PROG: Fixed bug in TGO CaSSIS distortion map and updated unitTest for its camera. (4e5bc792) · Commits · aflab / astrogeology / ISIS3

isis/src/tgo/objs/TgoCassisCamera/TgoCassisCamera.truth

+1 −1

Original line number	Diff line number	Diff line
		Unit Test for TgoCassisCamera...
		FileName: "CAS-MCO-2016-11-22T16.38.39.354-NIR-02036-B1.cub"
		FileName: "CAS-MCO-2016-11-22T16.38.39.354-NIR-02036-00.cub"
		CK Frame: -143420

		Kernel IDs:

isis/src/tgo/objs/TgoCassisCamera/TgoCassisDistortionMap.cpp

+42 −23

Original line number	Diff line number	Diff line
		@@ -45,6 +45,9 @@ namespace Isis {
		int naifIkCode)
		: CameraDistortionMap(parent) {

		m_width = 2048;
		m_height = 2048;

		QString od = "INS" + toString(naifIkCode) + "_OD_";

		for(int i = 0; i < 6; i++) {
		@@ -77,8 +80,8 @@ namespace Isis {
		p_focalPlaneY = dy;

		// i and j are normalized distorted coordinates
		double i = normalize(dx);
		double j = normalize(dy);
		double i = normalize(dx, m_width, m_height);
		double j = normalize(dy, m_height, m_width);

		// convenience variables
		double i2 = i*i;
		@@ -110,8 +113,8 @@ namespace Isis {
		/ divider;

		// denormalize ideal (x,y) coordinates
		p_undistortedFocalPlaneX = denormalize(xNorm);
		p_undistortedFocalPlaneY = denormalize(yNorm);
		p_undistortedFocalPlaneX = denormalize(xNorm, m_width, m_height);
		p_undistortedFocalPlaneY = denormalize(yNorm, m_height, m_width);

		return true;
		}
		@@ -131,8 +134,8 @@ namespace Isis {
		p_undistortedFocalPlaneY = uy;

		// x, y are normalized undistorted (ideal) coordinates
		double xNorm = normalize(ux);
		double yNorm = normalize(uy);
		double xNorm = normalize(ux, m_width, m_height);
		double yNorm = normalize(uy, m_height, m_width);

		// i, j are distorted coordinates
		double iNorm = xNorm;
		@@ -146,6 +149,11 @@ namespace Isis {
		* F_vec(i,j) = [ initialX - ( A1 * chi' ) / ( A3 * chi' ) ]
		* [ initialY - ( A2 * chi' ) / ( A3 * chi' ) ]
		*/
		m_width = 0.0;
		m_height = 0.0; // Below we call SetFocalPlane(). This method normalizes its inputs, i.e.
		// iNorm and jNorm in this case. Since they are already normalized, we
		// set height = weight = 0.0 so that normalize(value) just
		// returns value.

		if (SetFocalPlane(iNorm, jNorm) ) {
		double xPredict = p_undistortedFocalPlaneX;
		@@ -203,47 +211,58 @@ namespace Isis {
		}

		}
		m_width = 2048;
		m_height = 2048;

		p_undistortedFocalPlaneX = ux;
		p_undistortedFocalPlaneY = uy;
		// denormalize distorted (i,j) coordinates
		p_focalPlaneX = denormalize(iNorm);
		p_focalPlaneY = denormalize(jNorm);
		p_focalPlaneX = denormalize(iNorm, m_width, m_height);
		p_focalPlaneY = denormalize(jNorm, m_height, m_width);
		return true;
		}


		/**
		* Normalize the value using the dimensions of the CCD, 2048 x 2048. This
		* method uses the formula below to normalize the given value:
		* Normalize the value using the given scalars. This method uses the formula
		* below to normalize the given value:
		*
		* @f[ norm = \frac{ value - \frac{2048}{2} }{ 2048 + 2048 } @f]
		* @f[ norm = \frac{ value - \frac{a}{2} }{ a + b } @f]
		*
		* @param value Value to be normalize.
		* @param a Primary scaling value.
		* @param b Secondary scaling value.
		*
		* @return @b double The normalized value.
		*/
		double TgoCassisDistortionMap::normalize(double value) {
		// use scaling factor based on size of CCD:
		// CCD width = CCD height = 2048
		return (value - 2048 / 2) / 4096;
		double TgoCassisDistortionMap::normalize(double value, double a, double b) {
		double sum = a + b;
		if (sum == 0) {
		return value;
		}
		return (value - a / 2) / sum;
		}


