double RadarGroundMap::ComputeXv(SpiceDouble X[3]) {
// Get the spacecraft position (Xsc) and velocity (Vsc) in body fixed
// coordinates
SpiceRotation *bodyFrame = p_camera->BodyRotation();
SpicePosition *spaceCraft = p_camera->InstrumentPosition();
std::vector<double> Ssc(6);
// Load the state into Ssc
vequ_c ( (SpiceDouble *) &(spaceCraft->Coordinate()[0]), &Ssc[0]);
vequ_c ( (SpiceDouble *) &(spaceCraft->Velocity()[0]), &Ssc[3]);
// Rotate the state to body-fixed
std::vector<double> bfSsc(6);
bfSsc = bodyFrame->ReferenceVector(Ssc);
// Extract the body-fixed position and velocity
std::vector<double> Vsc(3);
std::vector<double> Xsc(3);
vequ_c ( &bfSsc[0], &Xsc[0] );
vequ_c ( &bfSsc[3], &Vsc[0] );
// Compute the slant range
SpiceDouble lookB[3];
vsub_c(&Xsc[0],X,lookB);
p_slantRange = vnorm_c(lookB);
// Compute and return xv
double xv = -2.0 * vdot_c(lookB,&Vsc[0]) / (vnorm_c(lookB) * p_waveLength);
return xv;
}
/** Compute undistorted focal plane coordinate from ground position using current Spice from SetImage call
*
* This method will compute the undistorted focal plane coordinate for
* a ground position, using the current Spice settings (time and kernels)
* without resetting the current point values for lat/lon/radius/x/y.
*
* @param lat planetocentric latitude in degrees
* @param lon planetocentric longitude in degrees
* @param radius local radius in m
*
* @return conversion was successful
*/
bool CameraGroundMap::GetXY(const double lat, const double lon, const double radius,
std::vector<double> &lookJ) {
// Check for Sky images
if ( p_camera->IsSky() ) {
return false;
}
// Should a check be added to make sure SetImage has been called???
// Compute the look vector in body-fixed coordinates
double pB[3]; // Point on surface
latrec_c( radius/1000.0, lon*Isis::PI/180.0, lat*Isis::PI/180.0, pB);
// Get spacecraft vector in body-fixed coordinates
SpiceRotation *bodyRot = p_camera->BodyRotation();
std::vector<double> sB = bodyRot->ReferenceVector(p_camera->InstrumentPosition()->Coordinate());
std::vector<double> lookB(3);
for (int ic=0; ic<3; ic++) lookB[ic] = pB[ic] - sB[ic];
// Check for point on back of planet by checking to see if surface point is viewable (test emission angle)
// During iterations, we may not want to do the back of planet test???
double upsB[3],upB[3],dist;
vminus_c ( (SpiceDouble *) &lookB[0], upsB);
unorm_c (upsB, upsB, &dist);
unorm_c (pB, upB, &dist);
double angle = vdot_c(upB, upsB);
double emission;
if (angle > 1) {
emission = 0;
}
else if (angle < -1) {
emission = 180.;
}
else {
emission = acos (angle) * 180.0 / Isis::PI;
}
if (fabs(emission) > 90.) return false;
// Get the look vector in the camera frame and the instrument rotation
lookJ.resize(3);
lookJ = p_camera->BodyRotation()->J2000Vector( lookB );
return true;
}
/** Compute ground position from slant range
*
* @param ux Slant range distance
* @param uy Doppler shift (always 0.0)
* @param uz Not used
*
* @return conversion was successful
*/
bool RadarGroundMap::SetFocalPlane(const double ux, const double uy,
double uz) {
SpiceRotation *bodyFrame = p_camera->BodyRotation();
SpicePosition *spaceCraft = p_camera->InstrumentPosition();
// Get spacecraft position and velocity to create a state vector
std::vector<double> Ssc(6);
// Load the state into Ssc
vequ_c ( (SpiceDouble *) &(spaceCraft->Coordinate()[0]), &Ssc[0]);
vequ_c ( (SpiceDouble *) &(spaceCraft->Velocity()[0]), &Ssc[3]);
// Rotate state vector to body-fixed
std::vector<double> bfSsc(6);
bfSsc = bodyFrame->ReferenceVector(Ssc);
// Extract body-fixed position and velocity
std::vector<double> Vsc(3);
std::vector<double> Xsc(3);
vequ_c ( &bfSsc[0], (SpiceDouble *) &(Xsc[0]) );
vequ_c ( &bfSsc[3], (SpiceDouble *) &(Vsc[0]) );
// Compute intrack, crosstrack, and radial coordinate
SpiceDouble i[3];
vhat_c (&Vsc[0],i);
SpiceDouble c[3];
SpiceDouble dp;
dp = vdot_c(&Xsc[0],i);
SpiceDouble p[3],q[3];
vscl_c(dp,i,p);
vsub_c(&Xsc[0],p,q);
vhat_c(q,c);
SpiceDouble r[3];
vcrss_c(i,c,r);
// What is the initial guess for R
double radii[3];
p_camera->Radii(radii);
SpiceDouble R = radii[0];
SpiceDouble lastR = DBL_MAX;
SpiceDouble rlat;
SpiceDouble rlon;
SpiceDouble lat = DBL_MAX;
SpiceDouble lon = DBL_MAX;
double slantRangeSqr = (ux * p_rangeSigma) / 1000.;
slantRangeSqr = slantRangeSqr*slantRangeSqr;
SpiceDouble X[3];
int iter = 0;
do {
double normXsc = vnorm_c(&Xsc[0]);
double alpha = (R*R - slantRangeSqr - normXsc*normXsc) /
(2.0 * vdot_c(&Xsc[0],c));
double arg = slantRangeSqr - alpha*alpha;
if (arg < 0.0) return false;
double beta = sqrt(arg);
if (p_lookDirection == Radar::Left) beta *= -1.0;
SpiceDouble alphac[3],betar[3];
vscl_c(alpha,c,alphac);
vscl_c(beta,r,betar);
vadd_c(alphac,betar,alphac);
vadd_c(&Xsc[0],alphac,X);
// Convert X to lat,lon
lastR = R;
reclat_c(X,&R,&lon,&lat);
rlat = lat*180.0/Isis::PI;
rlon = lon*180.0/Isis::PI;
R = GetRadius(rlat,rlon);
iter++;
}
while (fabs(R-lastR) > p_tolerance && iter < 30);
if (fabs(R-lastR) > p_tolerance) return false;
lat = lat*180.0/Isis::PI;
lon = lon*180.0/Isis::PI;
while (lon < 0.0) lon += 360.0;
// Compute body fixed look direction
std::vector<double> lookB;
lookB.resize(3);
lookB[0] = X[0] - Xsc[0];
lookB[1] = X[1] - Xsc[1];
lookB[2] = X[2] - Xsc[2];
std::vector<double> lookJ = bodyFrame->J2000Vector(lookB);
SpiceRotation *cameraFrame = p_camera->InstrumentRotation();
std::vector<double> lookC = cameraFrame->ReferenceVector(lookJ);
SpiceDouble unitLookC[3];
vhat_c(&lookC[0],unitLookC);
p_camera->SetLookDirection(unitLookC);
return p_camera->Sensor::SetUniversalGround(lat,lon);
}
/** Compute undistorted focal plane coordinate from ground position that includes a local radius
*
* @param lat planetocentric latitude in degrees
* @param lon planetocentric longitude in degrees
* @param radius local radius in meters
*
* @return conversion was successful
*/
bool RadarGroundMap::SetGround(const double lat, const double lon, const double radius) {
// Get the ground point in rectangular coordinates (X)
SpiceDouble X[3];
SpiceDouble rlat = lat*Isis::PI/180.0;
SpiceDouble rlon = lon*Isis::PI/180.0;
latrec_c(radius,rlon,rlat,X);
// Compute lower bound for Doppler shift
double et1 = p_camera->Spice::CacheStartTime();
p_camera->Sensor::SetEphemerisTime(et1);
double xv1 = ComputeXv(X);
// Compute upper bound for Doppler shift
double et2 = p_camera->Spice::CacheEndTime();
p_camera->Sensor::SetEphemerisTime(et2);
double xv2 = ComputeXv(X);
// Make sure we bound root (xv = 0.0)
if ((xv1 < 0.0) && (xv2 < 0.0)) return false;
if ((xv1 > 0.0) && (xv2 > 0.0)) return false;
// Order the bounds
double fl,fh,xl,xh;
if (xv1 < xv2) {
fl = xv1;
fh = xv2;
xl = et1;
xh = et2;
}
else {
fl = xv2;
fh = xv1;
xl = et2;
xh = et1;
}
// Iterate a max of 30 times
for (int j=0; j<30; j++) {
// Use the secant method to guess the next et
double etGuess = xl + (xh - xl) * fl / (fl - fh);
// Compute the guessed Doppler shift. Hopefully
// this guess converges to zero at some point
p_camera->Sensor::SetEphemerisTime(etGuess);
double fGuess = ComputeXv(X);
// Update the bounds
double delTime;
if (fGuess < 0.0) {
delTime = xl - etGuess;
xl = etGuess;
fl = fGuess;
}
else {
delTime = xh - etGuess;
xh = etGuess;
fh = fGuess;
}
// See if we are done
if ((fabs(delTime) <= p_timeTolerance) || (fGuess == 0.0)) {
SpiceRotation *bodyFrame = p_camera->BodyRotation();
SpicePosition *spaceCraft = p_camera->InstrumentPosition();
// Get body fixed spacecraft velocity and position
std::vector<double> Ssc(6);
// Load the state into Ssc and rotate to body-fixed
vequ_c ( (SpiceDouble *) &(spaceCraft->Coordinate()[0]), &Ssc[0]);
vequ_c ( (SpiceDouble *) &(spaceCraft->Velocity()[0]), &Ssc[3]);
std::vector<double> bfSsc(6);
bfSsc = bodyFrame->ReferenceVector(Ssc);
// Extract the body-fixed position and velocity from the state
std::vector<double> Vsc(3);
std::vector<double> Xsc(3);
vequ_c ( &bfSsc[0], (SpiceDouble *) &(Xsc[0]) );
vequ_c ( &bfSsc[3], (SpiceDouble *) &(Vsc[0]) );
// Determine if focal plane coordinate falls on the correct side of the
// spacecraft. Radar has both left and right look directions. Make sure
// the coordinate is on the same side as the look direction. This is done
// by (X - S) . (V x S) where X=ground point vector, S=spacecraft position
// vector, and V=velocity vector. If the dot product is greater than 0, then
// the point is on the right side. If the dot product is less than 0, then
// the point is on the left side. If the dot product is 0, then the point is
// directly under the spacecraft (neither left or right) and is invalid.
