Unverified Commit ae1d6465 authored by jcwbacker's avatar jcwbacker Committed by GitHub
Browse files

Merge pull request #450 from jcwbacker/lroc 

Added Clementine UVVIS distortion model.
parents d7ca21df 65115dde

isis/src/clementine/apps/clem2isis/clem2isis.cpp

100644 → 100755
+49 −28
Original line number Diff line number Diff line 
#include "Isis.h"



#include <cstdio>



#include <QString>



#include "pds.h"

#include "ProcessByLine.h"

#include "PvlToPvlTranslationManager.h"

#include "SpecialPixel.h"

#include "UserInterface.h"

#include "FileName.h"

#include "IException.h"

#include "iTime.h"

#include "Preference.h"

#include "IString.h"

#include "OriginalLabel.h"

#include "pds.h"

#include "Preference.h"

#include "ProcessByLine.h"

#include "PvlToPvlTranslationManager.h"

#include "SpecialPixel.h"

#include "UserInterface.h"



using namespace std;

using namespace Isis;



void WriteLine(Buffer &b);

void TranslateLabels(FileName in, Cube *ocube);

void writeLine(Buffer &b);

void translateLabels(FileName in, Cube *ocube);

PDSINFO *pdsi;



void IsisMain() {
@@ -64,13 +65,13 @@ void IsisMain() { 
  ProcessByLine p;

  CubeAttributeOutput cubeAtt("+unsignedByte+1.0:254.0");

  Cube *ocube = p.SetOutputCube(ui.GetFileName("TO"), cubeAtt, pdsi->image_ncols, pdsi->image_nrows);

  p.StartProcess(WriteLine);

  TranslateLabels(in, ocube);

  p.StartProcess(writeLine);

  translateLabels(in, ocube);

  p.EndProcess();

}



//Function to move uncompressed data to a cube

void WriteLine(Buffer &b) {

void writeLine(Buffer &b) {

  for (int i = 0; i < pdsi->image_ncols; i++) {

    double d = pdsi->image[((b.Line()-1)*pdsi->image_ncols) + i];

    if (d <= 0.0) {
@@ -85,6 +86,7 @@ void WriteLine(Buffer &b) { 
  }

}





/**

 *  Function to propagate the labels.

 *
@@ -95,7 +97,7 @@ void WriteLine(Buffer &b) { 
 *

 */



void TranslateLabels(FileName in, Cube *ocube) {

void translateLabels(FileName in, Cube *ocube) {

  // Get the directory where the Clementine translation tables are.

  PvlGroup &dataDir = Preference::Preferences().findGroup("DataDirectory");
@@ -149,7 +151,26 @@ void TranslateLabels(FileName in, Cube *ocube) { 
    kern += PvlKeyword("NaifFrameCode", "-40001");

  }

  if (((QString)inst["InstrumentId"]) == "UVVIS") {

    kern += PvlKeyword("NaifFrameCode", "-40002");

    // JAA & VS ... modified to support variable focal length and optical

    // distortion for UVVIS

    if (filter == "A") {

      kern += PvlKeyword("NaifFrameCode", "-40021");

    }

    if (filter == "B") {

      kern += PvlKeyword("NaifFrameCode", "-40022");

    }

    if (filter == "C") {

      kern += PvlKeyword("NaifFrameCode", "-40023");

    }

    if (filter == "D") {

      kern += PvlKeyword("NaifFrameCode", "-40024");

    }

    if (filter == "E") {

      kern += PvlKeyword("NaifFrameCode", "-40025");

    }

    if (filter == "F") {

      kern += PvlKeyword("NaifFrameCode", "-40026");

    }

  }

  if (((QString)inst["InstrumentId"]) == "NIR") {

    kern += PvlKeyword("NaifFrameCode", "-40003");

isis/src/clementine/apps/clem2isis/clem2isis.xml

100644 → 100755
+7 −0
Original line number Diff line number Diff line
@@ -72,6 +72,13 @@ 
      Modified label transfer to include MCP_Gain_Mode_ID when images is from 

      HIRES camera.

