Distort/undistort focal plane coordinates. More...

#include <LoMediumDistortionMap.h>

Inheritance diagram for Isis::LoMediumDistortionMap:

Collaboration diagram for Isis::LoMediumDistortionMap:

Public Member Functions
	LoMediumDistortionMap (Camera *parent)
	Constructor for LunarOrbiterMediumDistortionMap class. More...

void	SetDistortion (const int naifIkCode)
	Load LO Medium Resolution Camera perspective & distortion coefficients. More...

virtual bool	SetFocalPlane (const double dx, const double dy)
	Compute undistorted focal plane x/y for Lo Medium Resolution Camera. More...

virtual bool	SetUndistortedFocalPlane (const double ux, const double uy)
	Compute distorted focal plane x/y for Lo Medium Resolution Camera. More...

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

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

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

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

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

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

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

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

double	p_focalPlaneX
	Distorted focal plane x. More...

double	p_focalPlaneY
	Distorted focal plane y. More...

double	p_undistortedFocalPlaneX
	Undistorted focal plane x. More...

double	p_undistortedFocalPlaneY
	Undistorted focal plane y. More...

double	p_zDirection
	Undistorted focal plane z. More...

std::vector< double >	p_odk
	Vector of distortion coefficients. More...

Private Attributes
double	p_sample0
	Center of distortion on sample axis. More...

double	p_line0
	Center of distortion on line axis. More...

std::vector< double >	p_coefs
	Distortion coeficients. More...

std::vector< double >	p_icoefs
	Distortion coeficients. More...

Detailed Description

Distort/undistort focal plane coordinates.

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

See also: LoMediumCamera

Author: 2007-07-31 Debbie A. Cook

History:

2007-07-31 Debbie A. Cook - Original version

2008-02-04 Jeff Anderson - Made change to support variable focal length in THEMIS IR camera

2008-07-25 Steven Lambright - Fixed constructor; CameraDistortionMap is responsible both for setting the p_camera protected member and calling Camera::SetDistortionMap. When the parent called Camera::SetDistortionMap the Camera took ownership of the instance of this object. By calling this twice, and with Camera only supporting having one distortion map, this object was deleted before the constructor was finished.

2009-05-22 Debbie A. Cook - Cleaned up code and added iteration loop. Previous version only iterated twice, but results indicated more iterations were needed for better accuracy.

2009-08-21 Debbie A. Cook - Added test for data outside focal plane limits plus 10% to avoid getting erroneous data projected on oblique images

2010-01-25 Debbie A. Cook - Increased out-of-bounds test to 17.5% of fiducial max to make sure lat/lons were defined to the image edges

2011-05-03 Jeannie Walldren - Updated documentation. Removed Lo namespace wrap.

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

2013-02-22 Debbie A. Cook - Updated SetUndistortedFocalPlane method to reflect correction made to LookCtoFocalPlaneXY in CameraGroundMap. The adjustment for the z direction occurs in CameraGroundMap and is no needed here. Fixes Mantis ticket #1524

Definition at line 73 of file LoMediumDistortionMap.h.

Constructor & Destructor Documentation

◆ LoMediumDistortionMap()

Isis::LoMediumDistortionMap::LoMediumDistortionMap ( Camera * parent )

Constructor for LunarOrbiterMediumDistortionMap class.

Define the distortion model coefficients for a Lunar Orbiter Medium Resolution camera.

Parameters

parent A pointer to the parent camera object

History:: 2007-07-31 Debbie A. Cook Original version

Definition at line 47 of file LoMediumDistortionMap.cpp.

Member Function Documentation

◆ 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 231 of file CameraDistortionMap.cpp.

References Isis::CameraDistortionMap::p_focalPlaneX.

Referenced by Isis::ControlPoint::ComputeResiduals(), Isis::PushFrameCameraGroundMap::FindDistance(), 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 242 of file CameraDistortionMap.cpp.

References Isis::CameraDistortionMap::p_focalPlaneY.

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

◆ 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 210 of file CameraDistortionMap.cpp.

References Isis::CameraDistortionMap::p_odk.

◆ SetDistortion()

void Isis::LoMediumDistortionMap::SetDistortion ( const int naifIkCode )

virtual

Load LO Medium Resolution Camera perspective & distortion coefficients.

