameraDistortionMap.h.

Referenced by DistortionFunction(), DistortionFunctionJacobian(), SetDistortion(), SetFocalPlane(), and SetUndistortedFocalPlane().

std::vector<double> Isis::TaylorCameraDistortionMap::p_odty [protected]

distortion y coefficients

Definition at line 46 of file TaylorCameraDistortionMap.h.

Referenced by DistortionFunction(), DistortionFunctionJacobian(), SetDistortion(), SetFocalPlane(), and SetUndistortedFocalPlane().

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

src/messenger/objs/MdisCamera/TaylorCameraDistortionMap.h
src/messenger/objs/MdisCamera/TaylorCameraDistortionMap.cpp


Public Member Functions
	TaylorCameraDistortionMap (Camera *parent, double zDirection=1.0)
	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.
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