MarciDistortionMap.cpp

 
/* SPDX-License-Identifier: CC0-1.0 */
 
#include <cmath>
 
#include "IString.h"
#include "MarciDistortionMap.h"
 
namespace Isis {
  MarciDistortionMap::MarciDistortionMap(Camera *parent, int naifIkCode) : CameraDistortionMap(parent) {
    QString odkkey = "INS" + toString(naifIkCode) + "_DISTORTION_COEFFS";
 
    for(int i = 0; i < 4; i++) {
      p_odk.push_back(p_camera->getDouble(odkkey, i));
    }
  }
 
  bool MarciDistortionMap::SetFocalPlane(const double dx, const double dy) {
    p_focalPlaneX = dx;
    p_focalPlaneY = dy;
 
    double dxPix = p_focalPlaneX / p_camera->PixelPitch();
    double dyPix = p_focalPlaneY / p_camera->PixelPitch();
 
    // Get the distance from the focal plane center and if we are close
    // then skip the distortion
    double radialDist2 = (dxPix * dxPix) + (dyPix * dyPix);
 
    if(radialDist2 <= 1.0E-3) {
      p_undistortedFocalPlaneX = dx;
      p_undistortedFocalPlaneY = dy;
      return true;
    }
 
    // Ok we need to apply distortion correction
    double radialDist4 = radialDist2 * radialDist2;
    double radialDist6 = radialDist4 * radialDist2;
 
    double uRadialDist = p_odk[0] + radialDist2 * p_odk[1] +
                         radialDist4 * p_odk[2] +
                         radialDist6 * p_odk[3];
 
    // double radialDist = sqrt(radialDist2);
    double uxPix = dxPix * uRadialDist;
    double uyPix = dyPix * uRadialDist;
 
 
    p_undistortedFocalPlaneX = uxPix * p_camera->PixelPitch();
    p_undistortedFocalPlaneY = uyPix * p_camera->PixelPitch();
 
    return true;
  }
 
  bool MarciDistortionMap::SetUndistortedFocalPlane(const double ux,
      const double uy) {
    p_undistortedFocalPlaneX = ux;
    p_undistortedFocalPlaneY = uy;
 
    double uxPix = ux / p_camera->PixelPitch();
    double uyPix = uy / p_camera->PixelPitch();
 
    double dxPix = GuessDx(uxPix);
    double dyPix = uyPix;
 
    // Get the distance from the focal plane center and if we are close
    // then skip the distortion
    double Ru = sqrt((uxPix * uxPix) + (uyPix * uyPix));
 
    if(Ru <= 1.0E-6) {
      p_focalPlaneX = ux;
      p_focalPlaneY = uy;
      return true;
    }
 
    double delta = 1.0;
    int iter = 0;
 
    double Rd = sqrt((dxPix * dxPix) + (dyPix * dyPix));
 
    while(fabs(delta) > 1E-9) {
      if(fabs(delta) > 1E30 || iter > 50) {
        return false;
      }
 
      double Rd2 = Rd * Rd;
      double Rd3 = Rd2 * Rd;
      double Rd4 = Rd3 * Rd;
      double Rd5 = Rd4 * Rd;
      double Rd6 = Rd5 * Rd;
 
      double fRd = p_odk[0] + Rd2 * p_odk[1] +
                   Rd4 * p_odk[2] +
                   Rd6 * p_odk[3] - Ru * (1.0 / Rd);
 
      double fRd2 = 2 * p_odk[1] * Rd +
                    4 * p_odk[2] * Rd3 +
                    6 * p_odk[3] * Rd5 +
                    Ru * (1.0 / Rd2);
 
      delta = fRd / fRd2;
 
      Rd = Rd - delta;
 
      iter ++;
    }
 
    dxPix = uxPix * (Rd / Ru);
    dyPix = uyPix * (Rd / Ru);
 
    p_focalPlaneX = dxPix * p_camera->PixelPitch();
    p_focalPlaneY = dyPix * p_camera->PixelPitch();
 
    return true;
  }
 
  double MarciDistortionMap::GuessDx(double uX) {
    // We're using natural log fits, but if uX < 1 the fit doesnt work
    if(fabs(uX) < 1) return uX;
 
    if(p_filter == 0) { // BLUE FILTER
      return (1.4101 * log(fabs(uX)));
    }
 
    else if(p_filter == 1) { // GREEN FILTER
      return (1.1039 * log(fabs(uX)));
    }
 
    else if(p_filter == 2) { // ORANGE FILTER
      return (0.8963 * log(fabs(uX)) + 2.1644);
    }
 
    else if(p_filter == 3) { // RED FILTER
      return (1.1039 * log(fabs(uX)));
    }
 
    else if(p_filter == 4) { // NIR FILTER
      return (1.4101 * log(fabs(uX)));
    }
 
    return uX;
  }
}