SpiceDouble vout1[3];
SpiceDouble vout2[3];
SpiceDouble dp;
vsub_c(X,&Xsc[0],vout1);
vcrss_c(&Vsc[0],&Xsc[0],vout2);
dp = vdot_c(vout1,vout2);
if (dp > 0.0 && p_lookDirection == Radar::Left) return false;
if (dp < 0.0 && p_lookDirection == Radar::Right) return false;
if (dp == 0.0) return false;
// Compute body fixed look direction
std::vector<double> lookB;
lookB.resize(3);
lookB[0] = X[0] - Xsc[0];
lookB[1] = X[1] - Xsc[1];
lookB[2] = X[2] - Xsc[2];
std::vector<double> lookJ = bodyFrame->J2000Vector(lookB);
SpiceRotation *cameraFrame = p_camera->InstrumentRotation();
std::vector<double> lookC = cameraFrame->ReferenceVector(lookJ);
SpiceDouble unitLookC[3];
vhat_c(&lookC[0],unitLookC);
p_camera->SetLookDirection(unitLookC);
p_camera->SetFocalLength(p_slantRange*1000.0);
p_focalPlaneX = p_slantRange / p_rangeSigma;
p_focalPlaneY = 0.0;
return true;
}
}
return false;
}
/** Cache J2000 rotation quaternion over a time range.
*
* This method will load an internal cache with frames over a time
* range. This prevents the NAIF kernels from being read over-and-over
* again and slowing an application down due to I/O performance. Once the
* cache has been loaded then the kernels can be unloaded from the NAIF
* system.
*
* @internal
* @history 2010-12-23 Debbie A. Cook Added set of full cache time
* parameters
*/
void LineScanCameraRotation::LoadCache() {
NaifStatus::CheckErrors();
double startTime = p_cacheTime[0];
int size = p_cacheTime.size();
double endTime = p_cacheTime[size-1];
SetFullCacheParameters(startTime, endTime, size);
// TODO Add a label value to indicate pointing is already decomposed to line scan angles
// and set p_pointingDecomposition=none,framing angles, or line scan angles.
// Also add a label value to indicate jitterOffsets=jitterFileName
// Then we can decide whether to simply grab the crot angles or do new decomposition and whether
// to apply jitter or throw an error because jitter has already been applied.
// *** May need to do a frame trace and load the frames (at least the constant ones) ***
// Loop and load the cache
double state[6];
double lt;
NaifStatus::CheckErrors();
double R[3]; // Direction of radial axis of line scan camera
double C[3]; // Direction of cross-track axis
double I[3]; // Direction of in-track axis
double *velocity;
std::vector<double> IB(9);
std::vector<double> CI(9);
SpiceRotation *prot = p_spi->bodyRotation();
SpiceRotation *crot = p_spi->instrumentRotation();
for(std::vector<double>::iterator i = p_cacheTime.begin(); i < p_cacheTime.end(); i++) {
double et = *i;
prot->SetEphemerisTime(et);
crot->SetEphemerisTime(et);
// The following code will be put into method LoadIBcache()
spkezr_c("MRO", et, "IAU_MARS", "NONE", "MARS", state, <);
NaifStatus::CheckErrors();
// Compute the direction of the radial axis (3) of the line scan camera
vscl_c(1. / vnorm_c(state), state, R); // vscl and vnorm only operate on first 3 members of state
// Compute the direction of the cross-track axis (2) of the line scan camera
velocity = state + 3;
vscl_c(1. / vnorm_c(velocity), velocity, C);
vcrss_c(R, C, C);
// Compute the direction of the in-track axis (1) of the line scan camera
vcrss_c(C, R, I);
// Load the matrix IB and enter it into the cache
vequ_c(I, (SpiceDouble( *)) &IB[0]);
vequ_c(C, (SpiceDouble( *)) &IB[3]);
vequ_c(R, (SpiceDouble( *)) &IB[6]);
p_cacheIB.push_back(IB);
// end IB code
// Compute the CIcr matrix - in-track, cross-track, radial frame to constant frame
mxmt_c((SpiceDouble( *)[3]) & (crot->TimeBasedMatrix())[0], (SpiceDouble( *)[3]) & (prot->Matrix())[0],
(SpiceDouble( *)[3]) &CI[0]);
// Put CI into parent cache to use the parent class methods on it
mxmt_c((SpiceDouble( *)[3]) &CI[0], (SpiceDouble( *)[3]) &IB[0], (SpiceDouble( *)[3]) &CI[0]);
p_cache.push_back(CI);
}
p_cachesLoaded = true;
SetSource(Memcache);
NaifStatus::CheckErrors();
}
/** Cache J2000 rotation over existing cached time range using polynomials
*
* This method will reload an internal cache with matrices
* formed from rotation angles fit to polynomials over a time
* range.
*
* @param function1 The first polynomial function used to
* find the rotation angles
* @param function2 The second polynomial function used to
* find the rotation angles
* @param function3 The third polynomial function used to
* find the rotation angles
*/
void LineScanCameraRotation::ReloadCache() {
NaifStatus::CheckErrors();
// Make sure caches are already loaded
if(!p_cachesLoaded) {
QString msg = "A LineScanCameraRotation cache has not been loaded yet";
throw IException(IException::Programmer, msg, _FILEINFO_);
}
// Clear existing matrices from cache
p_cache.clear();
// Create polynomials fit to angles & use to reload cache
Isis::PolynomialUnivariate function1(p_degree);
Isis::PolynomialUnivariate function2(p_degree);
Isis::PolynomialUnivariate function3(p_degree);
// Get the coefficients of the polynomials already fit to the angles of rotation defining [CI]
std::vector<double> coeffAng1;
std::vector<double> coeffAng2;
std::vector<double> coeffAng3;
GetPolynomial(coeffAng1, coeffAng2, coeffAng3);
// Reset linear term to center around zero -- what works best is either roll-avg & pitchavg+ or pitchavg+ & yawavg-
// coeffAng1[1] -= 0.0000158661225;
// coeffAng2[1] = 0.0000308433;
// coeffAng3[0] = -0.001517547;
if(p_pitchRate) coeffAng2[1] = p_pitchRate;
if(p_yaw) coeffAng3[0] = p_yaw;
// Load the functions with the coefficients
function1.SetCoefficients(coeffAng1);
function2.SetCoefficients(coeffAng2);
function3.SetCoefficients(coeffAng3);
double CI[3][3];
double IJ[3][3];
std::vector<double> rtime;
SpiceRotation *prot = p_spi->bodyRotation();
std::vector<double> CJ;
CJ.resize(9);
for(std::vector<double>::size_type pos = 0; pos < p_cacheTime.size(); pos++) {
double et = p_cacheTime.at(pos);
rtime.push_back((et - GetBaseTime()) / GetTimeScale());
double angle1 = function1.Evaluate(rtime);
double angle2 = function2.Evaluate(rtime);
double angle3 = function3.Evaluate(rtime);
rtime.clear();
// Get the first angle back into the range Naif expects [180.,180.]
if(angle1 < -1 * pi_c()) {
angle1 += twopi_c();
}
else if(angle1 > pi_c()) {
angle1 -= twopi_c();
}
eul2m_c((SpiceDouble) angle3, (SpiceDouble) angle2, (SpiceDouble) angle1,
p_axis3, p_axis2, p_axis1,
CI);
mxm_c((SpiceDouble( *)[3]) & (p_jitter->SetEphemerisTimeHPF(et))[0], CI, CI);
prot->SetEphemerisTime(et);
mxm_c((SpiceDouble( *)[3]) & (p_cacheIB.at(pos))[0], (SpiceDouble( *)[3]) & (prot->Matrix())[0], IJ);
mxm_c(CI, IJ, (SpiceDouble( *)[3]) &CJ[0]);
p_cache.push_back(CJ); // J2000 to constant frame
}
// Set source to cache to get updated values
SetSource(SpiceRotation::Memcache);
// Make sure SetEphemerisTime updates the matrix by resetting it twice (in case the first one
// matches the current et. p_et is private and not available from the child class
NaifStatus::CheckErrors();
SetEphemerisTime(p_cacheTime[0]);
SetEphemerisTime(p_cacheTime[1]);
NaifStatus::CheckErrors();
}
void IsisMain() {
// Use a regular Process
Process p;
// Get user parameters and error check
UserInterface &ui = Application::GetUserInterface();
QString from = ui.GetFileName("FROM");
QString to = FileName(ui.GetFileName("TO")).expanded();
//TO DO: UNCOMMENT THIS LINE ONCE HRSC IS WORKING IN SS
// double HRSCNadirCenterTime = ui.GetDouble("HRSC_NADIRCENTERTIME");
// Open input cube and Make sure this is a lev1 image (ie, not map projected)
Cube cube;
cube.open(from);
if (cube.isProjected()) {
QString msg = "Input images is a map projected cube ... not a level 1 image";
throw IException(IException::User, msg, _FILEINFO_);
}
// Initialize the camera
Cube *input = p.SetInputCube("FROM");
Pvl *cubeHeader = input->label();
Camera *cam = input->camera();
CameraDetectorMap *detectorMap = cam->DetectorMap();
CameraFocalPlaneMap *focalMap = cam->FocalPlaneMap();
CameraDistortionMap *distortionMap = cam->DistortionMap();
CameraGroundMap *groundMap = cam->GroundMap();
// Make sure the image contains the InstrumentPointing (aka CK) blob/table
PvlGroup test = cube.label()->findGroup("Kernels", Pvl::Traverse);
QString InstrumentPointing = (QString) test["InstrumentPointing"];
if (InstrumentPointing != "Table") {
QString msg = "Input image does not contain needed SPICE blobs...run spiceinit with attach=yes.";
throw IException(IException::User, msg, _FILEINFO_);
}
// Open output line scanner keyword file
ofstream toStrm;
toStrm.open(to.toAscii().data(), ios::trunc);
if (toStrm.bad()) {
QString msg = "Unable to open output TO file";
throw IException(IException::User, msg, _FILEINFO_);
}
// Get required keywords from instrument and band groups
PvlGroup inst = cube.label()->findGroup("Instrument", Pvl::Traverse);
QString instrumentId = (QString) inst["InstrumentId"];
bool isMocNA = false;
//TO DO: UNCOMMENT THIS LINES ONCE MOC IS WORKING IN SS
// bool isMocWARed = false;
bool isHiRise = false;
bool isCTX = false;
bool isLroNACL = false;
bool isLroNACR = false;
bool isHRSC = false;
//TO DO: UNCOMMENT THESE LINE ONCE MOC IS WORKING IN SS
// if (instrumentId == "MOC") {
// PvlGroup band = cube.label()->findGroup("BandBin", Pvl::Traverse);
// QString filter = (QString) band["FilterName"];
//
// if (strcmp(filter.toAscii().data(), "BROAD_BAND") == 0)
// isMocNA = true;
// else if (strcmp(filter.toAscii().data(), "RED") == 0)
// isMocWARed = true;
// else if (strcmp(filter.toAscii().data(), "BLUE") == 0) {
// QString msg = "MOC WA Blue filter images not supported for Socet Set mapping";
// throw IException(IException::User, msg, _FILEINFO_);
// }
// }
// else if (instrumentId == "IdealCamera") {
//TO DO: DELETE THIS LINE ONCE MOC IS WORKING IN SS
if (instrumentId == "IdealCamera") {
PvlGroup orig = cube.label()->findGroup("OriginalInstrument", Pvl::Traverse);
QString origInstrumentId = (QString) orig["InstrumentId"];
if (origInstrumentId == "HIRISE") {
isHiRise = true;
}
else {
QString msg = "Unsupported instrument: " + origInstrumentId;
throw IException(IException::User, msg, _FILEINFO_);
}
}
else if (instrumentId == "HIRISE") {
isHiRise = true;
}
else if (instrumentId == "CTX") {
isCTX = true;
}
else if (instrumentId == "NACL") {
isLroNACL = true;
}
else if (instrumentId == "NACR") {
isLroNACR = true;
}
//TO DO: UNCOMMENT THIS LINE ONCE HRSC IS WORKING IN SS
// else if (instrumentId == "HRSC") isHRSC = true;
else {
QString msg = "Unsupported instrument: " + instrumentId;
throw IException(IException::User, msg, _FILEINFO_);
}
int ikCode = cam->naifIkCode();
// Get Focal Length.