    </change>

    <change name="Jeff Anderson and Victor Silva" date="2017-12-27">

      Modified Kernels group to support filter dependent focal length and optical distortion 

      for UVVIS camera.

    </change>

    <change name="Jeannie Backer" date="2018-09-01">

      Added documentation, brought closer to coding standards and merged into public repo.

    </change>

  </history>



  <groups>

isis/src/clementine/objs/UvvisCamera/ClementineUvvisDistortionMap.cpp

0 → 100755
+195 −0
Original line number Diff line number Diff line 
/**

 * @file

 * $Revision: 1.19 $

 * $Date: 2010/03/22 19:44:53 $

 *

 *   Unless noted otherwise, the portions of Isis written by the USGS are

 *   public domain. See individual third-party library and package descriptions

 *   for intellectual property information, user agreements, and related

 *   information.

 *

 *   Although Isis has been used by the USGS, no warranty, expressed or

 *   implied, is made by the USGS as to the accuracy and functioning of such

 *   software and related material nor shall the fact of distribution

 *   constitute any such warranty, and no responsibility is assumed by the

 *   USGS in connection therewith.

 *

 *   For additional information, launch

 *   $ISISROOT/doc//documents/Disclaimers/Disclaimers.html

 *   in a browser or see the Privacy &amp; Disclaimers page on the Isis website,

 *   http://isis.astrogeology.usgs.gov, and the USGS privacy and disclaimers on

 *   http://www.usgs.gov/privacy.html.

 */



#include <iomanip>



#include "CameraFocalPlaneMap.h"

#include "ClementineUvvisDistortionMap.h"



using namespace std;



namespace Isis {

  /** 

   * Construct a distortion map for the Clementine UVVIS instrument. 

   *  

   * @param parent Camera object corresponding to this distortion map. 

   * @param xp The x coordinate for the principal point offset.

   * @param yp The y coordinate for the principal point offset. 

   * @param k1 The constant term coefficient for the radial distortion 

   *           contribution polynomial.

   * @param k2 The linear term coefficient for the radial distortion 

   *           contribution polynomial.

   * @param k3 The quadratic term coefficient for the radial distortion 

   *           contribution polynomial.

   * @param p1 First decentering distortion term.

   * @param p2 Second decentering distortion term.

   *  

   */ 

  ClementineUvvisDistortionMap::ClementineUvvisDistortionMap(Camera *parent,

                                                             double xp, double yp,

                                                             double k1, double k2, double k3,

                                                             double p1, double p2) :

      CameraDistortionMap(parent, 1.0) {



    p_xp = xp;

    p_yp = yp;

    p_k1 = k1;

    p_k2 = k2;

    p_k3 = k3;

    p_p1 = p1;

    p_p2 = p2;



  }





  /** 

   * Deconstruct the distortion map for the Clementine UVVIS instrument. 

   */ 

  ClementineUvvisDistortionMap::~ClementineUvvisDistortionMap() {

  }





  /**

   * Compute undistorted focal plane x/y

   *

   * Compute undistorted focal plane x/y given a distorted focal plane x/y.

   * after calling this method, you can obtain the undistorted

   * x/y via the UndistortedFocalPlaneX and UndistortedFocalPlaneY methods

   *

   * @param dx Distorted focal plane x in millimeters.

   * @param dy Distorted focal plane y in millimeters.

   *

   * @return @b bool Indicates whether the conversion was successful.