This method loads the distortion centers, and coefficients from the instrument kernel. * The distortion center coordinates (in mm) are expected to be in the form of:

INSxxxxxxx_DISTORTION_CENTER = ( xcenter, ycenter)
where xxxxxxx is the instrument code (always a negative number).

The center, (x0,y0), will be used to calculate the radius of distortion, r, in the equations below.

distX = x - x0 distY = y - y0, where (x,y) are the distorted focal plane coordinates. r^2 = (DistX^2 + DistY^2)/sref^2

The distortion coefficients in the NAIF instrument kernel are expected to be in the form of:

INSxxxxxxx_OD_K = ( coef1, coef2, ..., coefN)
where xxxxxxx is as is described above for the distortion center.

These coefficient will be used to convert from focal plane x,y to to undistorted x,y as follows:

dr/r = (k0 + k1*r^2 + k2*r^4)/sref ux = x - DistX*dr/r, similarly for uy

Parameters

naifIkCode Code to search for in instrument kernel

Reimplemented from Isis::CameraDistortionMap.

Definition at line 89 of file LoMediumDistortionMap.cpp.

References Isis::CameraFocalPlaneMap::DetectorLine(), Isis::CameraFocalPlaneMap::DetectorSample(), Isis::Camera::FocalPlaneMap(), Isis::CameraDistortionMap::p_camera, p_line0, p_sample0, Isis::CameraDistortionMap::SetDistortion(), Isis::CameraFocalPlaneMap::SetFocalPlane(), and Isis::toString().

Referenced by Isis::LoMediumCamera::LoMediumCamera().

◆ SetFocalPlane()

bool Isis::LoMediumDistortionMap::SetFocalPlane	(	const double	dx,
		const double	dy
	)

virtual

Compute undistorted focal plane x/y for Lo Medium Resolution Camera.

Compute undistorted focal plane x/y given a distorted focal plane x/y for the Lunar Orbiter Medium Resolution Camera. The polynomial used is described in the SetDistortion documentation. After calling this method, the undistorted x/y can be obtained via the UndistortedFocalPlaneX and UndistortedFocalPlaneY methods of the parent class.

Parameters

dx	Distorted focal plane x in millimeters
dy	Distorted focal plane y in millimeters

Returns: Whether the conversion was successful

See also: SetDistortion

Reimplemented from Isis::CameraDistortionMap.

Definition at line 117 of file LoMediumDistortionMap.cpp.

References Isis::CameraFocalPlaneMap::DetectorLine(), Isis::CameraFocalPlaneMap::DetectorSample(), Isis::Camera::FocalPlaneMap(), Isis::CameraFocalPlaneMap::FocalPlaneX(), Isis::CameraFocalPlaneMap::FocalPlaneY(), Isis::CameraDistortionMap::p_camera, Isis::CameraDistortionMap::p_focalPlaneX, Isis::CameraDistortionMap::p_focalPlaneY, p_line0, Isis::CameraDistortionMap::p_odk, p_sample0, Isis::CameraDistortionMap::p_undistortedFocalPlaneX, Isis::CameraDistortionMap::p_undistortedFocalPlaneY, Isis::CameraFocalPlaneMap::SetDetector(), and Isis::CameraFocalPlaneMap::SetFocalPlane().

◆ SetUndistortedFocalPlane()

bool Isis::LoMediumDistortionMap::SetUndistortedFocalPlane	(	const double	ux,
		const double	uy
	)

virtual

Compute distorted focal plane x/y for Lo Medium Resolution Camera.

Compute distorted focal plane x/y given an undistorted focal plane x/y for the Lunar Orbiter Medium Resolution Camera. This method applies a distortion error based on a polynomial defined in the SetDistortion method. After calling this method the distorted x/y can be obtained via the FocalPlaneX and FocalPlaneY methods.

Parameters

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

Returns: Whether the conversion was successful

See also: SetDistortion

History:: 2013-02-22 Debbie A. Cook - Removed signFactor since the z direction is now handled in CameraGroundMap.

Reimplemented from Isis::CameraDistortionMap.

Definition at line 208 of file LoMediumDistortionMap.cpp.