// NOTE:
// For MOC Wide Angle, cam->focal_length returns the focal length
// in pixels, so we must convert from pixels to mm using the PIXEL_SIZE
// of 0.007 mm gotten from $ISIS3DATA/mgs/kernels/ik/moc20.ti. (The
// PIXEL_PITCH value gotten from cam->PixelPitch is 1.0 since the
// focal length used by ISIS in this case is in pixels)
// For reference: the MOC WA blue filter pixel size needs an adjustment
// of 1.000452 (see p_scale in MocWideAngleDistortionMap.cpp), so that
// the final blue filter pixel size = (0.007 / 1.000452)
//
// For all other cameras, cam->focal_length returns the focal
// length in mm, as needed by Socet Set
double focal = cam->FocalLength(); // focal length returned in mm
//TO DO: UNCOMMENT THESE LINES ONCE HRSC and MOC IS WORKING IN SS
// if (isMocWARed)
// focal = focal * 0.007; // pixel to mm conversion
// else if (isHRSC)
// {
// switch (ikCode) {
// case -41219: //S1: fwd stereo
// focal = 184.88;
// break;
// case -41218: //IR: infra-red
// focal = 181.57;
// break;
// case -41217: //P1: fwd photo
// focal = 179.16;
// break;
// case -41216: // GREEN
// focal = 175.31;
// break;
// case -41215: // NADIR
// focal = 175.01;
// break;
// case -41214: // BLUE
// focal = 175.53;
// break;
// case -41213: // P2: aft photo
// focal = 179.19;
// break;
// case -41212: // RED
// focal = 181.77;
// break;
// case -41211: // S2: aft stereo
// focal = 184.88;
// break;
// default:
// break;
// }
// }
// Get instrument summing modes
int csum = (int) detectorMap->SampleScaleFactor();
int dsum = (int) detectorMap->LineScaleFactor();
if (isLroNACL || isLroNACR || isHRSC)
dsum = csum;
// Calculate location of boresight in image space, these are zero-based values
//
// Note: For MOC NA, the boresight is at the image center
// For MOC WA, MRO HiRISE, MRO CTX, LRO_NACL, LRO_NACR and HRSC the
// boresight is not at the detector center, but the boresight is at the
// center of a NOPROJ'ED MRO HIRISE image
// Get line/samp of boresight pixel in detector space (summing == 1)
focalMap->SetFocalPlane(0.0, 0.0);
double detectorBoresightSample = focalMap->DetectorSample();
double detectorBoresightLine = focalMap->DetectorLine();
// Convert sample of boresight pixel in detector into image space
// (summing, etc., is accounted for.)
detectorMap->SetDetector(detectorBoresightSample, detectorBoresightLine);
double boresightSample = detectorMap->ParentSample();
// Set Atmospheric correction coefficients to 0
double atmco[4] = {0.0, 0.0, 0.0, 0.0};
// Get totalLines, totalSamples and account for summed images
int totalLines = cube.lineCount();
int totalSamples = cube.sampleCount();
// Get the Interval Time in seconds and calculate
// scan duration in seconds
double scanDuration = 0.0;
double intTime = 0.0;
//TO DO: UNCOMMENT THESE LINES ONCE HRSC IS WORKING IN SS
// int numIntTimes = 0.0;
// vector<LineRateChange> lineRates;
// if (isHRSC) {
// numIntTimes = GetHRSCLineRates(&cube, lineRates, totalLines, HRSCNadirCenterTime);
// if (numIntTimes == 1) {
// LineRateChange lrc = lineRates.at(0);
// intTime = lrc.GetLineScanRate();
// }
// if (numIntTimes <= 0) {
// QString msg = "HRSC: Invalid number of scan times";
// throw IException(IException::Programmer, msg, _FILEINFO_);
// }
// else
// scanDuration = GetHRSCScanDuration(lineRates, totalLines);
// }
// else {
//
// TO DO: indent the following two lines when HRSC is working in SS
intTime = detectorMap->LineRate(); //LineRate is in seconds
scanDuration = intTime * totalLines;
//TO DO: UNCOMMENT THIS LINE ONCE HRSC IS WORKING IN SS
// }
// For reference, this is the code if calculating interval time
// via LineExposureDuration keyword off image labels:
//
// if (isMocNA || isMocWARed)
// intTime = exposureDuration * (double) dsum / 1000.0;
// else if (isHiRise)
// intTime = exposureDuration * (double) dsum / 1000000.0;
// Get along and cross scan pixel size for NA and WA sensors.
// NOTE:
// 1) The MOC WA pixel size is gotten from moc20.ti and is 7 microns
// HRSC pixel size is from the Instrument Addendum file
// 2) For others, cam->PixelPitch() returns the pixel pitch (size) in mm.
double alongScanPxSize = 0.0;
double crossScanPxSize = 0.0;
//TO DO: UNCOMMENT THESE LINES ONCE MOC IS WORKING IN SS
// if (isMocWARed || isHRSC) {
// alongScanPxSize = csum * 0.007;
// crossScanPxSize = dsum * 0.007;
// }
// else {
//
// TO DO: indent the following 24 lines when HRSC is working in SS
crossScanPxSize = dsum * cam->PixelPitch();
// Get the ephemeris time, ground position and undistorted focal plane X
// coordinate at the center line/samp of image
cam->SetImage(cube.sampleCount() / 2.0, cube.lineCount() / 2.0);
double tMid = cam->time().Et();
const double latCenter = cam->UniversalLatitude();
const double lonCenter = cam->UniversalLongitude();
const double radiusCenter = cam->LocalRadius().meters();
double uXCenter = distortionMap->UndistortedFocalPlaneX();
// from the ground position at the image center, increment the ephemeris
// time by the line rate and map the ground position into the sensor in
// undistorted focal plane coordinates
cam->setTime(iTime(tMid + intTime));
double uX, uY;
groundMap->GetXY(latCenter, lonCenter, radiusCenter, &uX, &uY);
// the along scan pixel size is the difference in focal plane X coordinates
alongScanPxSize = abs(uXCenter - uX);
//TO DO: UNCOMMENT THIS LINE ONCE MOC and HRSC IS WORKING IN SS
// }
// Now that we have totalLines, totalSamples, alongScanPxSize and
// crossScanPxSize, fill the Interior Orientation Coefficient arrays
double ioCoefLine[10];
double ioCoefSample[10];
for (int i = 0; i <= 9; i++) {
ioCoefLine[i] = 0.0;
ioCoefSample[i] = 0.0;
}
ioCoefLine[0] = totalLines / 2.0;
ioCoefLine[1] = 1.0 / alongScanPxSize;
ioCoefSample[0] = totalSamples / 2.0;
ioCoefSample[2] = 1.0 / crossScanPxSize;
// Update the Rectification Terms found in the base sensor class
double rectificationTerms[6];
rectificationTerms[0] = totalLines / 2.0;
rectificationTerms[1] = 0.0;
rectificationTerms[2] = 1.0;
rectificationTerms[3] = totalSamples / 2.0;
rectificationTerms[4] = 1.0;
rectificationTerms[5] = 0.0;
// Fill the triangulation parameters array
double triParams[18];
for (int i = 0; i <= 17; i++)
triParams[i] = 0.0;
triParams[15] = focal;
// Set the Center Ground Point at the SOCET Set image, in radians
double centerGp[3];
double radii[3] = {0.0, 0.0, 0.0};
Distance Dradii[3];
cam->radii(Dradii);
radii[0] = Dradii[0].kilometers();
radii[1] = Dradii[1].kilometers();
radii[2] = Dradii[2].kilometers();
cam->SetImage(boresightSample, totalLines / 2.0);
centerGp[0] = DEG2RAD *
TProjection::ToPlanetographic(cam->UniversalLatitude(), radii[0], radii[2]);
centerGp[1] = DEG2RAD * TProjection::To180Domain(cam->UniversalLongitude());
centerGp[2] = 0.0;
//**** NOTE: in the import_pushbroom SOCET SET program, centerGp[2] will be set to the SS
//**** project's gp_origin_z
// Now get keyword values that depend on ephemeris data.
// First get the ephemeris time and camera Lat Lon at image center line, boresight sample.
double centerLine = double(totalLines) / 2.0;
cam->SetImage(boresightSample, centerLine); //set to boresight of image
double etCenter = cam->time().Et();
// Get the sensor position at the image center in ographic lat,
// +E lon domain 180 coordinates, radians, height in meters
double sensorPosition[3] = {0.0, 0.0, 0.0};
double ocentricLat, e360Lon;
cam->subSpacecraftPoint(ocentricLat, e360Lon);
sensorPosition[0] = DEG2RAD * TProjection::ToPlanetographic(ocentricLat, radii[0], radii[2]);
sensorPosition[1] = DEG2RAD * TProjection::To180Domain(e360Lon);
sensorPosition[2] = cam->SpacecraftAltitude() * 1000.0;
// Build the ephem data. If the image label contains the InstrumentPosition
// table, use it as a guide for number and spacing of Ephem points.
