Distort/undistort focal plane coordinates. More...

#include <TaylorCameraDistortionMap.h>

Inheritance diagram for Isis::TaylorCameraDistortionMap:

Collaboration diagram for Isis::TaylorCameraDistortionMap:

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

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

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

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

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

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

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

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

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
	The camera to distort/undistort.

double	p_focalPlaneX
	Distorted focal plane x.

double	p_focalPlaneY
	Distorted focal plane y.

double	p_undistortedFocalPlaneX
	Undistorted focal plane x.

double	p_undistortedFocalPlaneY
	Undistorted focal plane y.

double	p_zDirection
	Undistorted focal plane z.

std::vector< double >	p_odk = {}
	Vector of distortion coefficients.

Detailed Description

Distort/undistort focal plane coordinates.

Creates a map for adding/removing optical distortions from the focal plane of a camera. This class describes a non-radial distortion map. The distortion map is a third-order Taylor series expansion of a generic function.

See also: MdisCamera; CameraDistortionMap

Author: ????-??-?? Kris Becker

History

2011-05-03 Jeannie Walldren - Added Isis disclaimer.

2011-05-23 Janet Barrett and Steven Lambright - Spice::GetDouble is no longer a static call.

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

Definition at line 40 of file TaylorCameraDistortionMap.h.

Constructor & Destructor Documentation

◆ TaylorCameraDistortionMap()

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

Taylor series camera distortion map constructor.

Create a geometric distortion model which is approximated by a third-order Taylor series expansion. 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 29 of file TaylorCameraDistortionMap.cpp.

◆ ~TaylorCameraDistortionMap()

Isis::TaylorCameraDistortionMap::~TaylorCameraDistortionMap ( )

inline

Destructor.

Definition at line 47 of file TaylorCameraDistortionMap.h.

Member Function Documentation

◆ DistortionFunction()

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 203 of file TaylorCameraDistortionMap.cpp.

References p_odtx, and p_odty.

Referenced by SetFocalPlane(), and SetUndistortedFocalPlane().

◆ DistortionFunctionJacobian()

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 239 of file TaylorCameraDistortionMap.cpp.

References p_odtx, and p_odty.

Referenced by SetFocalPlane().

◆ 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 216 of file CameraDistortionMap.cpp.

References Isis::CameraDistortionMap::p_focalPlaneX.

Referenced by LineOffsetFunctor::operator()(), 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 227 of file CameraDistortionMap.cpp.

References Isis::CameraDistortionMap::p_focalPlaneY.

Referenced by LineOffsetFunctor::operator()(), Isis::Camera::RawFocalPlanetoImage(), and Isis::Camera::SetRightAscensionDeclination().

◆ 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 195 of file CameraDistortionMap.cpp.

References Isis::CameraDistortionMap::p_odk.

◆ SetDistortion()

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

virtual

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 63 of file TaylorCameraDistortionMap.cpp.

References Isis::Spice::getDouble(), Isis::CameraDistortionMap::p_camera, p_odtx, p_odty, and Isis::toString().

◆ SetFocalPlane()

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 92 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, and Isis::CameraDistortionMap::p_undistortedFocalPlaneY.

◆ SetUndistortedFocalPlane()

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 177 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.

◆ 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 238 of file CameraDistortionMap.cpp.

References Isis::CameraDistortionMap::p_undistortedFocalPlaneX.

Referenced by Isis::LidarControlPoint::ComputeResiduals(), Isis::Camera::SetImage(), 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 249 of file CameraDistortionMap.cpp.

References Isis::CameraDistortionMap::p_undistortedFocalPlaneY.

Referenced by Isis::LidarControlPoint::ComputeResiduals(), Isis::Camera::SetImage(), and Isis::Camera::SetImage().

◆ 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 261 of file CameraDistortionMap.cpp.

