ossimMeanRadialLensDistortion Class Reference

#include <ossimMeanRadialLensDistortion.h>

Inheritance diagram for ossimMeanRadialLensDistortion:

Public Member Functions
	ossimMeanRadialLensDistortion ()
	ossimMeanRadialLensDistortion (ossimDpt calibratedPrincipalPoint, const NEWMAT::ColumnVector &radialDistance, const NEWMAT::ColumnVector &radialDistortion)
const std::vector< double > &	getCoefficients () const
std::vector< double > &	getCoefficients ()
virtual std::ostream &	print (std::ostream &out) const
	Generic print method. More...
double	deltaR (double r) const
virtual void	undistort (const ossimDpt &input, ossimDpt &output) const
void	solveCoefficients (const NEWMAT::ColumnVector &radialDistance, const NEWMAT::ColumnVector &radialDistortion)
void	solveCoefficients (const std::vector< double > &radialDistance, const std::vector< double > &radialDistortion)
virtual bool	saveState (ossimKeywordlist &kwl, const char *prefix=0) const
virtual bool	loadState (const ossimKeywordlist &kwl, const char *prefix=0)
Public Member Functions inherited from ossimLensDistortion
	ossimLensDistortion (const ossimDpt &callibratedCenter=ossimDpt(0, 0))
void	setCenter (const ossimDpt &center)
const ossimDpt &	getCenter () const
virtual void	forward (const ossimDpt &input, ossimDpt &output) const
virtual void	inverse (const ossimDpt &input, ossimDpt &output)
virtual void	distort (const ossimDpt &input, ossimDpt &output) const
Public Member Functions inherited from ossim2dTo2dTransform
virtual void	forward (ossimDpt &modify_this) const
virtual void	inverse (const ossimDpt &input, ossimDpt &output) const
virtual void	inverse (ossimDpt &modify_this) const
virtual const ossim2dTo2dTransform &	operator= (const ossim2dTo2dTransform &rhs)
virtual ossimDpt	getOrigin () const
void	setConvergenceThreshold (const double &new_threshold)
void	setMaxIterations (int new_max_iters)
void	setDxDy (const ossimDpt &dxdy)
Public Member Functions inherited from ossimObject
	ossimObject ()
virtual	~ossimObject ()
virtual ossimObject *	dup () const
virtual ossimString	getShortName () const
virtual ossimString	getLongName () const
virtual ossimString	getDescription () const
virtual ossimString	getClassName () const
virtual RTTItypeid	getType () const
virtual bool	canCastTo (ossimObject *obj) const
virtual bool	canCastTo (const RTTItypeid &id) const
virtual bool	canCastTo (const ossimString &parentClassName) const
virtual bool	isEqualTo (const ossimObject &obj, ossimCompareType compareType=OSSIM_COMPARE_FULL) const
virtual void	accept (ossimVisitor &visitor)
Public Member Functions inherited from ossimReferenced
	ossimReferenced ()
	ossimReferenced (const ossimReferenced &)
ossimReferenced &	operator= (const ossimReferenced &)
void	ref () const
	increment the reference count by one, indicating that this object has another pointer which is referencing it. More...
void	unref () const
	decrement the reference count by one, indicating that a pointer to this object is referencing it. More...
void	unref_nodelete () const
	decrement the reference count by one, indicating that a pointer to this object is referencing it. More...
int	referenceCount () const

Protected Attributes
std::vector< double >	theCoefficients
Protected Attributes inherited from ossimLensDistortion
ossimDpt	theCenter
Protected Attributes inherited from ossim2dTo2dTransform
double	theConvergenceThreshold
int	theMaxIterations
ossimDpt	theDxDy

Additional Inherited Members
Protected Member Functions inherited from ossim2dTo2dTransform
	ossim2dTo2dTransform ()
virtual	~ossim2dTo2dTransform ()
Protected Member Functions inherited from ossimReferenced
virtual	~ossimReferenced ()

Detailed Description

Definition at line 19 of file ossimMeanRadialLensDistortion.h.

Constructor & Destructor Documentation

ossimMeanRadialLensDistortion() [1/2]

ossimMeanRadialLensDistortion::ossimMeanRadialLensDistortion ( )

inline

Definition at line 22 of file ossimMeanRadialLensDistortion.h.

References theCoefficients.

   {
      theCoefficients.resize(4);
      theCoefficients[0] = 0.0;
      theCoefficients[1] = 0.0;
      theCoefficients[2] = 0.0;
      theCoefficients[3] = 0.0;
   }

ossimMeanRadialLensDistortion() [2/2]

ossimMeanRadialLensDistortion::ossimMeanRadialLensDistortion ( ossimDpt  calibratedPrincipalPoint, const NEWMAT::ColumnVector &  radialDistance, const NEWMAT::ColumnVector &  radialDistortion  )

inline

Instantiate a ossimMeanRadialLens with the calibrated data. The data consists of the Principal point, focal distance, radialDistance measures for the distortion deltas, the radial distortion values.

example of construction:

lets say we have the following:

principal point = (.008 , -.001) mm

and

field angle radial distance deltaR (distortion)

---

7.5 deg. .004 mm .0202 mm 15 deg. .007 mm .0411 mm 22.5 deg. .007 mm .0635 mm : : :

then construct the ossimMeanRadialLensDistortion class to construct the given focal length and principal point and the middle column as the radial distance column vector and the third column as the distortion values.