// Otherwise (i.e, for dejittered HiRISE images), the number and spacing of
// ephem points based on hardcoded dtEphem value
// Using the InstrumentPosition table as a guide build the ephem data
QList< QList<double> > ephemPts;
QList< QList<double> > ephemRates;
PvlGroup kernels = cube.label()->findGroup("Kernels", Pvl::Traverse);
QString InstrumentPosition = (QString) kernels["InstrumentPosition"];
int numEphem = 0; // number of ephemeris points
double dtEphem = 0.0; // delta time of ephemeris points, seconds
if (InstrumentPosition == "Table") {
// Labels contain SPK blob
// set up Ephem pts/rates number and spacing
Table tablePosition("InstrumentPosition", cubeHeader->fileName());
numEphem = tablePosition.Records();
// increase the number of ephem nodes by 20%. This is somewhat random but
// generally intended to compensate for having equally time spaced nodes
// instead of of the potentially more efficient placement used by spiceinit
numEphem = int(double(numEphem) * 1.2);
// if numEphem calcutated from SPICE blobs is too sparse for SOCET Set,
// mulitiply it by a factor of 30
// (30X was settled upon emperically. In the future, make this an input parameter)
if (numEphem <= 10) numEphem = tablePosition.Records() * 30;
// make the number of nodes odd
numEphem = (numEphem % 2) == 1 ? numEphem : numEphem + 1;
// SOCET has a max number of ephem pts of 10000, and we're going to add twenty...
if (numEphem > 10000 - 20) numEphem = 9979;
dtEphem = scanDuration / double(numEphem);
//build the tables of values
double et = etCenter - (((numEphem - 1) / 2) * dtEphem);
for (int i = 0; i < numEphem; i++) {
cam->setTime(iTime(et));
SpiceRotation *bodyRot = cam->bodyRotation();
vector<double> pos = bodyRot->ReferenceVector(cam->instrumentPosition()->Coordinate());
//TO DO: UNCOMMENT THE FOLLOWING LINE WHEN VELOCITY BLOBS ARE CORRECT IN ISIS
//vector<double> vel = bodyRot->ReferenceVector(cam->instrumentPosition()->Velocity());
//Add the ephemeris position and velocity to their respective lists, in meters and meters/sec
QList<double> ephemPt;
QList<double> ephemRate;
ephemPts.append(ephemPt << pos[0] * 1000 << pos[1] * 1000 << pos[2] * 1000);
//TO DO: UNCOMMENT THE FOLLOWING LINE WHEN VELOCITY BLOBS ARE CORRECT IN ISIS
//ephemRates.append(ephemRate << vel[0] * 1000 << vel[1] * 1000 << vel[2] * 1000);
et += dtEphem;
}
//TO DO: WHEN VELOCITY BLOBS ARE CORRECT IN ISIS, linearlly interpolate 10 nodes rather than 11
// (need 11 now for computation of velocity at first and last ephemeris point)
// linearlly interpolate 11 additional nodes before line 1 (SOCET requires this)
for (int i = 0; i < 11; i++) {
double vec[3] = {0.0, 0.0, 0.0};
vec[0] = ephemPts[0][0] + (ephemPts[0][0] - ephemPts[1][0]);
vec[1] = ephemPts[0][1] + (ephemPts[0][1] - ephemPts[1][1]);
vec[2] = ephemPts[0][2] + (ephemPts[0][2] - ephemPts[1][2]);
QList<double> ephemPt;
ephemPts.prepend (ephemPt << vec[0] << vec[1] << vec[2]);
//TO DO: UNCOMMENT THE FOLLOWING LINES WHEN VELOCITY BLOBS ARE CORRECT IN ISIS
//vec[0] = ephemRates[0][0] + (ephemRates[0][0] - ephemRates[1][0]);
//vec[1] = ephemRates[0][1] + (ephemRates[0][1] - ephemRates[1][1]);
//vec[2] = ephemRates[0][2] + (ephemRates[0][2] - ephemRates[1][2]);
//QList<double> ephemRate;
//ephemRates.prepend (ephemRate << vec[0] << vec[1] << vec[2]);
}
//TO DO: WHEN VELOCITY BLOBS ARE CORRECT IN ISIS, linearlly interpolate 10 nodes rather than 11
// (need 11 now for computation of velocity at first and last ephemeris point)
// linearlly interpolate 11 additional nodes after the last line (SOCET requires this)
for (int i = 0; i < 11; i++) {
double vec[3] = {0.0, 0.0, 0.0};
int index = ephemPts.size() - 1;
vec[0] = ephemPts[index][0] + (ephemPts[index][0] - ephemPts[index - 1][0]);
vec[1] = ephemPts[index][1] + (ephemPts[index][1] - ephemPts[index - 1][1]);
vec[2] = ephemPts[index][2] + (ephemPts[index][2] - ephemPts[index - 1][2]);
QList<double> ephemPt;
ephemPts.append(ephemPt << vec[0] << vec[1] << vec[2]);
//TO DO: UNCOMMENT THE FOLLOWING LINES WHEN VELOCITY BLOBS ARE CORRECT IN ISIS
//vec[0] = ephemRates[index][0] + (ephemRates[index][0] - ephemRates[index - 1][0]);
//vec[1] = ephemRates[index][1] + (ephemRates[index][1] - ephemRates[index - 1][1]);
//vec[2] = ephemRates[index][2] + (ephemRates[index][2] - ephemRates[index - 1][2]);
//QList<double> ephemRate;
//ephemRates.append(ephemRate << vec[0] << vec[1] << vec[2]);
}
numEphem += 20;
//TO DO: DELETE THE FOLLOWING LINES WHEN VELOCITY BLOBS ARE CORRECT IN ISIS
// Compute the spacecraft velocity at each ephemeris point
double deltaTime = 2.0 * dtEphem;
for (int i = 0; i < numEphem; i++) {
double vec[3] = {0.0, 0.0, 0.0};
vec[0] = (ephemPts[i+2][0] - ephemPts[i][0]) / deltaTime;
vec[1] = (ephemPts[i+2][1] - ephemPts[i][1]) / deltaTime;
vec[2] = (ephemPts[i+2][2] - ephemPts[i][2]) / deltaTime;
QList<double> ephemRate;
ephemRates.append(ephemRate << vec[0] << vec[1] << vec[2]);
}
}
else {
// Calculate the number of ephemeris points that are needed, based on the
// value of dtEphem (Delta-Time-Ephemeris). SOCET SET needs the ephemeris
// points to exceed the image range for interpolation. For now, attempt a
// padding of 10 ephemeris points on either side of the image.
if (isMocNA || isHiRise || isCTX || isLroNACL || isLroNACR || isHRSC)
// Try increment of every 300 image lines
dtEphem = 300 * intTime; // Make this a user definable increment?
else // Set increment for WA images to one second
dtEphem = 1.0;
// Pad by 10 ephem pts on each side of the image
numEphem = (int)(scanDuration / dtEphem) + 20;
// if numEphem is even, make it odd so that the number of ephemeris points
// is equal on either side of T_CENTER
if ((numEphem % 2) == 0)
numEphem++;
//TO DO: DELETE THE FOLLOWING LINE WHEN VELOCITY BLOBS ARE CORRECT IN ISIS
numEphem = numEphem + 2; // Add two for calcuation of velocity vectors...
// Find the ephemeris time for the first ephemeris point, and from that, get
// to_ephem needed by SOCET (to_ephem is relative to etCenter)
double et = etCenter - (((numEphem - 1) / 2) * dtEphem);
for (int i = 0; i < numEphem; i++) {
cam->setTime(iTime(et));
SpiceRotation *bodyRot = cam->bodyRotation();
vector<double> pos = bodyRot->ReferenceVector(cam->instrumentPosition()->Coordinate());
//TO DO: UNCOMMENT THE FOLLOWING LINE WHEN VELOCITY BLOBS ARE CORRECT IN ISIS
//vector<double> vel = bodyRot->ReferenceVector(cam->instrumentPosition()->Velocity());
//Add the ephemeris position and velocity to their respective lists, in meters and meters/sec
QList<double> ephemPt;
QList<double> ephemRate;
ephemPts.append(ephemPt << pos[0] * 1000 << pos[1] * 1000 << pos[2] * 1000);
//TO DO: UNCOMMENT THE FOLLOWING LINE WHEN VELOCITY BLOBS ARE CORRECT IN ISIS
//ephemRates.append(ephemRate << vel[0] * 1000 << vel[1] * 1000 << vel[2] * 1000);
et += dtEphem;
}
//TO DO: DELETE THE FOLLOWING LINES WHEN VELOCITY BLOBS ARE CORRECT IN ISIS
// Compute the spacecraft velocity at each ephemeris point
// (We must do this when blobs are not attached because the Spice Class
// stores in memory the same data that would be in a blob...even when reading NAIF kernels)
double deltaTime = 2.0 * dtEphem;
numEphem = numEphem - 2; // set numEphem back to the number we need output
for (int i = 0; i < numEphem; i++) {
double vec[3] = {0.0, 0.0, 0.0};
vec[0] = (ephemPts[i+2][0] - ephemPts[i][0]) / deltaTime;
vec[1] = (ephemPts[i+2][1] - ephemPts[i][1]) / deltaTime;
vec[2] = (ephemPts[i+2][2] - ephemPts[i][2]) / deltaTime;
QList<double> ephemRate;
ephemRates.append(ephemRate << vec[0] << vec[1] << vec[2]);
}
}
//update ephem stats
double etFirstEphem = etCenter - (((numEphem - 1) / 2) * dtEphem);
double t0Ephem = etFirstEphem - etCenter;
// Using the intrumentPointing table as a guide build the quarternions
// for simplicity sake we'll leave the mountingAngles as identity
// and store the complete rotation from body fixed to camera in the
// quarternions
//set up quaternions number and spacing
Table tablePointing("InstrumentPointing", cubeHeader->fileName());
//number of quaternions
int numQuaternions = tablePointing.Records();
// increase the number of quaternions nodes by 20%. This is somewhat random but
// generally intended to compensate for having equally time spaced nodes
// instead of of the potentially more efficient placement used by spiceinit
numQuaternions = (int)(numQuaternions * 1.2);
// if numQuaternions calcutated from SPICE blobs is too sparse for SOCET Set,
// mulitiply it by a factor of 30
// (30X was settled upon emperically. In the future, make this an input parameter)
if (numQuaternions <= 10) numQuaternions = tablePointing.Records() * 30;
//make the number of nodes odd
numQuaternions = (numQuaternions % 2) == 1 ? numQuaternions : numQuaternions + 1;
// SOCET has a max number of quaternions of 20000, and we're going to add twenty...