References Isis::CameraFocalPlaneMap::DetectorLine(), Isis::CameraFocalPlaneMap::DetectorSample(), Isis::E, Isis::Camera::FocalPlaneMap(), Isis::CameraFocalPlaneMap::FocalPlaneX(), Isis::CameraFocalPlaneMap::FocalPlaneY(), Isis::CameraDistortionMap::p_camera, Isis::CameraDistortionMap::p_focalPlaneX, Isis::CameraDistortionMap::p_focalPlaneY, p_line0, Isis::CameraDistortionMap::p_odk, p_sample0, Isis::CameraDistortionMap::p_undistortedFocalPlaneX, Isis::CameraDistortionMap::p_undistortedFocalPlaneY, Isis::CameraFocalPlaneMap::SetDetector(), and Isis::CameraFocalPlaneMap::SetFocalPlane().

◆ 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 253 of file CameraDistortionMap.cpp.

References Isis::CameraDistortionMap::p_undistortedFocalPlaneX.

Referenced by Isis::ControlPoint::ComputeApriori(), 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 264 of file CameraDistortionMap.cpp.

References Isis::CameraDistortionMap::p_undistortedFocalPlaneY.

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

◆ 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 276 of file CameraDistortionMap.cpp.

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

Referenced by Isis::PixelFOV::instantaneousFov(), Isis::Camera::SetImage(), and Isis::AdvancedTrackTool::updateRow().

◆ 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 220 of file CameraDistortionMap.cpp.

References Isis::CameraDistortionMap::p_zDirection.

Member Data Documentation

◆ p_camera

Camera* Isis::CameraDistortionMap::p_camera

protectedinherited

The camera to distort/undistort.

Definition at line 79 of file CameraDistortionMap.h.

◆ p_coefs

std::vector<double> Isis::LoMediumDistortionMap::p_coefs

private

Distortion coeficients.

Definition at line 85 of file LoMediumDistortionMap.h.

◆ p_focalPlaneX

double Isis::CameraDistortionMap::p_focalPlaneX

protectedinherited

Distorted focal plane x.

Definition at line 81 of file CameraDistortionMap.h.

◆ p_focalPlaneY

double Isis::CameraDistortionMap::p_focalPlaneY

protectedinherited

Distorted focal plane y.

Definition at line 82 of file CameraDistortionMap.h.

◆ p_icoefs

std::vector<double> Isis::LoMediumDistortionMap::p_icoefs

private

Distortion coeficients.

Definition at line 86 of file LoMediumDistortionMap.h.

◆ p_line0

double Isis::LoMediumDistortionMap::p_line0

private

Center of distortion on line axis.

Definition at line 84 of file LoMediumDistortionMap.h.

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

◆ p_odk

std::vector<double> Isis::CameraDistortionMap::p_odk

protectedinherited

Vector of distortion coefficients.

Definition at line 87 of file CameraDistortionMap.h.

◆ p_sample0

double Isis::LoMediumDistortionMap::p_sample0

private

Center of distortion on sample axis.

Definition at line 83 of file LoMediumDistortionMap.h.

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

◆ p_undistortedFocalPlaneX

double Isis::CameraDistortionMap::p_undistortedFocalPlaneX

protectedinherited

Undistorted focal plane x.

Definition at line 83 of file CameraDistortionMap.h.

◆ p_undistortedFocalPlaneY

double Isis::CameraDistortionMap::p_undistortedFocalPlaneY

protectedinherited

Undistorted focal plane y.

Definition at line 84 of file CameraDistortionMap.h.

◆ p_zDirection

double Isis::CameraDistortionMap::p_zDirection

protectedinherited

Undistorted focal plane z.

Definition at line 85 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/lo/objs/LoMediumCamera/LoMediumDistortionMap.h
src/lo/objs/LoMediumCamera/LoMediumDistortionMap.cpp

Public Member Functions

Protected Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ LoMediumDistortionMap()

Member Function Documentation

◆ FocalPlaneX()

◆ FocalPlaneY()

◆ OpticalDistortionCoefficients()

◆ SetDistortion()

◆ SetFocalPlane()

◆ SetUndistortedFocalPlane()

◆ UndistortedFocalPlaneX()

◆ UndistortedFocalPlaneY()

◆ UndistortedFocalPlaneZ()

◆ ZDirection()

Member Data Documentation

◆ p_camera

◆ p_coefs

◆ p_focalPlaneX

◆ p_focalPlaneY

◆ p_icoefs

◆ p_line0

◆ p_odk

◆ p_sample0

◆ p_undistortedFocalPlaneX

◆ p_undistortedFocalPlaneY

◆ p_zDirection