PROG: remove LroWideAngleCameraDistortionMap.cpp from server - contained tabs

/**

 * @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.

 *

 *   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 & 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 <cmath>

#include "IString.h"

#include "LroWideAngleCameraDistortionMap.h"

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) {

    QString odkkey = "INS" + toString(naifIkCode) + "_OD_K";

    for(int i = 0; i < 2; i++) {

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

    }

  }

  /** 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 rr = dx * dx + dy * dy;

    double r = sqrt(rr);

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

    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 r, rr, dr;

    double xdistorted, ydistorted;

    double xprevious, yprevious;

    xprevious = 1000000.0;

    yprevious = 1000000.0;

    double tolerance = 1.0e-10;

    bool bConverged = false;

    double dk1 = p_odk[0];

    double dk2 = p_odk[1];

    // 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;

      r = sqrt(rr);

      // dr is the radial distortion contribution

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

  }

}