if (numQuaternions > 20000 - 20) numQuaternions = 19179;
double dtQuat = scanDuration / double(numQuaternions);
// build the tables of values
QList< QList<double> > quaternions;
double et = etCenter - (((numQuaternions - 1) / 2) * dtQuat);
for (int i = 0; i < numQuaternions; i++) {
cam->setTime(iTime(et));
vector<double> j2000ToBodyFixedMatrixVector = cam->bodyRotation()->Matrix();
vector<double> j2000ToCameraMatrixVector = cam->instrumentRotation()->Matrix();
double quaternion[4] = {0.0, 0.0, 0.0, 0.0};
double j2000ToBodyFixedRotationMatrix[3][3], //rotation from J2000 to target (aka body, planet)
j2000ToCameraRotationMatrix[3][3], //rotation from J2000 to spacecraft
cameraToBodyFixedRotationMatrix[3][3]; //rotation from camera to target
// reformat vectors to 3x3 rotation matricies
for (int j = 0; j < 3; j++) {
for (int k = 0; k < 3; k++) {
j2000ToBodyFixedRotationMatrix[j][k] = j2000ToBodyFixedMatrixVector[3 * j + k];
j2000ToCameraRotationMatrix[j][k] = j2000ToCameraMatrixVector[3 * j + k];
}
}
// get the quaternion
mxmt_c(j2000ToBodyFixedRotationMatrix, j2000ToCameraRotationMatrix,
cameraToBodyFixedRotationMatrix);
m2q_c(cameraToBodyFixedRotationMatrix, quaternion);
// add the quaternion to the list of quaternions
QList<double> quat;
quaternions.append(quat << quaternion[1] << quaternion[2] << quaternion[3] <<
quaternion[0]);
//note also that the order is changed to match socet
et += dtQuat;
}
// linearlly interpolate 10 additional nodes before the first quaternion (SOCET requires this)
for (int i = 0; i < 10; i++) {
double vec[4] = {0.0, 0.0, 0.0, 0.0};
vec[0] = quaternions[0][0] + (quaternions[0][0] - quaternions[1][0]);
vec[1] = quaternions[0][1] + (quaternions[0][1] - quaternions[1][1]);
vec[2] = quaternions[0][2] + (quaternions[0][2] - quaternions[1][2]);
vec[3] = quaternions[0][3] + (quaternions[0][3] - quaternions[1][3]);
QList<double> quat;
quaternions.prepend (quat << vec[0] << vec[1] << vec[2] << vec[3]);
}
// linearlly interpolate 10 additional nodes after the last quaternion (SOCET requires this)
for (int i = 0; i < 10; i++) {
double vec[4] = {0.0, 0.0, 0.0, 0.0};
int index = quaternions.size() - 1;
vec[0] = quaternions[index][0] + (quaternions[index][0] - quaternions[index - 1][0]);
vec[1] = quaternions[index][1] + (quaternions[index][1] - quaternions[index - 1][1]);
vec[2] = quaternions[index][2] + (quaternions[index][2] - quaternions[index - 1][2]);
vec[3] = quaternions[index][3] + (quaternions[index][3] - quaternions[index - 1][3]);
QList<double> quat;
quaternions.append(quat << vec[0] << vec[1] << vec[2] << vec[3]);
}
//update quaternions stats
numQuaternions += 20;
//ephemeris time of the first quarternion
double et0Quat = etCenter - (((numQuaternions - 1) / 2) * dtQuat);
//quadrtic time of the first quarternion
double qt0Quat = et0Quat - etCenter;
//query remaing transformation parameters from Camera Classes
//transformation to distortionless focal plane
double zDirection = distortionMap->ZDirection();
//transformation from DistortionlessFocalPlane to FocalPlane
vector<double> opticalDistCoefs = distortionMap->OpticalDistortionCoefficients();
// For instruments with less than 3 distortion coefficients, set the
// unused ones to 0.0
opticalDistCoefs.resize(3, 0);
//transformation from focal plane to detector
const double *iTransS = focalMap->TransS();
const double *iTransL = focalMap->TransL();
double detectorSampleOrigin = focalMap->DetectorSampleOrigin();
double detectorLineOrigin = focalMap->DetectorLineOrigin();
//transformation from dectector to cube
double startingSample = detectorMap->AdjustedStartingSample();
double startingLine = detectorMap->AdjustedStartingLine();
double sampleSumming = detectorMap->SampleScaleFactor();
double etStart = ((LineScanCameraDetectorMap *)detectorMap)->StartTime();
double lineOffset = focalMap->DetectorLineOffset();
// We are done with computing keyword values, so output the Line Scanner
// Keyword file.
// This is the SOCET SET base sensor class keywords portion of support file:
toStrm.setf(ios::scientific);
toStrm << "RECTIFICATION_TERMS" << endl;
toStrm << " " << setprecision(14) << rectificationTerms[0] << " " <<
rectificationTerms[1] << " " << rectificationTerms[2] << endl;
toStrm << " " << rectificationTerms[3] << " " << rectificationTerms[4] <<
" " << rectificationTerms[5] << endl;
toStrm << "GROUND_ZERO ";
toStrm << centerGp[0] << " " << centerGp[1] << " " << centerGp[2] << endl;
toStrm << "LOAD_PT ";
toStrm << centerGp[0] << " " << centerGp[1] << " " << centerGp[2] << endl;
toStrm << "COORD_SYSTEM 1" << endl;
toStrm << "IMAGE_MOTION 0" << endl;
// This is the line scanner sensor model portion of support file:
toStrm << "SENSOR_TYPE USGSAstroLineScanner" << endl;
toStrm << "SENSOR_MODE UNKNOWN" << endl;
toStrm << "FOCAL " << focal << endl;
toStrm << "ATMCO";
for (int i = 0; i < 4; i++) toStrm << " " << atmco[i];
toStrm << endl;
toStrm << "IOCOEF_LINE";
for (int i = 0; i < 10; i++) toStrm << " " << ioCoefLine[i];
toStrm << endl;
toStrm << "IOCOEF_SAMPLE";
for (int i = 0; i < 10; i++) toStrm << " " << ioCoefSample[i];
toStrm << endl;
toStrm << "ABERR 0" << endl;
toStrm << "ATMREF 0" << endl;
toStrm << "PLATFORM 1" << endl;
toStrm << "SOURCE_FLAG 1" << endl;
toStrm << "SINGLE_EPHEMERIDE 0" << endl;
//Note, for TRI_PARAMETERS, we print the first element separate from the rest so that the array
//starts in the first column. Otherwise, SOCET Set will treat the array as a comment
toStrm << "TRI_PARAMETERS" << endl;
toStrm << triParams[0];
for (int i = 1; i < 18; i++) toStrm << " " << triParams[i];
toStrm << endl;
toStrm << setprecision(25) << "T_CENTER ";
double tCenter = 0.0;
//TO DO: UNCOMMENT THESE LINES ONCE HRSC IS WORKING IN SS
// if (isHRSC) {
// tCenter = etCenter - HRSCNadirCenterTime;
// toStrm << tCenter << endl;
// }
// else
toStrm << tCenter << endl;
toStrm << "DT_EPHEM " << dtEphem << endl;
toStrm << "T0_EPHEM ";
//TO DO: UNCOMMENT THESE LINES ONCE HRSC IS WORKING IN SS
// if (isHRSC) {
// double t = tCenter + t0Ephem;
// toStrm << t << endl;
// }
// else
toStrm << t0Ephem << endl;
toStrm << "NUMBER_OF_EPHEM " << numEphem << endl;
toStrm << "EPHEM_PTS" << endl;
//TO DO: DELETE THE FOLLOWING LINE WHEN VELOCITY BLOBS ARE CORRECT IN ISIS
for (int i = 1; i <= numEphem; i++) {
//TO DO: UNCOMMENT THE FOLLOWING LINE WHEN VELOCITY BLOBS ARE CORRECT IN ISIS
//for (int i = 0; i < numEphem; i++) {
toStrm << " " << ephemPts[i][0];
toStrm << " " << ephemPts[i][1];
toStrm << " " << ephemPts[i][2] << endl;
}
toStrm << "\n\nEPHEM_RATES" << endl;
for (int i = 0; i < numEphem; i++) {
toStrm << " " << ephemRates[i][0];
toStrm << " " << ephemRates[i][1];
toStrm << " " << ephemRates[i][2] << endl;
}
toStrm << "\n\nDT_QUAT " << dtQuat << endl;
toStrm << "T0_QUAT " << qt0Quat << endl;
toStrm << "NUMBER_OF_QUATERNIONS " << numQuaternions << endl;
toStrm << "QUATERNIONS" << endl;
for (int i = 0; i < numQuaternions; i++) {
toStrm << " " << quaternions[i][0];
toStrm << " " << quaternions[i][1];
toStrm << " " << quaternions[i][2];
toStrm << " " << quaternions[i][3] << endl;
}
toStrm << "\n\nSCAN_DURATION " << scanDuration << endl;
// UNCOMMENT toStrm << "\nNUMBER_OF_INT_TIMES " << numIntTimes << endl;
//
// if (isHRSC) {
// toStrm << "INT_TIMES" << endl;
// for (int i = 0; i < numIntTimes; i++) {
// LineRateChange lr = lineRates.at(i);
// toStrm << " " << lr.GetStartEt();
// toStrm << " " << lr.GetLineScanRate();
// toStrm << " " << lr.GetStartLine() << endl;
// }
// }
// else
toStrm << "INT_TIME " << intTime << endl;
toStrm << "\nALONG_SCAN_PIXEL_SIZE " << alongScanPxSize << endl;
toStrm << "CROSS_SCAN_PIXEL_SIZE " << crossScanPxSize << endl;
toStrm << "\nCENTER_GP";
for (int i = 0; i < 3; i++) toStrm << " " << centerGp[i];
toStrm << endl;
toStrm << "SENSOR_POSITION";
for (int i = 0; i < 3; i++) toStrm << " " << sensorPosition[i];
toStrm << endl;
toStrm << "MOUNTING_ANGLES";
double mountingAngles[3] = {0.0, 0.0, 0.0};
for (int i = 0; i < 3; i++) toStrm << " " << mountingAngles[i];
toStrm << endl;
toStrm << "\nTOTAL_LINES " << totalLines << endl;
toStrm << "TOTAL_SAMPLES " << totalSamples << endl;
toStrm << "\n\n\n" << endl;
toStrm << "IKCODE " << ikCode << endl;
toStrm << "ISIS_Z_DIRECTION " << zDirection << endl;
toStrm << "OPTICAL_DIST_COEF";
for (int i = 0; i < 3; i++) toStrm << " " << opticalDistCoefs[i];
toStrm << endl;
toStrm << "ITRANSS";
for (int i = 0; i < 3; i++) toStrm << " " << iTransS[i];
toStrm << endl;
toStrm << "ITRANSL";
for (int i = 0; i < 3; i++) toStrm << " " << iTransL[i];
toStrm << endl;
toStrm << "DETECTOR_SAMPLE_ORIGIN " << detectorSampleOrigin << endl;
toStrm << "DETECTOR_LINE_ORIGIN " << detectorLineOrigin << endl;
toStrm << "DETECTOR_LINE_OFFSET " << lineOffset << endl;
toStrm << "DETECTOR_SAMPLE_SUMMING " << sampleSumming << endl;
toStrm << "STARTING_SAMPLE " << startingSample << endl;
toStrm << "STARTING_LINE " << startingLine << endl;
toStrm << "STARTING_EPHEMERIS_TIME " << setprecision(25) << etStart << endl;
toStrm << "CENTER_EPHEMERIS_TIME " << etCenter << endl;
} // end main
void IsisMain() {
UserInterface &ui = Application::GetUserInterface();
double time0,//start time
time1,//end time
alti, //altitude of the spacecraftmore
fmc, //forward motion compensation rad/sec
