Commit 0917cec8 authored by Oleg Alexandrov's avatar Oleg Alexandrov
Browse files

Fix conflict

parents 45c8ee47 4c8ce703

src/Distortion.cpp

+37 −40
Original line number Diff line number Diff line
@@ -165,13 +165,11 @@ void removeDistortion(double dx, double dy, double &ux, double &uy, 
    case RADIAL: {

      double rr = dx * dx + dy * dy;



      if (rr > tolerance) {

      double dr = opticalDistCoeffs[0] +

                  (rr * (opticalDistCoeffs[1] + rr * opticalDistCoeffs[2]));



      ux = dx * (1.0 - dr);

      uy = dy * (1.0 - dr);

      }

    } break;



    // Computes undistorted focal plane (x,y) coordinates given a distorted
@@ -363,13 +361,12 @@ void applyDistortion(double ux, double uy, double &dx, double &dy, 


  switch (distortionType) {

    // Compute distorted focal plane coordinate given undistorted

    // focal plane coordinate. This case works by iteratively adding distortion

    // focal plane coordinates. This case works by iteratively adding distortion

    // until the new distorted point, r, undistorts to within a tolerance of the

    // original point, rp.

    case RADIAL: {

      double rp2 = (ux * ux) + (uy * uy);



      if (rp2 > tolerance) {

      double rp = sqrt(rp2);

      // Compute first fractional distortion using rp

      double drOverR =
@@ -407,7 +404,7 @@ void applyDistortion(double ux, double uy, double &dx, double &dy, 


      dx = ux / (1.0 - drOverR);

      dy = uy / (1.0 - drOverR);

      }

      

    } break;

    case TRANSVERSE: {

      computeTransverseDistortion(ux, uy, dx, dy, opticalDistCoeffs);

tests/DistortionTests.cpp

+17 −8
Original line number Diff line number Diff line
@@ -124,17 +124,26 @@ TEST(transverse, removeDistortion_AlternatingOnes) { 
  EXPECT_NEAR(uy, 7.5, 1e-8);

}



TEST(Radial, testRemoveDistortion) {

  csm::ImageCoord imagePt(0.0, 4.0);

TEST(Radial, testUndistortDistort) {

  

  double ux, uy;

  std::vector<double> coeffs = {0, 0, 0};

  // Distorted pixel

  csm::ImageCoord imagePt(0.0, 1e-1);



  // Undistort

  double ux, uy;

  std::vector<double> coeffs = {0.03, 0.00001, 0.000004};

  double tolerance = 1e-2;

  removeDistortion(imagePt.samp, imagePt.line, ux, uy, coeffs,

                   DistortionType::RADIAL);

                   DistortionType::RADIAL, tolerance);

  

  EXPECT_NEAR(ux, 4, 1e-8);

  EXPECT_NEAR(uy, 0, 1e-8);

  // Distort back

  double desiredPrecision = 1e-6;

  double dx, dy;

  applyDistortion(ux, uy, dx, dy, coeffs,

                  DistortionType::RADIAL, desiredPrecision, tolerance);

  

  EXPECT_NEAR(dx, imagePt.samp, 1e-8);

  EXPECT_NEAR(dy, imagePt.line, 1e-8);

}



// If coeffs are 0 then this will have the same result as removeDistortion