Definition at line 62 of file ossimMeanRadialLensDistortion.h.

References solveCoefficients(), and theCoefficients.

      :ossimLensDistortion(calibratedPrincipalPoint)
  {
     theCoefficients.resize(4);
     solveCoefficients(radialDistance, radialDistortion);
  }

Member Function Documentation

deltaR()

double ossimMeanRadialLensDistortion::deltaR

(

double

r

)

const

dletaR computes how much we should adjust r. The return value is the adjustment amount. This method is used by adjustPoint.

Definition at line 84 of file ossimMeanRadialLensDistortion.cpp.

References theCoefficients.

Referenced by undistort().

{
  double r3 = radius*radius*radius;
  double r5 = r3*radius*radius;
  double r7 = r5*radius*radius;

  return (radius*theCoefficients[0] +r3*theCoefficients[1] + r5*theCoefficients[2] + r7*theCoefficients[3]);
}

getCoefficients() [1/2]

const std::vector<double>& ossimMeanRadialLensDistortion::getCoefficients ( ) const

inline

Returns the coefficients (k1, k2, k3, k4) for the deltaR polynomial:

deltaR = k1*r + k2*r^3 + k3*r^5 + k4*r^7

Definition at line 76 of file ossimMeanRadialLensDistortion.h.

References theCoefficients.

{return theCoefficients;}

getCoefficients() [2/2]

std::vector<double>& ossimMeanRadialLensDistortion::getCoefficients ( )

inline

Definition at line 77 of file ossimMeanRadialLensDistortion.h.

References theCoefficients.

{return theCoefficients;}

loadState()

bool ossimMeanRadialLensDistortion::loadState ( const ossimKeywordlist &  kwl, const char *  prefix = 0  )

virtual

Method to the load (recreate) the state of the object from a keyword list. Return true if ok or false on error.

Reimplemented from ossimLensDistortion.

Definition at line 141 of file ossimMeanRadialLensDistortion.cpp.

References distance(), ossimKeywordlist::find(), ossimLensDistortion::loadState(), solveCoefficients(), theCoefficients, ossimString::toDouble(), and ossimString::toString().

{
   const char* k0 = kwl.find(prefix, "k0");
   const char* k1 = kwl.find(prefix, "k1");
   const char* k2 = kwl.find(prefix, "k2");
   const char* k3 = kwl.find(prefix, "k3");

   if(k1&&k2&&k3&&k3)
   {
      theCoefficients[0] = ossimString(k0).toDouble();
      theCoefficients[1] = ossimString(k1).toDouble();
      theCoefficients[2] = ossimString(k2).toDouble();
      theCoefficients[3] = ossimString(k3).toDouble();
   }
   else
   {
      std::vector<double> distances;
      std::vector<double> distortions;
      ossim_uint32 idx = 0;
      const char* distance   = kwl.find(prefix, "distance0");
      const char* distortion = kwl.find(prefix, "distortion0");

      while(distance&&distortion)
      {
         distances.push_back(ossimString(distance).toDouble());
         distortions.push_back(ossimString(distortion).toDouble());
         ++idx;
         distance   = kwl.find(prefix,
                               ossimString("distance")+ossimString::toString(idx));
         distortion = kwl.find(prefix,
                               ossimString("distortion")+ossimString::toString(idx));
      }

      solveCoefficients(distances, distortions);
   }

   return ossimLensDistortion::loadState(kwl, prefix);
   
}

print()

virtual std::ostream& ossimMeanRadialLensDistortion::print ( std::ostream &  out ) const

inlinevirtual

Generic print method.

Derived classes should re-implement as they see fit.

Returns

std::ostream&

Reimplemented from ossim2dTo2dTransform.

Definition at line 81 of file ossimMeanRadialLensDistortion.h.

  {return out;}

saveState()

bool ossimMeanRadialLensDistortion::saveState ( ossimKeywordlist &  kwl, const char *  prefix = 0  ) const

virtual

Method to save the state of the object to a keyword list. Return true if ok or false on error.

Reimplemented from ossimLensDistortion.

Definition at line 116 of file ossimMeanRadialLensDistortion.cpp.

References ossimKeywordlist::add(), ossimLensDistortion::saveState(), and theCoefficients.

Referenced by ossimApplanixUtmModel::saveState(), and ossimApplanixEcefModel::saveState().