horV, //horizontal velocity km/sec
radV, //radial velocity km/sec
rollV,//roll speed in rad/sec
led; //line exposure duration in seconds
Cube panCube;
iTime isisTime;
QString iStrTEMP;
int i,j,k,scFrameCode,insCode;
QString mission;
SpicePosition *spPos;
SpiceRotation *spRot;
//int nlines,nsamples,nbands;
double deg2rad = acos(-1.0)/180.0;
ProcessImport jp;
FileName transFile("$apollo15/translations/apollopantranstable.trn");
PvlTranslationTable transTable(transFile);
PvlGroup kernels_pvlG;
//scFrameCode and insCode from user input
mission = ui.GetString("MISSION");
if (mission == "APOLLO12") scFrameCode = -912000;
if (mission == "APOLLO14") scFrameCode = -914000;
if (mission == "APOLLO15") scFrameCode = -915000;
if (mission == "APOLLO16") scFrameCode = -916000;
if (mission == "APOLLO17") scFrameCode = -917000;
insCode = scFrameCode - 230;
try {
panCube.open(ui.GetFileName("FROM"),"rw");
}
catch (IException &e) {
throw IException(IException::User,
"Unable to open the file [" + ui.GetFileName("FROM") + "] as a cube.",
_FILEINFO_);
}
////////////////////////////////////////////build the cube header instrament group
PvlGroup inst_pvlG("Instrument");
PvlKeyword keyword;
//four that are the same for every panaramic mission
keyword.setName("SpacecraftName");
keyword.setValue(mission);
inst_pvlG.addKeyword(keyword);
keyword.setName("InstrumentName");
keyword.setValue(transTable.Translate("InstrumentName","whatever"));
inst_pvlG.addKeyword(keyword);
keyword.setName("InstrumentId");
keyword.setValue(transTable.Translate("InstrumentId","whatever"));
inst_pvlG.addKeyword(keyword);
keyword.setName("TargetName");
keyword.setValue(transTable.Translate("TargetName","whatever"));
inst_pvlG.addKeyword(keyword);
//three that need to be calculated from input values
horV = ui.GetDouble("VEL_HORIZ");
radV = ui.GetDouble("VEL_RADIAL");
alti = ui.GetDouble("CRAFT_ALTITUDE");
//caculate the LineExposureDuration (led)
if( ui.WasEntered("V/H_OVERRIDE") )
fmc = ui.GetDouble("V/H_OVERRIDE")/1000.0;
else
//forward motion compensation is directly equivalent to V/H
fmc = sqrt(horV*horV + radV*radV)/alti;
rollV = fmc*ROLLC; //roll angular velcoity is equal to V/H * constant (units rad/sec)
//led = rad/mm * sec/rad = radians(2.5)/FIDL / rollV (final units: sec/mm)
led = (2.5*acos(-1.0)/180.0)/rollV/FIDL;
//use led and the number of mm to determine the start and stop times
isisTime = ui.GetString("GMT");
//calculate starting and stoping times
time0 = isisTime.Et() - led*FIDL*21.5;
time1 = time0 + led*FIDL*43;
isisTime = time0;
keyword.setName("StartTime");
keyword.setValue(iStrTEMP=isisTime.UTC());
inst_pvlG.addKeyword(keyword);
isisTime = time1;
keyword.setName("StopTime");
keyword.setValue(iStrTEMP=isisTime.UTC());
inst_pvlG.addKeyword(keyword);
keyword.setName("LineExposureDuration");
//converted led to msec/mm--negative sign to account for the anti-parallel time and line axes
keyword.setValue(iStrTEMP=toString(-led),"sec/mm");
inst_pvlG.addKeyword(keyword);
panCube.putGroup(inst_pvlG);
///////////////////////////////////The kernals group
kernels_pvlG.setName("Kernels");
kernels_pvlG.clear();
keyword.setName("NaifFrameCode");
keyword.setValue(toString(insCode));
kernels_pvlG.addKeyword(keyword);
keyword.setName("LeapSecond");
keyword.setValue( transTable.Translate("LeapSecond","File1") );
kernels_pvlG.addKeyword(keyword);
keyword.setName("TargetAttitudeShape");
keyword.setValue( transTable.Translate("TargetAttitudeShape", "File1") );
keyword.addValue( transTable.Translate("TargetAttitudeShape", "File2") );
keyword.addValue( transTable.Translate("TargetAttitudeShape", "File3") );
kernels_pvlG.addKeyword(keyword);
keyword.setName("TargetPosition");
keyword.setValue("Table");
keyword.addValue( transTable.Translate("TargetPosition", "File1") );
keyword.addValue( transTable.Translate("TargetPosition", "File2") );
kernels_pvlG.addKeyword(keyword);
keyword.setName("ShapeModel");
keyword.setValue( transTable.Translate("ShapeModel", "File1") );
kernels_pvlG.addKeyword(keyword);
keyword.setName("InstrumentPointing");
keyword.setValue("Table");
kernels_pvlG.addKeyword(keyword);
keyword.setName("InstrumentPosition");
keyword.setValue("Table");
kernels_pvlG.addKeyword(keyword);
keyword.setName("InstrumentAddendum");
keyword.setValue( transTable.Translate("InstrumentAddendum",mission));
kernels_pvlG.addKeyword(keyword);
panCube.putGroup(kernels_pvlG);
//Load all the kernals
Load_Kernel(kernels_pvlG["TargetPosition"]);
Load_Kernel(kernels_pvlG["TargetAttitudeShape"]);
Load_Kernel(kernels_pvlG["LeapSecond"]);
//////////////////////////////////////////attach a target rotation table
char frameName[32];
SpiceInt frameCode;
SpiceBoolean found;
//get the framecode from the body code (301=MOON)
cidfrm_c(301, sizeof(frameName), &frameCode, frameName, &found);
if(!found) {
QString naifTarget = QString("IAU_MOOM");
namfrm_c(naifTarget.toAscii().data(), &frameCode);
if(frameCode == 0) {
QString msg = "Can not find NAIF code for [" + naifTarget + "]";
throw IException(IException::Io, msg, _FILEINFO_);
}
}
spRot = new SpiceRotation(frameCode);
//create a table from starttime to endtime (streched by 3%) with NODES entries
spRot->LoadCache(time0-0.015*(time1-time0), time1+0.015*(time1-time0), NODES);
Table tableTargetRot = spRot->Cache("BodyRotation");
tableTargetRot.Label() += PvlKeyword("Description", "Created by apollopaninit");
panCube.write(tableTargetRot);
//////////////////////////////////////////////////attach a sun position table
spPos = new SpicePosition(10,301); //Position of the sun (10) WRT to the MOON (301)
//create a table from starttime to endtime (stretched by 3%) with NODES entries
spPos->LoadCache(time0-0.015*(time1-time0), time1+0.015*(time1-time0), NODES);
Table tableSunPos = spPos->Cache("SunPosition");
tableSunPos.Label() += PvlKeyword("SpkTableStartTime", toString(time0-0.015*(time1-time0)));
tableSunPos.Label() += PvlKeyword("SpkTablleEndTime", toString(time1+0.015*(time1-time0)));
tableSunPos.Label() += PvlKeyword("Description", "Created by apollopaninit");
panCube.write(tableSunPos); //attach the table to the cube
/////////////Finding the principal scan line position and orientation
//get the radii of the MOON
SpiceInt tempRadii = 0;
bodvcd_c(301,"RADII",3,&tempRadii,R_MOON); //units are km
double omega,phi,kappa;
std::vector<double> posSel; //Seleno centric position
std::vector<double> sunPos; //sunPosition used to transform to J2000
std::vector<double> posJ20; //camera position in J2000
posSel.resize(3);
sunPos.resize(3);
posJ20.resize(3);
double temp,
vel[3] = { 0.0, 0.0, 0.0 }, //the total velocity vector (combined Horizonatal and normal components)
// in km/sec
M[3][3] = { { 0.0, 0.0, 0.0 },
{ 0.0, 0.0, 0.0 },
{ 0.0, 0.0, 0.0 } }, //rotation matrix
zDir[] = { 0.0, 0.0, 1.0 }, //selenographic Z axis
northPN[3] = { 0.0, 0.0, 0.0 }, //normal to the plane containing all the north/south directions,
// that is plane containing
// the origin, the z axis, and the primary point of intersection
northL[3] = { 0.0, 0.0, 0.0 }, //north direction vector in local horizontal plane
azm[3] = { 0.0, 0.0, 0.0 }, //azm direction of the veclocity vector in selenographic coordinates
azmP[3] = { 0.0, 0.0, 0.0 }, //azm rotated (partially) and projected into the image plane
norm[3] = { 0.0, 0.0, 0.0 }, //normal to the local horizontal plane
look[3] = { 0.0, 0.0, 0.0 }; //unit direction vector in the pincipal cameral look direction,
// parallel to the vector from the center of the moon through the spacecraft
double pos0[3] = { 0.0, 0.0, 0.0 }, //coordinate of the camera position
pInt[3] = { 0.0, 0.0, 0.0 }; //coordinate of the principle intersection point
/////////////////calculating the camera position for the center (principal scan line)
pos0[1] = ui.GetDouble("LON_NADIR")*deg2rad;
pos0[0] = ui.GetDouble("LAT_NADIR")*deg2rad;
pos0[2] = ui.GetDouble("CRAFT_ALTITUDE"); //units are km
Geographic2GeocentricLunar(pos0,pos0); //function is written so the input can also be the
// output
/////////////////////calculating the camera orientation for the center (principal) scan line
pInt[1] = ui.GetDouble("LON_INT")*deg2rad;
pInt[0] = ui.GetDouble("LAT_INT")*deg2rad;
pInt[2] = 0.0;
Geographic2GeocentricLunar(pInt,pInt); //function is written so the input can also be the output
//calculate the unit look direction vector in object space
look[0] = -pos0[0] + pInt[0];
look[1] = -pos0[1] + pInt[1];
look[2] = -pos0[2] + pInt[2];
temp = sqrt(look[0]*look[0] + look[1]*look[1] + look[2]*look[2]);
look[0] /= temp;
look[1] /= temp;
look[2] /= temp;
//the local normal vector is equal to pInt0/|pInt0|
temp = sqrt(pInt[0]*pInt[0] + pInt[1]*pInt[1] + pInt[2]*pInt[2]);
norm[0] = pInt[0]/temp;
norm[1] = pInt[1]/temp;
norm[2] = pInt[2]/temp;
//omega and phi are defined so that M(phi)M(omega)look = [0 0 -1] leaving only the roation
// around z axis to be found
omega = -atan2(look[1], look[2]); //omega rotation to zero look[1]
phi = atan2(-look[0], sin(omega)*look[1] - cos(omega)*look[2]); //phi rotation to zero look[0]
//use the horizontal velocity vector direction to solve for the last rotation; we will make the
// image x axis parallel to the in-image-plane projection of the horizontal direction of flight.
