IssWACamera::IssWACamera (Pvl &lab) : FramingCamera(lab) {
PvlGroup bandBin = lab.FindGroup ("BandBin",Pvl::Traverse);
// Get the camera characteristics
iString key = string("INS"+(iString)(int)NaifIkCode()+"_")+ (string)bandBin["FilterName"] + "_FOCAL_LENGTH";
key = key.Convert("/",'_');
double focalLength = Spice::GetDouble(key);
SetFocalLength (focalLength);
SetPixelPitch ();
InstrumentRotation()->SetFrame(Spice::GetInteger("INS_"+(iString)(int)NaifIkCode()+"_FRAME_ID"));
// Get the start time in et
PvlGroup inst = lab.FindGroup ("Instrument",Pvl::Traverse);
string stime = inst["StartTime"];
double et;
str2et_c(stime.c_str(),&et);
double exposureDuration = (double)inst["ExposureDuration"] /1000.0;
et += exposureDuration / 2.0;
// Setup detector map
int summingMode = inst["SummingMode"];
CameraDetectorMap *detectorMap = new CameraDetectorMap(this);
detectorMap->SetDetectorLineSumming(summingMode);
detectorMap->SetDetectorSampleSumming(summingMode);
// Setup focal plane map
CameraFocalPlaneMap *focalMap = new CameraFocalPlaneMap(this,NaifIkCode());
focalMap->SetDetectorOrigin (Spice::GetDouble("INS" + (iString)(int)NaifIkCode() + "_BORESIGHT_SAMPLE"),
Spice::GetDouble("INS" + (iString)(int)NaifIkCode() + "_BORESIGHT_LINE"));
// Setup distortion map
double k1 = Spice::GetDouble("INS" + (iString)(int)NaifIkCode() + "_K1");
new RadialDistortionMap(this, k1);
// Setup the ground and sky map
new CameraGroundMap(this);
new CameraSkyMap(this);
SetEphemerisTime(et);
LoadCache();
}
/**
* @brief Initialize the MDIS camera model for NAC and WAC
*
* This constructor reads the Messenger/MDIS instrument addendum for many of
* its default parameters.
*
* This camera model does not support subframes of jailbar imaging modes.
* An exception is thrown in those cases.
*
* @param lab Pvl label from a Messenger MDIS image.
*
* @throws iException::User - "Subframe imaging mode is not supported"
* @throws iException::User - "Jail bar observations are not supported"
* @throws iException::User - "New MDIS/NAC distortion model invalidates
* previous SPICE - you must rerun spiceinit to get new
* kernels"
* @internal
* @history 2011-05-03 Jeannie Walldren - Added NAIF error check.
*
*/
MdisCamera::MdisCamera(Pvl &lab) : FramingCamera(lab) {
NaifStatus::CheckErrors();
// Set up detector constants
const int MdisWac(-236800);
// const int MdisNac(-236820);
PvlGroup &inst = lab.findGroup("Instrument", Pvl::Traverse);
// Clarification on MDIS subframe image mode provides us the ability to
// support this mode now. The entire MDIS frame is geometrically valid
// but only portions of the full frame actually contain image data. The
// portions outside subframes should be NULL and not interfere in
// downstream processing, such as mosaics.
#if defined(MDIS_SUBFRAMES_UNSUPPORTED)
int subFrameMode = inst["SubFrameMode"];
if(subFrameMode != 0) {
string msg = "Subframe imaging mode is not supported!";
throw iException::Message(iException::User, msg, _FILEINFO_);
}
#endif
// According to the MDIS team, this is nothing to be concerned with and
// should be treated as other normal observations. So the test to
// disallow it has been effectively removed 2007-09-05 (KJB).
#if defined(MDIS_JAILBARS_UNSUPPORTED)
int jailBars = inst["JailBars"];
if(jailBars != 0) {
string msg = "Jail bar observations are not currently supported!";
throw iException::Message(iException::Programmer, msg, _FILEINFO_);
}
#endif
// Determine filter number. Only conditional code required for
// NAC and WAC support!
int filterNumber(0); // Default appropriate for MDIS-NAC
if(naifIkCode() == MdisWac) {
PvlGroup &bandBin = lab.findGroup("BandBin", Pvl::Traverse);
filterNumber = bandBin["Number"];
}
// Set up instrument and filter code strings
QString ikCode = toString(naifIkCode());
int fnCode(naifIkCode() - filterNumber);
QString filterCode = toString(fnCode);
QString ikernKey;
// Fetch the frame translations from the instrument kernels
ikernKey = "INS" + ikCode + "_REFERENCE_FRAME";
QString baseFrame = getString(ikernKey);
ikernKey = "INS" + filterCode + "_FRAME";
QString ikFrame = getString(ikernKey);
// Set up the camera info from ik/iak kernels
// Turns out (2008-01-17) the WAC has different focal lengths for
// each filter. Added to the instrument kernel (IAK) on this date.
