Proecedure for compensation of aerial camera lens distortion as computed by the Simultaneous Multiframe Analytical Calibration (SMAC) System: More...

#include <ossimSmacCallibrationSystem.h>

Inheritance diagram for ossimSmacCallibrationSystem:

Public Member Functions
	ossimSmacCallibrationSystem (const ossimDpt &callibratedCenter=ossimDpt(0.0, 0.0))

	ossimSmacCallibrationSystem (double k0, double k1, double k2, double k3, double k4, double p1, double p2, double p3, double p4, const ossimDpt &callibratedCenter=ossimDpt(0.0, 0.0))

	ossimSmacCallibrationSystem (const ossimSmacCallibrationSystem &src)

virtual ossimObject *	dup () const

const double *	symmetricRadialDistortionCoefficients () const

void	setSymmetricRadialDistortionCoefficients (double k0, double k1, double k2, double k3, double k4)

const double *	decenteringDistortionCoefficients () const

void	setDecenteringDistortionCoefficients (double p1, double p2, double p3, double p4)

const double *	radialDistortionCoefficients () const

virtual void	undistort (const ossimDpt &input, ossimDpt &output) const

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

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 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

virtual std::ostream &	print (std::ostream &out) const
	Generic print method. More...

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 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

Static Public Member Functions
static void	test ()

Protected Attributes
double	_symmetricRadialDistortionCoefficients [5]
	The coeeficients are arranged index 0..N-1 where 0 refers to K'0 ... More...

double	_decenteringDistortionCoefficients [4]
	The coeeficients are arranged index 0..N-1 where 0 refers to P1 ... More...

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

Proecedure for compensation of aerial camera lens distortion as computed by the Simultaneous Multiframe Analytical Calibration (SMAC) System:

  TRANSLATION TO POINT OF SYMMETRY:

  All measured points (x0, y0) requiring a distortion correction must be first referenced to the principal point of
  autocollimation (PPA) at (0,0) as are the calibrated fiducials. Once the measured points are in the PPA reference frame, they
  then must be translated to the calibrated point of symmetry (POS), (Xp, Yp).
X = X0 - Xp
Y = Y0 - Yp

  Once X and Y are found we need to obtain the radial distance R:
      R = sqrt(X^2 + Y^2)

  SYMMETRIC RADIAL DISTORTION: 
  To compute the correction for the symmetric radial distortion (DXr, DYr)
DXr = X(K'0 + K'1*R^2 + K'2*R^4 + K'3*R^6 + K'4*R^8);
DXr = Y(K'0 + K'1*R^2 + K'2*R^4 + K'3*R^6 + K'4*R^8);

  DECENTERING DISTORTION:
  To compute the correction for decentering distortion (DXd, DYd) of the measured point use
  the coefficients of the decentering distortion (P1, .. P4) in the following formula
DXd = (1 + P3*R^2 + P4R^4)*(P1*(R^2 + 2*X^2) + 2*P2*X*Y)
DYd = (1 + P3*R^2 + P4R^4)*(2P1*X*Y + P2*(R^2 + 2*Y^2))

  FINAL CORRECTED COORDINATES: 
  Adding the symmetric radial and decentering distortion corrections to the 
  translation of the measured point results in a corrected final x and y-coordinate 
  for the measured point (Xc, Yc).
Xc = X + DXr + DXd
Yc = Y + DYr + DYd 

*

Definition at line 59 of file ossimSmacCallibrationSystem.h.

Constructor & Destructor Documentation

◆ ossimSmacCallibrationSystem() [1/3]

ossimSmacCallibrationSystem::ossimSmacCallibrationSystem ( const ossimDpt & callibratedCenter = ossimDpt(0.0, 0.0) )

inline

Definition at line 62 of file ossimSmacCallibrationSystem.h.

