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updated distortion to closer match ISIS #243

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merged 3 commits into from
Oct 28, 2019
Merged

updated distortion to closer match ISIS #243

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53536fd
updated distortion to closer match ISIS
Kelvinrr Oct 25, 2019
50429d9
updated tolerance
Kelvinrr Oct 25, 2019
46fd152
put back half removed comment
Kelvinrr Oct 28, 2019
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2 changes: 1 addition & 1 deletion include/usgscsm/Distortion.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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);
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I would make this one argument, the tolerance. The desired precision should be handled by the model that calls this and converted into a convergence tolerance.

#endif
11 changes: 7 additions & 4 deletions src/Distortion.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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);
}
Expand Down Expand Up @@ -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;
}
Expand All @@ -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);
}
Expand Down