// The local normal cross the selenogrpahic z gives northPN (normal to the plane containing all
// the north/south directions), that is, the plane containing the origin, the z axis, and the
// primary point of intersection.
crossp(northPN,norm,northL);
//The normal to the plane containing all the north/south directions cross the local normal
// direction gives the local north/south direction in the local normal plane
crossp(norm, zDir, northPN);
if (northL[2] < 0) { //if by chance we got the south direction change the signs
northL[0] = -northL[0];
northL[1] = -northL[1];
northL[2] = -northL[2];
}
//define the rotation matrix to convert northL to the azimuth of flight.
// A left handed rotation of "VEL_AZM" around the positive normal direction will convert northL
// to azm
MfromVecLeftAngle(M,norm,ui.GetDouble("VEL_AZM")*deg2rad);
azm[0] = M[0][0]*northL[0] + M[0][1]*northL[1] + M[0][2]*northL[2];
azm[1] = M[1][0]*northL[0] + M[1][1]*northL[1] + M[1][2]*northL[2];
azm[2] = M[2][0]*northL[0] + M[2][1]*northL[1] + M[2][2]*northL[2];
//apply the two rotations we already know
MfromLeftEulers(M,omega,phi,0.0);
azmP[0] = M[0][0]*azm[0] + M[0][1]*azm[1] + M[0][2]*azm[2];
azmP[1] = M[1][0]*azm[1] + M[1][1]*azm[1] + M[1][2]*azm[2];
azmP[2] = M[2][0]*azm[2] + M[2][1]*azm[1] + M[2][2]*azm[2];
//subtract that portion of the azm that is perpindicular to the image plane (also the portion
// which is parallel to look) making azm a vector parrallel to the image plane
// Further, since we're now rotated into some coordinate system that differs from
// the image coordinate system by only a kappa rotation making the vector parrallel to the
// image plan is as simple as zeroing the z component (and as pointless to further calculations
// as a nat's fart in hurricane) nevertheless it completes the logical transition
azmP[2] = 0.0;
//finally the kappa rotation that will make azmP parallel (including sign) to the camera x axis
kappa = -atan2(-azmP[1], azmP[0]);
////////////////////Add an instrument position table
//Define the table records
TableRecord recordPos; // reacord to be added to table
// add x,y,z position labels and ephemeris time et to record
TableField x("J2000X", TableField::Double);
TableField y("J2000Y", TableField::Double);
TableField z("J2000Z", TableField::Double);
TableField t("ET", TableField::Double);
recordPos += x;
recordPos += y;
recordPos += z;
recordPos += t;
Table tablePos("InstrumentPosition", recordPos);
//now that the azm and norm vectors are defined
// the total velocity vector can be calcualted (km/sec)
vel[0] = horV*azm[0] + radV * norm[0];
vel[1] = horV*azm[1] + radV * norm[1];
vel[2] = horV*azm[2] + radV * norm[2];
//we'll provide a two ellement table (more is redundant because the motion is modeled as linear
// at this point) we'll extend the nodes 3% beyond the edges of the images to be sure
// rounding errors don't cause problems
temp = 0.515*(time1-time0); //3% extension
posSel[0] = pos0[0] - temp*vel[0]; //selenocentric coordinate calculation
posSel[1] = pos0[1] - temp*vel[1];
posSel[2] = pos0[2] - temp*vel[2];
//converting to J2000
temp = time0 - 0.005*(time1-time0); //et just before the first scan line
spPos->SetEphemerisTime(temp);
spRot->SetEphemerisTime(temp);
//Despite being labeled as J2000, the coordinates for the instrument position are in fact in
// target centric coordinated rotated to a system centered at the target with aces parallel
// to J2000, whatever that means
posJ20 = spRot->J2000Vector(posSel); //J2000Vector calls rotates the position vector into J2000,
// completing the transformation
recordPos[0] = posJ20[0];
recordPos[1] = posJ20[1];
recordPos[2] = posJ20[2];
recordPos[3] = temp; //temp = et (right now anyway)
tablePos += recordPos;
tablePos.Label() += PvlKeyword("SpkTableStartTime",toString(temp));
//now the other node
temp = 0.515*(time1-time0); //3% extension
posSel[0] = pos0[0] + temp*vel[0]; //selenocentric coordinate calculation
posSel[1] = pos0[1] + temp*vel[1];
posSel[2] = pos0[2] + temp*vel[2];
//converting to J2000
temp = time1 + 0.015*(time1-time0); //et just after the last scan line
spPos->SetEphemerisTime(temp);
spRot->SetEphemerisTime(temp);
//Despite being labeled as J2000, the coordinates for the instrument position are in fact
// in target centric coordinated rotated to a system centered at the target with aces
// parallel to J2000, whatever that means
posJ20 = spRot->J2000Vector(posSel); //J2000Vector calls rotates the position vector into J2000,
// completing the transformation
recordPos[0] = posJ20[0];
recordPos[1] = posJ20[1];
recordPos[2] = posJ20[2];
recordPos[3] = temp; //temp = et (right now anyway)
tablePos += recordPos;
tablePos.Label() += PvlKeyword("SpkTableEndTime",toString(temp));
tablePos.Label() += PvlKeyword("CacheType","Linear");
tablePos.Label() += PvlKeyword("Description","Created by apollopaninit");
panCube.write(tablePos); //now attach it to the table
/////////////////////////////attach a camera pointing table
double cacheSlope, //time between epoches in the table
rollComb, //magnitude of roll relative to the center in the middle of the epoch
relT, //relative time at the center of each epoch
Q[NODES][5], //NODES four ellement unit quarternions and et (to be calculated).
gimVec[3], //the direction of the gimbal rotation vector (to the cameras persepective
// this is always changing because the camera is mounted to the roll frame
// assembly which is mounted to the gimbal)
M0[3][3], //rotation matrix of the previous epoch
Mtemp1[3][3], //intermediate step in the multiplication of rotation matricies
Mtemp2[3][3], //intermediate step in the multiplication of rotation matricies
Mdg[3][3], //incremental rotation due the the gimbal motion in the camera frame
Mdr[3][3]; //the contribution of the roll motion in the camera frame during time
// cacheSlope
std::vector <double> M_J2toT; //rotation matrix from J2000 to the target frame
M_J2toT.resize(9);
//Table Definition
TableField q0("J2000Q0", TableField::Double);
TableField q1("J2000Q1", TableField::Double);
TableField q2("J2000Q2", TableField::Double);
TableField q3("J2000Q3", TableField::Double);
TableField et("ET", TableField::Double);
TableRecord recordRot;
recordRot += q0;
recordRot += q1;
recordRot += q2;
recordRot += q3;
recordRot += et;
Table tableRot("InstrumentPointing",recordRot);
//From the cameras perspective the gimbal motion is around a constantly changing axis,
// this is handled by combining a series of incremental rotations
MfromLeftEulers(M0, omega, phi, kappa); //rotation matrix in the center Q[(NOPDES-1)/2]
spRot->SetEphemerisTime(isisTime.Et());
M_J2toT = spRot->Matrix(); //this actually gives the rotation from J2000 to target centric
for(j=0; j<3; j++) //reformating M_J2toT to a 3x3
for(k=0; k<3; k++)
Mtemp1[j][k] = M_J2toT[3*j+k];
mxm_c(M0, Mtemp1, Mtemp2);
M2Q(Mtemp2, Q[(NODES-1)/2]); //save the middle scan line quarternion
Q[(NODES-1)/2][4] = (time1 + time0)/2.0; //time in the center of the image
//the total time is scaled up slightly so that nodes will extend just beyond the edge of the image
cacheSlope = 1.03*(time1 - time0)/(NODES-1);
//Mdr is constant for all the forward time computations
MfromLeftEulers(Mdr,cacheSlope*rollV,0.0,0.0);
for (i=(NODES-1)/2+1; i<NODES; i++) { //moving foward in time first
Q[i][4] = Q[i-1][4] + cacheSlope; //new time epoch
//epoch center time relative to the center line
relT = double(i - (NODES-1)/2 - 0.5)*cacheSlope;
rollComb = relT*rollV;
gimVec[0] = 0.0; //gimbal rotation vector direction in the middle of the epoch
gimVec[1] = cos(rollComb);
gimVec[2] = -sin(rollComb);
//incremental rotation due to the gimbal (forward motion compensation)
MfromVecLeftAngle(Mdg, gimVec, fmc*cacheSlope);
//the new rotation matrix is Transpose(Mdr)*Transpose(Mdg)*M0--NOTE the order swap and
// transposes are needed because both Mdr and Mdg were caculated in image space and need to be
// transposed to apply to object space
mtxm_c(Mdg, M0, Mtemp1);
//M0 is now what would typically be considered the rotation matrix of an image. It rotates a
// vector from the target centric space into camera space. However, what is standard to
// include in the cube labels is a rotation from camera space to J2000. M0 is therefore the
// transpose of the first part of this rotation. Transpose(M0) is the rotation from camera
// space to target centric space
mtxm_c(Mdr, Mtemp1, M0);
//now adding the rotation from the target frame to J2000
spRot->SetEphemerisTime(Q[i][4]);
//this actually gives the rotation from J2000 to target centric--hence the mxmt_c function being
// used later
M_J2toT = spRot->Matrix();
for(j=0; j<3; j++) //reformating M_J2toT to a 3x3
for(k=0; k<3; k++)
Mtemp1[j][k] = M_J2toT[3*j+k];
mxm_c(M0, Mtemp1, Mtemp2);
M2Q(Mtemp2, Q[i]); //convert to a quarterion
}
MfromLeftEulers(M0, omega, phi, kappa); //rotation matrix in the center Q[(NOPDES-1)/2]
//Mdr is constant for all the backward time computations
MfromLeftEulers(Mdr, -cacheSlope*rollV, 0.0, 0.0);
for (i=(NODES-1)/2-1; i>=0; i--) { //moving backward in time
Q[i][4] = Q[i+1][4] - cacheSlope; //new time epoch
//epoch center time relative to the center line
relT = double(i - (NODES-1)/2 + 0.5)*cacheSlope;
rollComb = relT*rollV;
gimVec[0] = 0.0; //gimbal rotation vector direction in the middle of the epoch
gimVec[1] = cos(rollComb);
gimVec[2] = -sin(rollComb);
//incremental rotation due to the gimbal (forward motion compensation)
MfromVecLeftAngle(Mdg, gimVec, -fmc*cacheSlope);
//the new rotation matrix is Transpose(Mdr)*Transpose(Mdg)*M0 NOTE the order swap and
// transposes are needed because both Mdr and Mdg were caculated in image space and need to be
// transposed to apply to object space
mtxm_c(Mdg, M0, Mtemp1);
//M0 is now what would typically be considered the rotation matrix of an image. It rotates a
// vector from the target centric space into camera space. However, what is standard to
// include in the cube labels is a rotation from camera space to J2000. M0 is therefore the
// transpose of the first part of this rotation. Transpose(M0) is the rotation from camera
// space to target centric space
mtxm_c(Mdr, Mtemp1, M0);
//now adding the rotation from the target frame to J2000
spRot->SetEphemerisTime(Q[i][4]);
M_J2toT = spRot->Matrix();
for(j=0; j<3; j++) //reformating M_J2toT to a 3x3
for(k=0; k<3; k++)
Mtemp1[j][k] = M_J2toT[3*j+k];
mxm_c(M0, Mtemp1, Mtemp2);
M2Q(Mtemp2, Q[i]); //convert to a quarterion
}
//fill in the table
for (i=0; i<NODES; i++) {
recordRot[0] = Q[i][0];
recordRot[1] = Q[i][1];
recordRot[2] = Q[i][2];
recordRot[3] = Q[i][3];
recordRot[4] = Q[i][4];
tableRot += recordRot;
}
tableRot.Label() += PvlKeyword("CkTableStartTime", toString(Q[0][4]));
tableRot.Label() += PvlKeyword("CkTableEndTime", toString(Q[NODES-1][4]));
tableRot.Label() += PvlKeyword("Description", "Created by appollopan2isis");
keyword.setName("TimeDependentFrames");
keyword.setValue(toString(scFrameCode));
keyword.addValue("1");
tableRot.Label() += keyword;
keyword.setName("ConstantFrames");
keyword.setValue(toString(insCode));
keyword.addValue(toString(scFrameCode));
tableRot.Label() += keyword;
keyword.setName("ConstantRotation");
keyword.setValue("1");
for (i=1;i<9;i++)
if (i%4 == 0) keyword.addValue("1");
else keyword.addValue("0");
tableRot.Label() += keyword;
panCube.write(tableRot);
/////////////////////////Attach a table with all the measurements of the fiducial mark locations.