    :ossimLensDistortion(callibratedCenter)
    {
       _symmetricRadialDistortionCoefficients[0] = 0;
       _symmetricRadialDistortionCoefficients[1] = 0;
       _symmetricRadialDistortionCoefficients[2] = 0;
       _symmetricRadialDistortionCoefficients[3] = 0;
       _symmetricRadialDistortionCoefficients[4] = 0;
       _decenteringDistortionCoefficients[0]     = 0;
       _decenteringDistortionCoefficients[1]     = 0;
       _decenteringDistortionCoefficients[2]     = 0;
       _decenteringDistortionCoefficients[3]     = 0;
    }

◆ ossimSmacCallibrationSystem() [2/3]

ossimSmacCallibrationSystem::ossimSmacCallibrationSystem	(	double	k0,
		double	k1,
		double	k2,
		double	k3,
		double	k4,
		double	p1,
		double	p2,
		double	p3,
		double	p4,
		const ossimDpt &	callibratedCenter = `ossimDpt(0.0,0.0)`
	)

inline

Definition at line 75 of file ossimSmacCallibrationSystem.h.

    :ossimLensDistortion(callibratedCenter)
    {
       setSymmetricRadialDistortionCoefficients(k0, k1, k2, k3, k4);
       _decenteringDistortionCoefficients[0]     = p1;
       _decenteringDistortionCoefficients[1]     = p2;
       _decenteringDistortionCoefficients[2]     = p3;
       _decenteringDistortionCoefficients[3]     = p4;
    }

◆ ossimSmacCallibrationSystem() [3/3]

ossimSmacCallibrationSystem::ossimSmacCallibrationSystem ( const ossimSmacCallibrationSystem & src )

inline

Definition at line 86 of file ossimSmacCallibrationSystem.h.

References _decenteringDistortionCoefficients, and _symmetricRadialDistortionCoefficients.

    {
       std::copy(src._symmetricRadialDistortionCoefficients,
                 src._symmetricRadialDistortionCoefficients+5,
                 _symmetricRadialDistortionCoefficients);
       std::copy(src._decenteringDistortionCoefficients,
                 src._decenteringDistortionCoefficients+4,
                 _decenteringDistortionCoefficients);
    }

Member Function Documentation

◆ decenteringDistortionCoefficients()

const double* ossimSmacCallibrationSystem::decenteringDistortionCoefficients ( ) const

inline

Definition at line 111 of file ossimSmacCallibrationSystem.h.

    {
       return _decenteringDistortionCoefficients;
    }

◆ dup()

virtual ossimObject* ossimSmacCallibrationSystem::dup ( ) const

inlinevirtual

Reimplemented from ossimObject.

Definition at line 95 of file ossimSmacCallibrationSystem.h.

    {
       return new ossimSmacCallibrationSystem(*this);
    }

◆ radialDistortionCoefficients()

const double* ossimSmacCallibrationSystem::radialDistortionCoefficients ( ) const

inline

Definition at line 122 of file ossimSmacCallibrationSystem.h.

    {
       return _symmetricRadialDistortionCoefficients;
    }

◆ setDecenteringDistortionCoefficients()

void ossimSmacCallibrationSystem::setDecenteringDistortionCoefficients	(	double	p1,
		double	p2,
		double	p3,
		double	p4
	)

inline

Definition at line 115 of file ossimSmacCallibrationSystem.h.

    {
       _decenteringDistortionCoefficients[0]     = p1;
       _decenteringDistortionCoefficients[1]     = p2;
       _decenteringDistortionCoefficients[2]     = p3;
       _decenteringDistortionCoefficients[3]     = p4;
    }

◆ setSymmetricRadialDistortionCoefficients()

void ossimSmacCallibrationSystem::setSymmetricRadialDistortionCoefficients	(	double	k0,
		double	k1,
		double	k2,
		double	k3,
		double	k4
	)

inline

Definition at line 103 of file ossimSmacCallibrationSystem.h.

    {
       _symmetricRadialDistortionCoefficients[0] = k0;
       _symmetricRadialDistortionCoefficients[1] = k1;
       _symmetricRadialDistortionCoefficients[2] = k2;
       _symmetricRadialDistortionCoefficients[3] = k3;
       _symmetricRadialDistortionCoefficients[4] = k4;
    }

◆ symmetricRadialDistortionCoefficients()

const double* ossimSmacCallibrationSystem::symmetricRadialDistortionCoefficients ( ) const

inline

Definition at line 99 of file ossimSmacCallibrationSystem.h.

    {
       return _symmetricRadialDistortionCoefficients;
    }

◆ test()

void ossimSmacCallibrationSystem::test ( )

static

Definition at line 46 of file ossimSmacCallibrationSystem.cpp.

References ossimLensDistortion::distort(), and undistort().