   */

  bool ClementineUvvisDistortionMap::SetFocalPlane(const double dx, const double dy) {

    p_focalPlaneX = dx;

    p_focalPlaneY = dy;



    // reducing to principal point offset (xp,yp)

    double x = dx - p_xp;

    double y = dy - p_yp;



//    std::cout << setprecision(14) << " dx " << dx << " dy " << dy << " p_xp " << p_xp << " p_yp " << p_yp;

    // r is the distance between the principal point and the measured point on the image

    double rr = x * x + y * y;

//    std::cout << " rr " << rr << " r " << sqrt(rr);



    //  dr is the radial distortion contribution

    double dr = p_k1 + p_k2 * rr + p_k3 * rr * rr;

//    std::cout << " dr " << dr;



    // dtx and dty are the decentering distortion contribution in x and y

    double dtx = p_p1 * (rr + 2.0 * x * x) + 2.0 * p_p2 * x * y;

    double dty = 2.0 * p_p1 * x * y + p_p2 * (rr + 2 * y * y);

//    std::cout << " dtx " << dtx << " dty " << dty << std::endl;



    // image coordinates corrected for principal point, radial and decentering distortion (p1,p2,p3)

    p_undistortedFocalPlaneX = dx + x * dr + dtx;

    p_undistortedFocalPlaneY = dy + y * dr + dty;



    return true;

  }





  /**

   * Compute distorted focal plane x/y

   *

   * Compute distorted focal plane x/y given an undistorted focal plane x/y.

   * After calling this method, you can obtain the distorted x/y via the

   * FocalPlaneX and FocalPlaneY methods

   *

   * @param ux undistorted focal plane x in millimeters

   * @param uy undistorted focal plane y in millimeters

   *

   * @return if the conversion was successful

   */

  bool ClementineUvvisDistortionMap::SetUndistortedFocalPlane(const double ux, const double uy) {



    double xt = ux;

    double yt = uy;



    double xx, yy, rr, dr;

    double xdistortion, ydistortion;

    double xdistorted, ydistorted;

    double xprevious, yprevious;

    

    //  dr is the radial distortion contribution

    //  dtx and dty are the decentering distortion contributions in x and y

   

    xprevious = 1000000.0;

    yprevious = 1000000.0;



    double tolerance = 0.000001;



    bool bConverged = false;



    // iterating to introduce distortion...

    // we stop when the difference between distorted coordinates

    // in successive iterations is at or below the given tolerance

    for (int i = 0; i < 50; i++) {

      xx = xt * xt;

      yy = yt * yt;

      rr = xx + yy;



      // radial distortion

      //  dr is the radial distortion contribution

      // -dt*sin(p_t0) is the decentering distortion contribution in the x-direction

      //  dt*cos(p_t0) is the decentering distortion contribution in the y-direction

      dr = p_k1 + p_k2 * rr + p_k3 * rr * rr;



      double dtx = p_p1 * (rr + 2.0 * xt * xt) + 2.0 * p_p2 * xt * yt;

      double dty = 2.0 * p_p1 * xt * yt + p_p2 * (rr + 2 * yt * yt);



      // distortion at the current point location

      xdistortion = dr * xt + dtx;

      ydistortion = dr * yt + dty;



      // updated image coordinates

      xt = ux - xdistortion;

      yt = uy - ydistortion;



      // distorted point corrected for principal point

      xdistorted = xt + p_xp;

      ydistorted = yt + p_yp;



      // check for convergence

      if ((fabs(xt - xprevious) <= tolerance) && (fabs(yt - yprevious) <= tolerance)) {

        bConverged = true;

        break;

      }



      xprevious = xt;

      yprevious = yt;

    }



    if (bConverged) {

      p_undistortedFocalPlaneX = ux;

      p_undistortedFocalPlaneY = uy;



      p_focalPlaneX = xdistorted;

      p_focalPlaneY = ydistorted;

    }



    return bConverged;

  }

}

isis/src/clementine/objs/UvvisCamera/ClementineUvvisDistortionMap.h

0 → 100644
+68 −0
Original line number Diff line number Diff line 
#ifndef ClementineUvvisDistortionMap_h

#define ClementineUvvisDistortionMap_h



/**

 * @file

 * $Revision: 1.17 $

 * $Date: 2010/03/22 19:44:53 $

 *

 *   Unless noted otherwise, the portions of Isis written by the USGS are

 *   public domain. See individual third-party library and package descriptions

 *   for intellectual property information, user agreements, and related

 *   information.

