Distort/undistort focal plane coordinates. More...

#include <TgoCassisDistortionMap.h>

Inheritance diagram for Isis::TgoCassisDistortionMap:

Collaboration diagram for Isis::TgoCassisDistortionMap:

Public Member Functions
	TgoCassisDistortionMap (Camera *parent, int naifIkCode)
	Exomars TGO CaSSIS distortion map constructor. More...

virtual	~TgoCassisDistortionMap ()
	Exomars TGO CaSSIS distortion map destructor. More...

virtual bool	SetFocalPlane (const double dx, const double dy)
	Compute undistorted focal plane (x,y) coordinate given the distorted (x,y). More...

virtual bool	SetUndistortedFocalPlane (const double ux, const double uy)
	Compute distorted focal plane (x,y) given an undistorted focal plane (x,y). More...

virtual void	SetDistortion (int naifIkCode)
	Load distortion coefficients. 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 Member Functions
double	chiDotA (double x, double y, QList< double > A)
	Evaluate the value for the multi-variate polynomial, given the list of 6 coefficients. More...

Private Attributes
QList< double >	m_A1_corr
	Coefficients for rational distortion model used to compute ideal x from distorted x. More...

QList< double >	m_A2_corr
	Coefficients for rational distortion model used to compute ideal y from distorted y. More...

QList< double >	m_A3_corr
	Coefficients for rational distortion model used to find scaling factor used when computing ideal coordinates from distorted. More...

QList< double >	m_A1_dist
	Coefficients for rational distortion model used to compute distorted x from ideal x. More...

QList< double >	m_A2_dist
	Coefficients for rational distortion model used to compute distorted y from ideal y. More...

QList< double >	m_A3_dist
	Coefficients for rational distortion model used to find scaling factor used when computing distorted coordinates from ideal. More...

double	m_pixelPitch
	The pixel pitch of the camera. More...

double	m_width
	The width of the ccd in pixels. More...

double	m_height
	The height of the ccd in pixels. More...

Detailed Description

Distort/undistort focal plane coordinates.

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

Model derived by Stepan Tulyakov and Anoton Ivanov, EPFL (Ecole Polytechnique Federale de Lausanne).

See also: TgoCassisCamera; $ISISDATA/tgo/assets/distortion

Author: 2017-04-03 Jeannie Backer

History:: 2017-04-03 Jeannie Backer - Original version from model provided by Anton Ivanov.

History:: 2017-04-06 Jeannie Backer - Fixed bugs and updated unitTest.

History:: 2017-09-14 Jeannie Backer - Updated distortion model provided by Stepan Tulyakov. References #5155

History:: 2017-09-18 Jeannie Backer - Added check to verify that values passed into SetFocalPlane and SetUndistortedFocalPlane are within valid range. References #5155

History:: 2018-06-15 Kristin Berry - Removed qFuzzyCompare comparison to fix "distortion model not being applied" error.

Definition at line 45 of file TgoCassisDistortionMap.h.

Constructor & Destructor Documentation

◆ TgoCassisDistortionMap()

Isis::TgoCassisDistortionMap::TgoCassisDistortionMap	(	Camera *	parent,
		int	naifIkCode
	)

Exomars TGO CaSSIS 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
naifIkCode	NAIF IK code.

Definition at line 29 of file TgoCassisDistortionMap.cpp.

References Isis::Spice::getDouble(), m_A1_corr, m_A1_dist, m_A2_corr, m_A2_dist, m_A3_corr, m_A3_dist, m_height, m_pixelPitch, m_width, Isis::CameraDistortionMap::p_camera, and Isis::toString().

◆ ~TgoCassisDistortionMap()

Isis::TgoCassisDistortionMap::~TgoCassisDistortionMap ( )

virtual

Exomars TGO CaSSIS distortion map destructor.

Definition at line 52 of file TgoCassisDistortionMap.cpp.

Member Function Documentation

◆ chiDotA()

double Isis::TgoCassisDistortionMap::chiDotA	(	double	x,
		double	y,
		QList< double >	A
	)

private

Evaluate the value for the multi-variate polynomial, given the list of 6 coefficients.