// Add temperature dependant focal length
SetFocalLength(computeFocalLength(filterCode, lab));
SetPixelPitch();
// Removed by Jeff Anderson. The refactor of the SPICE class
// uses frames always so this is no longer needed
// LoadFrameMounting(baseFrame, ikFrame, false);
// Get the start time from labels as the starting image time plus half
// the exposure duration (in <MS>) to get pointing attitude.
// !!NOTE: The ephemeris time MUST be set prior to creating the
// cache (CreateCache) because the kernels are all unloaded
// after the cache is done and this operation will fail!!
QString stime = inst["SpacecraftClockCount"];
double exposureDuration = ((double) inst["ExposureDuration"]) / 1000.0;// divide by 1000 to convert to seconds
iTime etStart = getClockTime(stime);
// Setup camera detector map
CameraDetectorMap *detMap = new CameraDetectorMap(this);
// Setup focal plane map, and detector origin for the instrument that
// may have a filter (WAC only!).
CameraFocalPlaneMap *focalMap = new CameraFocalPlaneMap(this, fnCode);
// Retrieve boresight location from instrument kernel (IK) (addendum?)
ikernKey = "INS" + ikCode + "_BORESIGHT_SAMPLE";
double sampleBoreSight = getDouble(ikernKey);
ikernKey = "INS" + ikCode + "_BORESIGHT_LINE";
double lineBoreSight = getDouble(ikernKey);
// Apply the boresight
focalMap->SetDetectorOrigin(sampleBoreSight, lineBoreSight);
// Determine summing. MDIS has two sources of summing or binning.
// One is performed in the FPU and the in the MP, post-observation,
// on-board after coming out of the FPGAs, where the FPU binning is
// performed. The FPU binning was programmed incorrectly and the
// actual pixels from the detector are peculiar. Hence, I have
// designed this camera model such that the offsets can be managed
// external to the code. See the MDIS instrument kernel addendum
// in $ISIS3DATA/messenger/kernels/iak/mdisAddendum???.ti for the
// offsets for *each* detector. Note that an offset is only applied
// when FPU binning is performed.
int fpuBinMode = inst["FpuBinningMode"];
int pixelBinMode = inst["PixelBinningMode"];
int summing = ((pixelBinMode == 0) ? 1 : pixelBinMode);
// FPU binning was performed, retrieve the FPU binning offsets and
// apply them to the focal plane mapping.
if(fpuBinMode == 1) {
#if defined(USE_FPU_BINNING_OFFSETS)
ikernKey = "INS" + ikCode + "_FPUBIN_START_SAMPLE";
double fpuStartingSample = getDouble(ikernKey);
detMap->SetStartingDetectorSample(fpuStartingSample);
ikernKey = "INS" + ikCode + "_FPUBIN_START_LINE";
double fpuStartingLine = getDouble(ikernKey);
detMap->SetStartingDetectorLine(fpuStartingLine);
#endif
summing *= 2;
}
// Set summing/binning modes as an accumulation of FPU and MP binning.
detMap->SetDetectorLineSumming(summing);
detMap->SetDetectorSampleSumming(summing);
// Setup distortion map. As of 2007/12/06, we now have an actual model.
// Note that this model supports distinct distortion for each WAC filter.
// See $ISIS3DATA/messenger/kernels/iak/mdisAddendumXXX.ti or possibly
// $ISIS3DATA/messenger/kernels/ik/msgr_mdis_vXXX.ti for the *_OD_K
// parameters.
// NAC has a new implementation of its distortion contributed by
// Scott Turner and Lillian Nguyen at JHUAPL.
// (2010/10/06) The WAC now uses the same disortion model implementation.
// Valid Taylor Series parameters are in versions msgr_mdis_v120.ti IK
// and above. Note fnCode works for NAC as well as long as
// filterNumber stays at 0 for the NAC only!
try {
TaylorCameraDistortionMap *distortionMap = new TaylorCameraDistortionMap(this);
distortionMap->SetDistortion(fnCode);
}
catch(IException &ie) {
string msg = "New MDIS NAC/WAC distortion models will invalidate previous "
"SPICE - you may need to rerun spiceinit to get new kernels";
throw IException(ie, IException::User, msg, _FILEINFO_);
}
// Setup the ground and sky map
new CameraGroundMap(this);
new CameraSkyMap(this);
// Create a cache and grab spice info since it does not change for
// a framing camera (fixed spacecraft position and pointing) after,
// of course applying the gimble offset which is handled in the SPICE
// kernels (thank you!). Note this was done automagically in the
// SetEpheremisTime call above. IMPORTANT that it be done prior to
// creating the cache since all kernels are unloaded, essentially
// clearing the pool and whacking the frames definitions, required to
iTime centerTime = etStart + (exposureDuration / 2.0);
setTime(centerTime);
LoadCache();
NaifStatus::CheckErrors();
}