{
   kwl.add(prefix,
           "k0",
           theCoefficients[0],
           true);
   
   kwl.add(prefix,
           "k1",
           theCoefficients[1],
           true);
   kwl.add(prefix,
           "k2",
           theCoefficients[2],
           true);
   
   kwl.add(prefix,
           "k3",
           theCoefficients[3],
           true);

   return ossimLensDistortion::saveState(kwl, prefix);
}

solveCoefficients() [1/2]

void ossimMeanRadialLensDistortion::solveCoefficients	(	const NEWMAT::ColumnVector &	radialDistance,
		const NEWMAT::ColumnVector &	radialDistortion
	)

solves the coefficients given the radial distances and distortion for each distance.

Definition at line 44 of file ossimMeanRadialLensDistortion.cpp.

References theCoefficients.

Referenced by loadState(), ossimMeanRadialLensDistortion(), and solveCoefficients().

{
   NEWMAT::ColumnVector coefficients(4);
   theCoefficients.resize(4);
   theCoefficients[0] = 0;
   theCoefficients[1] = 0;
   theCoefficients[2] = 0;
   theCoefficients[3] = 0;
   if((radialDistance.Nrows() == 0) ||
      (radialDistortion.Nrows() == 0))
   {
      return;
   }
   if(radialDistance.Nrows() == radialDistortion.Nrows())
   {
      NEWMAT::Matrix M(radialDistance.Nrows(), 4);
      
      // set up the matrix
      for(long row = 0; row < M.Nrows(); row++)
      {
         M[row][0] = radialDistance[row];
         M[row][1] = M[row][0]*radialDistance[row]*radialDistance[row];
         M[row][2] = M[row][1]*radialDistance[row]*radialDistance[row];
         M[row][3] = M[row][2]*radialDistance[row]*radialDistance[row];
      }
      
      NEWMAT::Matrix mTranspose = M.t();
      coefficients = ((mTranspose*M).i())*(mTranspose*radialDistortion);

      theCoefficients[0] = coefficients[0];
      theCoefficients[1] = coefficients[1];
      theCoefficients[2] = coefficients[2];
      theCoefficients[3] = coefficients[3];
   }
   else
   {
   }
}

solveCoefficients() [2/2]

void ossimMeanRadialLensDistortion::solveCoefficients	(	const std::vector< double > &	radialDistance,
		const std::vector< double > &	radialDistortion
	)

solves the coefficients given the radial distances and distortion for each distance.

Definition at line 21 of file ossimMeanRadialLensDistortion.cpp.

References solveCoefficients(), and theCoefficients.

{
   NEWMAT::ColumnVector distanceVec((int)radialDistance.size());
   NEWMAT::ColumnVector distortionVec((int)radialDistortion.size());
   ossim_uint32 idx = 0;

   theCoefficients[0] = 0;
   theCoefficients[1] = 0;
   theCoefficients[2] = 0;
   theCoefficients[3] = 0;
   if(radialDistance.size() == radialDistortion.size())
   {
      for(idx = 0; idx < radialDistance.size();++idx)
      {
         distanceVec[idx]   = radialDistance[idx];
         distortionVec[idx] = radialDistortion[idx];
      }
      solveCoefficients(distanceVec,
                        distortionVec);
   }
}

undistort()

void ossimMeanRadialLensDistortion::undistort ( const ossimDpt &  input, ossimDpt &  output  ) const

virtual

Implements ossimLensDistortion.

Definition at line 94 of file ossimMeanRadialLensDistortion.cpp.

References deltaR(), FLT_EPSILON, ossimLensDistortion::theCenter, ossimDpt::x, and ossimDpt::y.

Referenced by ossimApplanixUtmModel::imagingRay(), and ossimApplanixEcefModel::imagingRay().

{
   ossimDpt deltaPosition(input.x - theCenter.x,
                          input.y - theCenter.y);
   double r = sqrt(deltaPosition.x*deltaPosition.x + 
                   deltaPosition.y*deltaPosition.y);
   double deltaRadius = deltaR(r);
   
   if((fabs(r) <= FLT_EPSILON)||
      (fabs(deltaRadius) <= FLT_EPSILON))
   {
      output = input;
      return;
   }
   
   double deltaX      = (deltaPosition.x*(deltaRadius/r)); 
   double deltaY      = (deltaPosition.y*(deltaRadius/r)); 
   
   output.x = deltaPosition.x-deltaX;
   output.y = deltaPosition.y-deltaY;
}

Member Data Documentation

theCoefficients

std::vector<double> ossimMeanRadialLensDistortion::theCoefficients

protected

Definition at line 113 of file ossimMeanRadialLensDistortion.h.

Referenced by deltaR(), getCoefficients(), loadState(), ossimMeanRadialLensDistortion(), saveState(), and solveCoefficients().

---

The documentation for this class was generated from the following files:

• ossimMeanRadialLensDistortion.h
• ossimMeanRadialLensDistortion.cpp