From 4893675554459a97a67f106f33177cc03ebb705f Mon Sep 17 00:00:00 2001
From: Oleg Alexandrov <oleg.alexandrov@gmail.com>
Date: Mon, 29 Apr 2024 13:32:26 -0700
Subject: [PATCH] Bugfix for radtan
---
src/UsgsAstroFrameSensorModel.cpp | 17 ++++++++++++++++-
1 file changed, 16 insertions(+), 1 deletion(-)
diff --git a/src/UsgsAstroFrameSensorModel.cpp b/src/UsgsAstroFrameSensorModel.cpp
index 6eecd62..222e4ca 100644
--- a/src/UsgsAstroFrameSensorModel.cpp
+++ b/src/UsgsAstroFrameSensorModel.cpp
@@ -172,9 +172,13 @@ csm::ImageCoord UsgsAstroFrameSensorModel::groundToImage(
// Apply the distortion to the line/sample location and then convert back to
// line/sample
double distortedX, distortedY;
+ // Divide by focal length
+ undistortedx /= f; undistortedy /= f;
applyDistortion(undistortedx, undistortedy, distortedX, distortedY,
m_opticalDistCoeffs, m_distortionType);
-
+ // Apply multiplication by focal length
+ distortedX *= f; distortedY *= f;
+
MESSAGE_LOG(
spdlog::level::trace,
"Found distortedX: {}, and distortedY: {}",
@@ -268,10 +272,17 @@ csm::EcefCoord UsgsAstroFrameSensorModel::imageToGround(
m_detectorLineSumming, m_startingDetectorSample, m_startingDetectorLine,
&m_iTransS[0], &m_iTransL[0], x_camera, y_camera);
+ // divide x_camera and y_camera by focal length
+ x_camera /= m_focalLength; y_camera /= m_focalLength;
+
// Apply the distortion model (remove distortion)
double undistortedX, undistortedY;
removeDistortion(x_camera, y_camera, undistortedX, undistortedY,
m_opticalDistCoeffs, m_distortionType);
+
+ // Multiply by focal length
+ undistortedX *= m_focalLength; undistortedY *= m_focalLength;
+
MESSAGE_LOG(
spdlog::level::trace,
"Found undistortedX: {}, and undistortedY: {}",
@@ -394,9 +405,13 @@ csm::EcefLocus UsgsAstroFrameSensorModel::imageToRemoteImagingLocus(
// Distort
double undistortedFocalPlaneX, undistortedFocalPlaneY;
+ // divide by focal length
+ focalPlaneX /= m_focalLength; focalPlaneY /= m_focalLength;
removeDistortion(focalPlaneX, focalPlaneY, undistortedFocalPlaneX,
undistortedFocalPlaneY, m_opticalDistCoeffs,
m_distortionType);
+ // Multiply by focal length
+ undistortedFocalPlaneX *= m_focalLength; undistortedFocalPlaneY *= m_focalLength;
MESSAGE_LOG(
spdlog::level::trace,
--
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