		/**
		* De-normalize the value using the dimensions of the CCD, 2048 x 2048.
		* This method is the inverse function of the normalize() function. It
		* uses the formula below to denormalize the given value:
		* De-normalize the value using the given scalars. This method is the
		* inverse function of the normalize() function. It uses the formula below
		* to denormalize the given value:
		*
		* @f[ denorm = value * (2048 + 2048) + \frac{2048}{2} @f]
		* @f[ denorm = value * (a + b) + \frac{a}{2} @f]
		*
		* @param value Value to be normalize.
		* @param a Primary scaling value.
		* @param b Secondary scaling value.
		*
		* @return @b double The normalized value.
		*/
		double TgoCassisDistortionMap::denormalize(double value) {
		// use scaling factor based on size of CCD:
		// CCD width = CCD height = 2048
		return value * 4096 + 2048 / 2;
		double TgoCassisDistortionMap::denormalize(double value, double a, double b) {
		double sum = a + b;
		if (sum == 0) {
		return value;
		}
		return value * sum + a / 2;
		}

		}

isis/src/tgo/objs/TgoCassisCamera/TgoCassisDistortionMap.h

+6 −2

Original line number	Diff line number	Diff line
		@@ -42,6 +42,7 @@ namespace Isis {
		*
		* @internal
		* @history 2017-04-03 Jeannie Walldren - Original version.
		* @history 2017-04-06 Jeannie Walldren - Fixed bugs and updated unitTest.
		*/
		class TgoCassisDistortionMap : public CameraDistortionMap {
		public:
		@@ -54,8 +55,11 @@ namespace Isis {
		virtual bool SetUndistortedFocalPlane(const double ux, const double uy);

		private:
		double normalize(double value);
		double denormalize(double value);
		double normalize(double value, double a, double b);
		double denormalize(double value, double a, double b);

		double m_width; //!< The width of the CaSSIS CCD, used to normalize/denormalize variables.
		double m_height; //!< The height of the CaSSIS CCD, used to normalize/denormalize variables.

		QList<double> m_A1; //!< First row of parameters of rational distortion model.
		QList<double> m_A2; //!< Second row of parameters of rational distortion model.

isis/src/tgo/objs/TgoCassisCamera/unitTest.cpp

+3 −6

Original line number	Diff line number	Diff line
		@@ -45,13 +45,10 @@ int main(void) {
		// These should be lat/lon at center of image. To obtain these numbers for a new cube/camera,
		// set both the known lat and known lon to zero and copy the unit test output
		// "Latitude off by: " and "Longitude off by: " values directly into these variables.
		double knownLat = 4.26586442746858552;
		double knownLon = 322.710822868154423;
		// orginal before distortion model: double knownLat = 4.1185046573490665;
		// orginal before distortion model: double knownLon = 322.6163976791718824;
		double knownLat = 4.33164869218781323; // before distortion model: 4.1185046573490665;
		double knownLon = 322.715872037511133; // before distortion model: 322.6163976791718824;

		// Cube c("$tgo/testData/CAS-MCO-2016-11-22T16.38.39.354-NIR-02036-B1.cub", "r");
		Cube c("CAS-MCO-2016-11-22T16.38.39.354-NIR-02036-B1.cub", "r");
		Cube c("$tgo/testData/CAS-MCO-2016-11-22T16.38.39.354-NIR-02036-00.cub", "r");
		TgoCassisCamera cam = (TgoCassisCamera ) CameraFactory::Create(c);
		qDebug() << "FileName: " << FileName(c.fileName()).name();
		qDebug() << "CK Frame: " << cam->instrumentRotation()->Frame();