Commit 8c980d24 authored by Kelvin Rodriguez's avatar Kelvin Rodriguez Committed by Jesse Mapel
Browse files

updated distortion to closer match ISIS (#243) 

* updated distortion to closer match ISIS

* updated tolerance

* put back half removed comment
parent cabe50fc

include/usgscsm/Distortion.h

+1 −1
Original line number Diff line number Diff line
@@ -30,5 +30,5 @@ void removeDistortion(double dx, double dy, double &ux, double &uy, 
void applyDistortion(double ux, double uy, double &dx, double &dy,

                     const std::vector<double> opticalDistCoeffs,

                     DistortionType distortionType,

                     const double desiredPrecision = 0, const double tolerance = 1.0E-6);

                     const double desiredPrecision = 1.0E-6, const double tolerance = 1.0E-6);

#endif

src/Distortion.cpp

+7 −4
Original line number Diff line number Diff line
@@ -97,9 +97,9 @@ void removeDistortion(double dx, double dy, double &ux, double &uy, 
    case RADIAL: {

      double rr = dx * dx + dy * dy;



      if (rr > tolerance)

      {

      if (rr > tolerance) {

        double dr = opticalDistCoeffs[0] + (rr * (opticalDistCoeffs[1] + rr * opticalDistCoeffs[2]));

        

        ux = dx * (1.0 - dr);

        uy = dy * (1.0 - dr);

      }
@@ -306,17 +306,19 @@ void applyDistortion(double ux, double uy, double &dx, double &dy, 
        // Compute first fractional distortion using rp

        double drOverR = opticalDistCoeffs[0]

                      + (rp2 * (opticalDistCoeffs[1] + (rp2 * opticalDistCoeffs[2])));

        

        // Compute first distorted point estimate, r

        double r = rp + (drOverR * rp);

        double r_prev, r2_prev;

        int iteration = 0;

        

        do {

          // Don't get in an end-less loop.  This algorithm should

          // converge quickly.  If not then we are probably way outside

          // of the focal plane.  Just set the distorted position to the

          // undistorted position. Also, make sure the focal plane is less

          // than 1km, it is unreasonable for it to grow larger than that.

          if (iteration >= 15 || r > 1E9) {

          if (iteration >= 20 || r > 1E9) {

            drOverR = 0.0;

            break;

          }
@@ -332,7 +334,8 @@ void applyDistortion(double ux, double uy, double &dx, double &dy, 
          r = rp + (drOverR * r_prev);

          iteration++;

        }

        while (fabs(r * (1 - drOverR) - rp) > desiredPrecision);

        while (fabs(r - r_prev) > desiredPrecision);

        

        dx = ux / (1.0 - drOverR);

        dy = uy / (1.0 - drOverR);

      }