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

Referenced by Isis::CameraGroundMap::GetdXYdOrientation(), Isis::CameraGroundMap::GetdXYdPoint(), Isis::CameraGroundMap::GetdXYdPosition(), Isis::CameraGroundMap::GetdXYdTOrientation(), Isis::CameraGroundMap::GetXY(), Isis::PixelFOV::instantaneousFov(), Isis::CameraGroundMap::LookCtoFocalPlaneXY(), Isis::Camera::SetImage(), and Isis::Camera::SetImage().

◆ 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 205 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 63 of file CameraDistortionMap.h.

Referenced by Isis::LroWideAngleCameraDistortionMap::addFilter(), Isis::CameraDistortionMap::CameraDistortionMap(), Isis::NewHorizonsMvicTdiCameraDistortionMap::computeResidualDistortionCorrections(), Isis::KaguyaTcCameraDistortionMap::KaguyaTcCameraDistortionMap(), Isis::MarciDistortionMap::MarciDistortionMap(), Isis::NewHorizonsMvicFrameCameraDistortionMap::NewHorizonsMvicFrameCameraDistortionMap(), Isis::NewHorizonsMvicTdiCameraDistortionMap::NewHorizonsMvicTdiCameraDistortionMap(), Isis::OsirisRexDistortionMap::OsirisRexDistortionMap(), Isis::KaguyaMiCameraDistortionMap::SetDistortion(), Isis::LoHighDistortionMap::SetDistortion(), Isis::LoMediumDistortionMap::SetDistortion(), Isis::LroNarrowAngleDistortionMap::SetDistortion(), SetDistortion(), Isis::CameraDistortionMap::SetDistortion(), Isis::JunoDistortionMap::SetDistortion(), Isis::OsirisRexDistortionMap::SetDistortion(), Isis::ReseauDistortionMap::SetFocalPlane(), Isis::LoMediumDistortionMap::SetFocalPlane(), Isis::MocWideAngleDistortionMap::SetFocalPlane(), Isis::MarciDistortionMap::SetFocalPlane(), Isis::JunoDistortionMap::SetFocalPlane(), Isis::ReseauDistortionMap::SetUndistortedFocalPlane(), Isis::LoMediumDistortionMap::SetUndistortedFocalPlane(), Isis::MocWideAngleDistortionMap::SetUndistortedFocalPlane(), Isis::MarciDistortionMap::SetUndistortedFocalPlane(), Isis::CameraDistortionMap::SetUndistortedFocalPlane(), Isis::Hyb2OncDistortionMap::SetUndistortedFocalPlane(), Isis::TgoCassisDistortionMap::TgoCassisDistortionMap(), and Isis::CameraDistortionMap::UndistortedFocalPlaneZ().

◆ 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_odtx

std::vector<double> Isis::TaylorCameraDistortionMap::p_odtx

protected

distortion x coefficients

Definition at line 54 of file TaylorCameraDistortionMap.h.

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

◆ p_odty

std::vector<double> Isis::TaylorCameraDistortionMap::p_odty

protected

distortion y coefficients

Definition at line 55 of file TaylorCameraDistortionMap.h.

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

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ TaylorCameraDistortionMap()

◆ ~TaylorCameraDistortionMap()

Member Function Documentation

◆ DistortionFunction()

◆ DistortionFunctionJacobian()

◆ FocalPlaneX()

◆ FocalPlaneY()

◆ OpticalDistortionCoefficients()

◆ SetDistortion()

◆ SetFocalPlane()

◆ SetUndistortedFocalPlane()

◆ UndistortedFocalPlaneX()

◆ UndistortedFocalPlaneY()

◆ UndistortedFocalPlaneZ()

◆ ZDirection()

Member Data Documentation

◆ p_camera

◆ p_focalPlaneX

◆ p_focalPlaneY

◆ p_odk

◆ p_odtx

◆ p_odty

◆ p_undistortedFocalPlaneX

◆ p_undistortedFocalPlaneY

◆ p_zDirection