We define

\[ chi = [x^2, xy, y^2, x, y, 1 \]

and

\[ A = [A_0, A_1, A_2, A_3, A_4, A_5 \]

And we return

\[ \chi \cdot A = c_0 x^2 + c_1 xy + c_2 y^2 + c_3 x + c_4 y + c_5 \]

Parameters

x	The input x value.
y	The input y value.
A	The list of coeffients.

Returns: double The value of chi dot A.

Definition at line 208 of file TgoCassisDistortionMap.cpp.

Referenced by SetFocalPlane(), and SetUndistortedFocalPlane().

◆ 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 215 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 226 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 194 of file CameraDistortionMap.cpp.

References Isis::CameraDistortionMap::p_odk.

◆ 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

Todo:: Add latex equation to the documentation

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

Definition at line 58 of file CameraDistortionMap.cpp.

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

Referenced by Isis::ClipperNacRollingShutterCamera::ClipperNacRollingShutterCamera(), Isis::ClipperPushBroomCamera::ClipperPushBroomCamera(), Isis::ClipperWacFcCamera::ClipperWacFcCamera(), Isis::CTXCamera::CTXCamera(), Isis::HayabusaAmicaCamera::HayabusaAmicaCamera(), Isis::HiriseCamera::HiriseCamera(), Isis::Hyb2OncCamera::Hyb2OncCamera(), Isis::LroWideAngleCameraDistortionMap::LroWideAngleCameraDistortionMap(), Isis::LoHighDistortionMap::SetDistortion(), and Isis::LoMediumDistortionMap::SetDistortion().

◆ SetFocalPlane()

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

virtual

Compute undistorted focal plane (x,y) coordinate given the distorted (x,y).

Model derived by Stepan Tulyakov and Anoton Ivanov, EPFL (Ecole Polytechnique Federale de Lausanne).

Given distorted focal plane coordinates, in millimeters, and parameters of rational CORRECTION model A1_corr, A2_corr, A3_corr, this function returns undistorted focal plane coordinates, in millimeters.

The rational optical distortion correction model is described by following equations:

chi = [ dx^2, dx*dy, dy^2, dx, dy, 1]

    A1_corr * chi'

x = ------------— A3_corr * chi'

A2_corr * chi' y = -------------— A3_corr * chi'

Parameters

dx	distorted focal plane x, in millimeters
dy	distorted focal plane y, in millimeters

Returns: bool Indicates whether the conversion was successful.

Reimplemented from Isis::CameraDistortionMap.

Definition at line 85 of file TgoCassisDistortionMap.cpp.

References chiDotA(), m_A1_corr, m_A2_corr, m_A3_corr, m_height, m_pixelPitch, m_width, Isis::CameraDistortionMap::p_focalPlaneX, Isis::CameraDistortionMap::p_focalPlaneY, Isis::CameraDistortionMap::p_undistortedFocalPlaneX, and Isis::CameraDistortionMap::p_undistortedFocalPlaneY.

◆ SetUndistortedFocalPlane()

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

virtual

Compute distorted focal plane (x,y) given an undistorted focal plane (x,y).

Model derived by Stepan Tulyakov and Anoton Ivanov, EPFL (Ecole Polytechnique Federale de Lausanne).

Given ideal focal plane coordinates, in millimeters, and parameters of rational CORRECTION model A1_dist, A2_dist, A3_dist, this function returns distorted focal plane coordinates, in millimeters.

The rational optical distortion correction model is described by following equations:

chi = [ dx^2, dx*dy, dy^2, dx, dy, 1]

    A1_dist * chi'

x = ------------— A3_dist * chi'

A2_dist * chi' y = -------------— A3_dist * chi'

Parameters

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

Returns: bool Indicates whether the conversion was successful

Reimplemented from Isis::CameraDistortionMap.

Definition at line 153 of file TgoCassisDistortionMap.cpp.

References chiDotA(), m_A1_dist, m_A2_dist, m_A3_dist, m_height, m_pixelPitch, m_width, Isis::CameraDistortionMap::p_focalPlaneX, Isis::CameraDistortionMap::p_focalPlaneY, 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 237 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 248 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 260 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 204 of file CameraDistortionMap.cpp.