Chip patternS,searchS; //scaled pattern and search chips
Cube fidC; //Fiducial image
//line and sample coordinates for looping through the panCube
double l=1,s=1,sample,line,sampleInitial=1,lineInitial=1,play;
int regStatus,
fidn,
panS,
refL, //number of lines in the patternS
refS; //number of samples in the patternS
Pvl pvl;
bool foundFirst=false;
QString fileName;
panS = panCube.sampleCount();
//Table definition
TableRecord recordFid;
TableField indexFid("FID_INEX",TableField::Integer);
TableField xFid("X_COORD",TableField::Double);
TableField yFid("Y_COORD",TableField::Double);
recordFid += indexFid;
recordFid += xFid;
recordFid += yFid;
Table tableFid("Fiducial Measurement",recordFid);
//read the image resolutions and scale the constants acordingly
double resolution = ui.GetDouble("MICRONS"), //pixel size in microns
scale = SCALE *5.0/resolution, //reduction scale for fast autoregistrations
searchHeight = SEARCHh*5.0/resolution, //number of lines (in 5-micron-pixels) in
// search space for the first fiducial
searchCellSize = SEARCHc*5.0/resolution, //height/width of search chips block
averageSamples = AVERs *5.0/resolution, //scaled smaples between fiducials
averageLines = AVERl *5.0/resolution; //scaled average distance between the top and
//bottom fiducials
if( 15.0/resolution < 1.5) play=1.5;
else play = 15.0/resolution;
//copy the patternS chip (the entire ApolloPanFiducialMark.cub)
FileName fiducialFileName("$apollo15/calibration/ApolloPanFiducialMark.cub");
fidC.open(fiducialFileName.expanded(),"r");
if( !fidC.isOpen() ) {
QString msg = "Unable to open the fiducial patternS cube: ApolloPanFiducialMark.cub\n";
throw IException(IException::User, msg, _FILEINFO_);
}
refL = fidC.lineCount();
refS = fidC.sampleCount();
//scaled pattern chip for fast matching
patternS.SetSize(int((refS-2)/SCALE), int((refL-2)/SCALE));
patternS.TackCube((refS-1)/2, (refL-1)/2);
patternS.Load(fidC, 0, SCALE);
//parameters for maximum correlation autoregestration
// see: file:///usgs/pkgs/isis3nightly2011-09-21/isis/doc/documents/patternSMatch/patternSMatch.html#DistanceTolerance
FileName fiducialPvl("$apollo15/templates/apolloPanFiducialFinder.pvl");
pvl.read(fiducialPvl.expanded()); //read in the autoreg parameters
AutoReg *arS = AutoRegFactory::Create(pvl);
*arS->PatternChip() = patternS; //patternS chip is constant
//set up a centroid measurer
CentroidApolloPan centroid(resolution);
Chip inputChip,selectionChip;
inputChip.SetSize(int(ceil(200*5.0/resolution)), int(ceil(200*5.0/resolution)));
fileName = ui.GetFileName("FROM");
if( panCube.pixelType() == 1) //UnsignedByte
centroid.setDNRange(12, 1e99); //8 bit bright target
else
centroid.setDNRange(3500, 1e99); //16 bit bright target
Progress progress;
progress.SetText("Locating Fiducials");
progress.SetMaximumSteps(91);
//Search for the first fiducial, search sizes are constanst
searchS.SetSize(int(searchCellSize/scale),int(searchCellSize/scale));
//now start searching along a horizontal line for the first fiducial mark
for(l = searchCellSize/2;
l<searchHeight+searchCellSize/2.0 && !foundFirst;
l+=searchCellSize-125*5.0/resolution) {
for (s = searchCellSize/2;
s < averageSamples + searchCellSize/2.0 && !foundFirst;
s += searchCellSize-125*5.0/resolution) {
searchS.TackCube(s, l);
searchS.Load(panCube, 0, scale);
*arS->SearchChip() = searchS;
regStatus = arS->Register();
if (regStatus == AutoReg::SuccessPixel) {
inputChip.TackCube(arS->CubeSample(), arS->CubeLine());
inputChip.Load(panCube, 0, 1);
inputChip.SetCubePosition(arS->CubeSample(), arS->CubeLine());
//continuous dynamic range selection
centroid.selectAdaptive(&inputChip, &selectionChip);
//elliptical trimming/smoothing
if (centroid.elipticalReduction(&selectionChip, 95, play, 2000)) {
//center of mass to reduce selection to a single measure
centroid.centerOfMass(&selectionChip, &sample, &line);
inputChip.SetChipPosition(sample, line);
sampleInitial = inputChip.CubeSample();
lineInitial = inputChip.CubeLine();
foundFirst = true; //once the first fiducial is found stop
}
}
}
}
if(s>=averageLines+searchCellSize/2.0) {
QString msg = "Unable to locate a fiducial mark in the input cube [" + fileName +
"]. Check FROM and MICRONS parameters.";
throw IException(IException::Io, msg, _FILEINFO_);
return;
}
progress.CheckStatus();
//record first fiducial measurement in the table
recordFid[0] = 0;
recordFid[1] = sampleInitial;
recordFid[2] = lineInitial;
tableFid += recordFid;
for (s= sampleInitial, l=lineInitial, fidn=0; s<panS; s+=averageSamples, fidn++) {
//corrections for half spacing of center fiducials
if (fidn == 22) s -= averageSamples/2.0;
if (fidn == 23) s -= averageSamples/2.0;
//look for the bottom fiducial
searchS.TackCube(s,l+averageLines);
searchS.Load(panCube, 0, scale);
*arS->SearchChip() = searchS;
regStatus = arS->Register();
if (regStatus == AutoReg::SuccessPixel) {
inputChip.TackCube(arS->CubeSample(), arS->CubeLine());
inputChip.Load(panCube,0,1);
inputChip.SetCubePosition(arS->CubeSample(), arS->CubeLine());
}
else { //if autoreg is unsuccessful, a larger window will be used
inputChip.TackCube(s, l+averageLines);
inputChip.Load(panCube, 0, 1);
inputChip.SetCubePosition(s, l+averageLines);
}
centroid.selectAdaptive(&inputChip, &selectionChip); //continuous dynamic range selection
//elliptical trimming/smoothing... if this fails move on
if (centroid.elipticalReduction(&selectionChip, 95, play, 2000) != 0 ) {
//center of mass to reduce selection to a single measure
centroid.centerOfMass(&selectionChip, &sample, &line);
inputChip.SetChipPosition(sample, line);
sample = inputChip.CubeSample();
line = inputChip.CubeLine();
recordFid[0] = fidn*2+1;
recordFid[1] = sample;
recordFid[2] = line;
tableFid += recordFid;
}
progress.CheckStatus();
//look for the top fiducial
if (s == sampleInitial) //first time through the loop?
continue; //then the top fiducial was already found
searchS.TackCube(s, l);
searchS.Load(panCube, 0, scale);
*arS->SearchChip() = searchS;
regStatus = arS->Register();
if (regStatus == AutoReg::SuccessPixel) {
inputChip.TackCube(arS->CubeSample(), arS->CubeLine());
inputChip.Load(panCube, 0, 1);
inputChip.SetCubePosition(arS->CubeSample(), arS->CubeLine());
}
else { //if autoreg is unsuccessful, a larger window will be used
inputChip.TackCube(s, l);
inputChip.Load(panCube, 0, 1);
inputChip.SetCubePosition(s, l);
}
centroid.selectAdaptive(&inputChip, &selectionChip);//continuous dynamic range selection
//inputChip.Write("inputTemp.cub");//debug
//selectionChip.Write("selectionTemp.cub");//debug
//elliptical trimming/smoothing... if this fails move on
if (centroid.elipticalReduction(&selectionChip, 95, play, 2000) !=0) {
//center of mass to reduce selection to a single measure
centroid.centerOfMass(&selectionChip, &sample, &line);
inputChip.SetChipPosition(sample, line);
//when finding the top fiducial both s and l are refined for a successful measurement,
// this will help follow trends in the scaned image
s = inputChip.CubeSample();
l = inputChip.CubeLine();
recordFid[0] = fidn*2;
recordFid[1] = s;
recordFid[2] = l;
tableFid += recordFid;
}
progress.CheckStatus();
}
panCube.write(tableFid);
//close the new cube
panCube.close(false);
panCube.open(ui.GetFileName("FROM"),"rw");
delete spPos;
delete spRot;
//now instantiate a camera to make sure all of this is working
ApolloPanoramicCamera* cam = (ApolloPanoramicCamera*)(panCube.camera());
//log the residual report from interior orientation
PvlGroup residualStats("InteriorOrientationStats");
residualStats += PvlKeyword("FiducialsFound", toString(tableFid.Records()));
residualStats += PvlKeyword("ResidualMax", toString(cam->intOriResidualMax()),"pixels");
residualStats += PvlKeyword("ResidualMean", toString(cam->intOriResidualMean()),"pixels");
residualStats += PvlKeyword("ResidualStdev", toString(cam->intOriResidualStdev()),"pixels");
Application::Log( residualStats );
return;
}