 {
    // this example was grabbed from a sample callibration report;
    double k0 = -.2165e-3;
    double k1 = .4230e-7;
    double k2 = -.1652e-11;
    double k3 = .2860e-19;
    double k4 = .5690e-26;
    double p1 = -.1483e-6;
    double p2 = .1558e-6;
    double p3 = -.1464e-18;
    double p4 = .1233e-38;
 
    ossimSmacCallibrationSystem smac(k0, k1, k2, k3, k4,
                                     p1, p2, p3, p4,
                                     ossimDpt(.003, -.001));
    ossimDpt output;
    smac.undistort(ossimDpt(62.142, -62.336), output);
    std::cout << "Input: " << ossimDpt(62.142, -62.336) << std::endl;
    std::cout << "Output should be close to x = 62.136 and y = -62.332 <====> " << output << std::endl;
    ossimDpt input = output;
    std::cout << "Now test the inverse!" << std::endl;
    smac.distort(input, output);
    
    std::cout << "Inverse should be close to " << ossimDpt(62.142, -62.336) << " <=====> " << output << std::endl;
 }

◆ undistort()

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

virtual

Implements ossimLensDistortion.

Definition at line 19 of file ossimSmacCallibrationSystem.cpp.

References _decenteringDistortionCoefficients, _symmetricRadialDistortionCoefficients, ossimLensDistortion::theCenter, ossimDpt::x, x, ossimDpt::y, and y.

Referenced by test().

 {
    double x = input.x - theCenter.x;
    double y = input.y - theCenter.y;
    double x2 = x*x;
    double y2 = y*y;
    double r = std::sqrt(x2 + y2);
    double r2 = r*r;
    double r4 = r2*r2;
    double r6 = r2*r4;
    double r8 = r4*r4;
    double sum = (_symmetricRadialDistortionCoefficients[0] +
                  _symmetricRadialDistortionCoefficients[1]*r2 +
                  _symmetricRadialDistortionCoefficients[2]*r4 +
                  _symmetricRadialDistortionCoefficients[3]*r6 +
                  _symmetricRadialDistortionCoefficients[4]*r8);
    double DXr = x*(sum);
    double DYr = y*(sum);
    double DXd = ((1 + _decenteringDistortionCoefficients[2]*r2 + _decenteringDistortionCoefficients[3]*r4)*
                  (_decenteringDistortionCoefficients[0]*(r2 + 2*x*x) + 2*_decenteringDistortionCoefficients[1]*x*y));
    double DYd = ((1 + _decenteringDistortionCoefficients[2]*r2 + _decenteringDistortionCoefficients[3]*r4)*
                  (2*_decenteringDistortionCoefficients[0]*x*y + _decenteringDistortionCoefficients[1]*(r2 + 2*y*y)));
    
    output.x = x + DXr + DXd;
    output.y = y + DYr + DYd;
 }

Member Data Documentation

◆ _decenteringDistortionCoefficients

double ossimSmacCallibrationSystem::_decenteringDistortionCoefficients[4]

protected

The coeeficients are arranged index 0..N-1 where 0 refers to P1 ...

PN

Definition at line 140 of file ossimSmacCallibrationSystem.h.

Referenced by ossimSmacCallibrationSystem(), and undistort().

◆ _symmetricRadialDistortionCoefficients

double ossimSmacCallibrationSystem::_symmetricRadialDistortionCoefficients[5]

protected

The coeeficients are arranged index 0..N-1 where 0 refers to K'0 ...

K'(n-1)

Definition at line 134 of file ossimSmacCallibrationSystem.h.

Referenced by ossimSmacCallibrationSystem(), and undistort().

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

Public Member Functions

Static Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ossimSmacCallibrationSystem() [1/3]

◆ ossimSmacCallibrationSystem() [2/3]

◆ ossimSmacCallibrationSystem() [3/3]

Member Function Documentation

◆ decenteringDistortionCoefficients()

◆ dup()

◆ radialDistortionCoefficients()

◆ setDecenteringDistortionCoefficients()

◆ setSymmetricRadialDistortionCoefficients()

◆ symmetricRadialDistortionCoefficients()

◆ test()

◆ undistort()

Member Data Documentation

◆ _decenteringDistortionCoefficients

◆ _symmetricRadialDistortionCoefficients