 *

 *   Although Isis has been used by the USGS, no warranty, expressed or

 *   implied, is made by the USGS as to the accuracy and functioning of such

 *   software and related material nor shall the fact of distribution

 *   constitute any such warranty, and no responsibility is assumed by the

 *   USGS in connection therewith.

 *

 *   For additional information, launch

 *   $ISISROOT/doc//documents/Disclaimers/Disclaimers.html

 *   in a browser or see the Privacy &amp; Disclaimers page on the Isis website,

 *   http://isis.astrogeology.usgs.gov, and the USGS privacy and disclaimers on

 *   http://www.usgs.gov/privacy.html.

 */





#include "Camera.h"

#include "CameraDistortionMap.h"



namespace Isis {



  /**

   * @brief Distortion map for the Clementine UVVIS camera

   *

   * This class is was copied from the Chandrayaan1 M3 camera model as its distortion map.

   * Equations provided by Randy Kirk and code provided by Ken Edmundson.

   *

   * @ingroup Camera

   *

   * @author 2017-12-27 Jeff Anderson & Victor Silva

   *

   * @internal

   *   @history 2017-12-27 Jeff Anderson & Victor Silva - Copied code from Chandrayaan1 M3 camera.

   *   @history 2018-09-01 Jeannie Backer - Added documentation and merged into public repo.

   */



  class ClementineUvvisDistortionMap : public CameraDistortionMap {

    public:

      ClementineUvvisDistortionMap(Camera *parent, double xp, double yp,

                                  double k1, double k2, double k3,

                                  double p1, double p2);

      ~ClementineUvvisDistortionMap();



      bool SetFocalPlane(const double dx, const double dy);

      bool SetUndistortedFocalPlane(const double ux, const double uy);



    private: // parameters below are from camera calibration report

      double p_xp; //!< Principal point x coordinate.

      double p_yp; //!< Principal point y coordinate.

      double p_k1; //!< Constant term coefficient of radial distortion.

      double p_k2; //!< Linear term coefficient of radial distortion.

      double p_k3; //!< Quadratic term coefficient of radial distortion.

      double p_p1; //!< First coefficient of decentering distortion.

      double p_p2; //!< Second coefficient of decentering distortion.

  };

};

#endif

isis/src/clementine/objs/UvvisCamera/UvvisCamera.cpp

100644 → 100755
+12 −2
Original line number Diff line number Diff line
@@ -23,10 +23,10 @@ 
#include <QString>



#include "CameraDetectorMap.h"

#include "CameraDistortionMap.h"

#include "CameraFocalPlaneMap.h"

#include "CameraGroundMap.h"

#include "CameraSkyMap.h"

#include "ClementineUvvisDistortionMap.h"

#include "IString.h"

#include "iTime.h"

#include "NaifStatus.h"
@@ -79,8 +79,17 @@ namespace Isis { 
      Spice::getDouble("INS" + toString(naifIkCode()) + 

                       "_BORESIGHT_LINE"));



    QString ppKey("INS" + toString(naifIkCode()) + "_PP");

    QString odKey("INS" + toString(naifIkCode()) + "_OD_K");

    QString decenterKey("INS" + toString(naifIkCode()) + "_DECENTER");



    // Setup distortion map

    new CameraDistortionMap(this);

    new ClementineUvvisDistortionMap(this, 

                                    getDouble(ppKey, 0), getDouble(ppKey, 1),

                                    getDouble(odKey, 0), getDouble(odKey, 1), getDouble(odKey, 2),

                                    getDouble(decenterKey, 0), getDouble(decenterKey, 1));







    // Setup the ground and sky map

    new CameraGroundMap(this);
@@ -91,6 +100,7 @@ namespace Isis { 
    NaifStatus::CheckErrors();

  }





  /**

   * Returns the shutter open and close times. The user should pass in the

   * ExposureDuration keyword value, converted to seconds, and the StartTime