OsirisRexOcamsOpenCVDistortionMap.h

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#ifndef OsirisRexOcamsOpenCVDistortionMap_h
#define OsirisRexOcamsOpenCVDistortionMap_h
 
#include <QSharedPointer>
 
#include "CameraDistortionMap.h"
#include "CameraFocalPlaneMap.h"
#include "Camera.h"
 
namespace Isis {
  class OsirisRexOcamsOpenCVDistortionMap : public CameraDistortionMap {
    public:
      OsirisRexOcamsOpenCVDistortionMap(Camera *parent, int naifIkCode,
                                        int functionIkCode, 
                                        const QString &filtername,
                                        const double zdir = 1.0);
 
      ~OsirisRexOcamsOpenCVDistortionMap() {};
      
      void SetCameraTemperature(const double temp);

      virtual bool SetFocalPlane(const double dx, const double dy);
      
      
      virtual bool SetUndistortedFocalPlane(const double ux, const double uy);
 
    protected:
        void image_to_distortion_frame(const double dx, const double dy,
                                       double *u, double *v,
                                       double *xpp, double *ypp) const;
        void distortion_to_pointing_frame(const double xp, const double yp,
                                          double *x, double *y,
                                          double *ux, double *uy) const;
 
        void pointing_to_distortion_frame(const double ux, const double uy,
                                      double *x, double *y,
                                      double *xp, double *yp) const;
        void distortion_to_image_frame(const double xpp, const double ypp,
                                       double *u, double *v,
                                       double *dx, double *dy) const;
 
        void apply_distortion(const double xp, const double yp,
                              double *xpp, double *ypp) const;
 
      
    private:  
      // parameters below are from camera calibration report
      double p_k1;       
      double p_k2;       
      double p_k3;       
      double p_k4;       
      double p_k5;       
      double p_k6;       
      double p_p1;       
      double p_p2;       
      double p_fx;       
      double p_fy;       
      double p_cx;       
      double p_cy;       
      double p_a1 ;      
      double p_camTemp;  
      double p_tolerance; 
      bool   p_debug;     
 
      double p_xoffset;   
      double p_yoffset;   
 
      QSharedPointer<CameraFocalPlaneMap> m_focalMap;  // Local focal plane map
 
      bool load_model(Camera *camera, const int naifIKcode = 0, const QString &suffix = "");
      bool load_polycam_model(Camera *camera, const int naifIKcode, const int focusIkCode);
 
  };
};
#endif