Unverified Commit 4c8ce703 authored by Oleg Alexandrov's avatar Oleg Alexandrov Committed by GitHub
Browse files

No need for tolerance check for radial distortion (#464) 

* No need for tolerance check for radial distortion

* Indentation in src/Distortion.cpp
parent ce4d6a19

src/Distortion.cpp

+43 −46
Original line number Diff line number Diff line
@@ -94,13 +94,11 @@ 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
@@ -221,7 +219,7 @@ void removeDistortion(double dx, double dy, double &ux, double &uy, 
      bool done;



      /****************************************************************************

       * Pre-loop intializations

       * Pre-loop initializations

       ****************************************************************************/



      r2 = dy * dy + dx * dx;
@@ -255,7 +253,7 @@ void removeDistortion(double dx, double dy, double &ux, double &uy, 
      } while (!done);



      /****************************************************************************

       * Sucess ...

       * Success ...

       ****************************************************************************/



      ux = guess_ux;
@@ -327,14 +325,13 @@ void applyDistortion(double ux, double uy, double &dx, double &dy, 
  dy = uy;



  switch (distortionType) {

    // Compute undistorted focal plane coordinate given a distorted

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

    // Compute distorted focal plane coordinate given undistorted

    // 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 =
@@ -372,7 +369,7 @@ 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);
@@ -468,7 +465,7 @@ void applyDistortion(double ux, double uy, double &dx, double &dy, 


    // The LRO LROC NAC distortion model uses an iterative approach to go from

    // undistorted x,y to distorted x,y

    // Algorithum adapted from ISIS3 LRONarrowAngleDistortionMap.cpp

    // Algorithm adapted from ISIS3 LRONarrowAngleDistortionMap.cpp

    case LROLROCNAC: {

      double yt = uy;
@@ -491,9 +488,9 @@ void applyDistortion(double ux, double uy, double &dx, double &dy, 


      double dk1 = opticalDistCoeffs[0];



      // Owing to the odd distotion model employed in this senser if |y| is >

      // Owing to the odd distortion model employed in this sensor if |y| is >

      // 116.881145553046 then there is no root to find.  Further, the greatest

      // y that any measure on the sensor will acutally distort to is less

      // y that any measure on the sensor will actually distort to is less

      // than 20.  Thus, if any distorted measure is greater that that skip the

      // iterations.  The points isn't in the cube, and exactly how far outside

      // the cube is irrelevant.  Just let the camera model know its not in the

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