LROC WAC camera model has been improved and supports new kernels. Fixes #2048.

/**

 * @file

 * $Revision: 1.5 $

 * $Date: 2010/05/12 23:28:12 $

 *

 *   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.

 *

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 *

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 */

#include <cmath>

#include <sstream>

#include <iomanip>

#include <boost/foreach.hpp>

#include "IString.h"

#include "LroWideAngleCameraDistortionMap.h"

using namespace std;

namespace Isis {

  /** Camera distortion map constructor

   *

   * Create a camera distortion map.  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.

   *

   * @param parent        the parent camera that will use this distortion map

   * @param zDirection    the direction of the focal plane Z-axis

   *                      (either 1 or -1)

   *

   */

  LroWideAngleCameraDistortionMap::LroWideAngleCameraDistortionMap(Camera *parent, 

                                                                   int naifIkCode) : 

                                                                   CameraDistortionMap(parent) {

    SetDistortion(naifIkCode);

  }

/**

 * @brief Add an additional set of parameters for a given LROC/WAC filter 

 *  

 * This method will read the parameters for LROC/WAC filter as indicated by the 

 * IK code provided. It will create a vector of these parameters and append them 

 * to the band list. 

 *  

 * The filters added should correspond directly to the order in which the 

 * filters are physically stored in the ISIS cube (or the virtually selected 

 * bands). 

 * 

 * @author 2013-03-07 Kris Becker

 * 

 * @param naifIkCode NAIF IK code for the desired filter to add.

 */

  void LroWideAngleCameraDistortionMap::addFilter(int naifIkCode) {

    QString odkkey = "INS" + QString::number(naifIkCode) + "_OD_K";

    std::vector<double> v_odk; 

    for(int i = 0; i < 3; i++) {

      v_odk.push_back(p_camera->getDouble(odkkey, i));

    }

    m_odkFilters.push_back(v_odk);

  }

/**

 * @brief Implements band-dependant distortion parameters 

 *  

 * This method should be used to switch to another band's set of distortion 

 * parameters.  See the addFilter() method to add additional band parameters to 

 * this object. Note that the band number should correspond with the same order 

 * as they were added in the addFilter() method. 

 * 

 * @author 2013-03-07 Kris Becker

 * 

 * @param vband  Band number to select.  Range is 1 to Bands.

 */

  void LroWideAngleCameraDistortionMap::setBand(int vband) {

    if ( (vband <= 0) || (vband > m_odkFilters.size()) ) {

      QString mess = "Invalid band (" + QString::number(vband) + " requested " +

                     " Must be <= " + QString::number(m_odkFilters.size());

      throw IException(IException::Programmer, mess, _FILEINFO_);

    }

    //  Install new parameters

    p_odk = m_odkFilters[vband-1];

    return;

  }

  /** Compute undistorted focal plane x/y

   *

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

   *

   * @param dx distorted focal plane x in millimeters

   * @param dy distorted focal plane y in millimeters

   *

   * @return if the conversion was successful

   * @see SetDistortion

   * @todo Generalize polynomial equation

   */

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

    p_focalPlaneX = dx;

    p_focalPlaneY = dy;

    double dk1 = p_odk[0];

    double dk2 = p_odk[1];

    double dk3 = p_odk[2];

    double rr = dx * dx + dy * dy;

    double dr = 1.0 + dk1 * rr + dk2 * rr * rr + dk3 * rr * rr * rr;

    // This was in here when the model used to be dx/dr so that the model

    // would never divide by zero.

    if ( dr == 0.0 ) return false;

    // Compute the undistorted positions

    p_undistortedFocalPlaneX = dx * dr;

    p_undistortedFocalPlaneY = dy * dr;

    return true;

  }

  /** Compute distorted focal plane x/y

   *

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

   *

   * @param ux undistorted focal plane x in millimeters

   * @param uy undistorted focal plane y in millimeters

   *

   * @return if the conversion was successful

   * @see SetDistortion

   * @todo Generalize polynomial equation

   * @todo Figure out a better solution for divergence condition

   */

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

    // image coordinates prior to introducing distortion

    p_undistortedFocalPlaneX = ux;

    p_undistortedFocalPlaneY = uy;

    double xt = ux;

    double yt = uy;

    double rr, dr;

    double xdistorted, ydistorted;

    double xprevious, yprevious;

    xprevious = 1000000.0;

    yprevious = 1000000.0;

    // Changed this line to 10^-6... it allows the outer pixels to be found

    // when mapping back to the sensor

    double tolerance = 1.0e-6;

    bool bConverged = false;

    double dk1 = p_odk[0];

    double dk2 = p_odk[1];

    double dk3 = p_odk[2];

    // 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++) {

      rr = xt * xt + yt * yt;

      // dr is the radial distortion contribution

      dr = 1.0 + dk1 * rr + dk2 * rr * rr + dk3 * rr * rr * rr;

      // introducing distortion

      xt = ux / dr;

      yt = uy / dr;

      // distorted point

      xdistorted = xt;

      ydistorted = yt;

      // check for convergence

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

        bConverged = true;

        break;

      }

      xprevious = xt;

      yprevious = yt;

    }

    if(bConverged) {

      p_focalPlaneX = xdistorted;

      p_focalPlaneY = ydistorted;

    }

    return bConverged;

  }

}