MocWideAngleDistortionMap.cpp

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#include "MocWideAngleDistortionMap.h"

using namespace std;
namespace Isis {
  MocWideAngleDistortionMap::MocWideAngleDistortionMap(Camera *parent, bool red) :
    CameraDistortionMap(parent, 1.0) {
    // Set up distortion coefficients
    if(red) {
      p_coefs.push_back(0.9993258);
      p_coefs.push_back(0.4655529);
      p_coefs.push_back(-0.1548756);
      p_coefs.push_back(1.827967);
      p_coefs.push_back(-3.057435);
      p_coefs.push_back(2.226331);
      p_scale = 1.0;
      p_icoefs.push_back(0.9995458);
      p_icoefs.push_back(-0.4237090);
      p_icoefs.push_back(0.2810857);
      p_icoefs.push_back(-0.1697522);
      p_icoefs.push_back(0.068131536);
      p_icoefs.push_back(-0.012665644);
    }
    else {
      p_coefs.push_back(1.000246);
      p_coefs.push_back(0.4612695);
      p_coefs.push_back(0.2352545);
      p_coefs.push_back(0.3535922);
      p_coefs.push_back(-0.2853861);
      p_coefs.push_back(0.5574971);
      p_scale = 1.000452;
      p_icoefs.push_back(0.9994557);
      p_icoefs.push_back(-0.4515307);
      p_icoefs.push_back(0.3152195);
      p_icoefs.push_back(-0.1993053);
      p_icoefs.push_back(0.081707217);
      p_icoefs.push_back(-0.014814299);
    }
    p_numCoefs = 6;
  }


  bool MocWideAngleDistortionMap::SetFocalPlane(const double dx,
      const double dy) {
    // Apply scale factor
    p_focalPlaneX = dx;
    p_focalPlaneY = dy;
    double sdy = dy / p_scale;

    // See if we are close to the boresight which implies no distortion
    double s2 = dx * dx + sdy * sdy;
    if(s2 <= 1.0E-6) {
      p_undistortedFocalPlaneX = dx;
      p_undistortedFocalPlaneY = sdy;
      return true;
    }

    // Remove distortion
    double s = sqrt(s2);
    double ang = atan(s / p_camera->FocalLength());
    double ang2 = ang * ang;
    double angp = p_coefs[p_numCoefs-1];
    for(int i = p_numCoefs - 2; i >= 0; i--) {
      angp = angp * ang2 + p_coefs[i];
    }
    angp = angp * ang;
    double sp = p_camera->FocalLength() * tan(angp);
    p_undistortedFocalPlaneX = dx * sp / s;
    p_undistortedFocalPlaneY = sdy * sp / s;
    return true;
  }

  bool MocWideAngleDistortionMap::SetUndistortedFocalPlane(const double ux,
      const double uy) {
    p_undistortedFocalPlaneX = ux;
    p_undistortedFocalPlaneY = uy;

    // See if we are close to boresight
    double sp2 = ux * ux + uy * uy;
    if(sp2 <= 1.0E-6) {
      p_focalPlaneX = ux;
      p_focalPlaneY = uy * p_scale;
      return true;
    }

    // Add distortion
    double sp = sqrt(sp2);
    double angp = atan(sp / p_camera->FocalLength());
    double angp2 = angp * angp;
    double ang = p_icoefs[p_numCoefs-1];
    for(int i = p_numCoefs - 2; i >= 0; i--) {
      ang = ang * angp2 + p_icoefs[i];
    }
    ang = ang * angp;
    double s = p_camera->FocalLength() * tan(ang);
    p_focalPlaneX = ux * s / sp;
    p_focalPlaneY = uy * s / sp * p_scale;
    return true;
  }
}