References Isis::CameraDistortionMap::p_zDirection.

Member Data Documentation

◆ m_A1_corr

QList<double> Isis::TgoCassisDistortionMap::m_A1_corr

private

Coefficients for rational distortion model used to compute ideal x from distorted x.

Definition at line 58 of file TgoCassisDistortionMap.h.

Referenced by SetFocalPlane(), and TgoCassisDistortionMap().

◆ m_A1_dist

QList<double> Isis::TgoCassisDistortionMap::m_A1_dist

private

Coefficients for rational distortion model used to compute distorted x from ideal x.

Definition at line 64 of file TgoCassisDistortionMap.h.

Referenced by SetUndistortedFocalPlane(), and TgoCassisDistortionMap().

◆ m_A2_corr

QList<double> Isis::TgoCassisDistortionMap::m_A2_corr

private

Coefficients for rational distortion model used to compute ideal y from distorted y.

Definition at line 60 of file TgoCassisDistortionMap.h.

Referenced by SetFocalPlane(), and TgoCassisDistortionMap().

◆ m_A2_dist

QList<double> Isis::TgoCassisDistortionMap::m_A2_dist

private

Coefficients for rational distortion model used to compute distorted y from ideal y.

Definition at line 66 of file TgoCassisDistortionMap.h.

Referenced by SetUndistortedFocalPlane(), and TgoCassisDistortionMap().

◆ m_A3_corr

QList<double> Isis::TgoCassisDistortionMap::m_A3_corr

private

Coefficients for rational distortion model used to find scaling factor used when computing ideal coordinates from distorted.

Definition at line 62 of file TgoCassisDistortionMap.h.

Referenced by SetFocalPlane(), and TgoCassisDistortionMap().

◆ m_A3_dist

QList<double> Isis::TgoCassisDistortionMap::m_A3_dist

private

Coefficients for rational distortion model used to find scaling factor used when computing distorted coordinates from ideal.

Definition at line 68 of file TgoCassisDistortionMap.h.

Referenced by SetUndistortedFocalPlane(), and TgoCassisDistortionMap().

◆ m_height

double Isis::TgoCassisDistortionMap::m_height

private

The height of the ccd in pixels.

Used to check if far off the ccd prior to correcting or applying distortion.

Definition at line 74 of file TgoCassisDistortionMap.h.

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

◆ m_pixelPitch

double Isis::TgoCassisDistortionMap::m_pixelPitch

private

The pixel pitch of the camera.

Used to check if far off the ccd prior to correcting or applying distortion.

Definition at line 70 of file TgoCassisDistortionMap.h.

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

◆ m_width

double Isis::TgoCassisDistortionMap::m_width

private

The width of the ccd in pixels.

Used to check if far off the ccd prior to correcting or applying distortion.

Definition at line 72 of file TgoCassisDistortionMap.h.

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

◆ p_camera

Camera* Isis::CameraDistortionMap::p_camera

protectedinherited

The camera to distort/undistort.

Definition at line 63 of file CameraDistortionMap.h.

◆ 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/tgo/objs/TgoCassisCamera/TgoCassisDistortionMap.h
src/tgo/objs/TgoCassisCamera/TgoCassisDistortionMap.cpp

Public Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ TgoCassisDistortionMap()

◆ ~TgoCassisDistortionMap()

Member Function Documentation

◆ chiDotA()

◆ FocalPlaneX()

◆ FocalPlaneY()

◆ OpticalDistortionCoefficients()

◆ SetDistortion()

◆ SetFocalPlane()

◆ SetUndistortedFocalPlane()

◆ UndistortedFocalPlaneX()

◆ UndistortedFocalPlaneY()

◆ UndistortedFocalPlaneZ()

◆ ZDirection()

Member Data Documentation

◆ m_A1_corr

◆ m_A1_dist

◆ m_A2_corr

◆ m_A2_dist

◆ m_A3_corr

◆ m_A3_dist

◆ m_height

◆ m_pixelPitch

◆ m_width

◆ p_camera

◆ p_focalPlaneX

◆ p_focalPlaneY

◆ p_odk

◆ p_undistortedFocalPlaneX

◆ p_undistortedFocalPlaneY

◆ p_zDirection