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();
}
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
/**
* @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();
}
void IsisMain() {
// Use a regular Process
Process p;
UserInterface &ui = Application::GetUserInterface();
QString from = ui.GetFileName("FROM");
QString to = FileName(ui.GetFileName("TO")).expanded();
QString socetProject = ui.GetString("SS_PROJECT");
QString socetImageLocation = ui.GetString("SS_IMG_LOC");
QString socetInputDataPath = ui.GetString("SS_INPUT_PATH");
QString socetCameraCalibrationPath = ui.GetString("SS_CAM_CALIB_PATH");
// 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 = QString("You can only create a SOCET Set Framing Camera or FrameOffAxis settings "
"file for level 1 images. The input image [%1] is a map projected, level "
"2, cube.").arg(from);
throw IException(IException::User, msg, _FILEINFO_);
}
// Initialize the camera
Cube *input = p.SetInputCube("FROM");
Camera *cam = input->camera();
CameraDetectorMap *detectorMap = cam->DetectorMap();
CameraFocalPlaneMap *focalMap = cam->FocalPlaneMap();
// Make sure the image contains the SPICE blobs/tables
PvlGroup test = cube.label()->findGroup("Kernels", Pvl::Traverse);
QString instrumentPointing = (QString) test["InstrumentPointing"];
if (instrumentPointing != "Table") {
QString msg = QString("Input image [%1] does not contain needed SPICE blobs. Please run "
"spiceinit on the image with attach=yes.").arg(from);
throw IException(IException::User, msg, _FILEINFO_);
}
// Set the image at the boresight pixel to get the ephemeris time and SPICE data at that image
// location
double detectorSampleOrigin = focalMap->DetectorSampleOrigin();
double detectorLineOrigin = focalMap->DetectorSampleOrigin();
cam->SetImage(detectorSampleOrigin, detectorLineOrigin);
double et = cam->time().Et();
Spice spice(*input);
spice.setTime(et);
// Get required keywords from instrument and band groups
PvlGroup inst = cube.label()->findGroup("Instrument", Pvl::Traverse);
QString instrumentId = (QString) inst["InstrumentId"];
QString spacecraftName = (QString) inst["SpacecraftName"];
// Compensate for noproj altering cube labels
if (instrumentId == "IdealCamera") {
PvlGroup orig = cube.label()->findGroup("OriginalInstrument", Pvl::Traverse);
instrumentId = (QString) orig["InstrumentId"];
spacecraftName = (QString) orig["SpacecraftName"];
}
// Get sensor position and orientation (opk) angles
double ographicCamPos[3] = {0.0, 0.0, 0.0};
double omegaPhiKappa[3] = {0.0, 0.0, 0.0};
double isisFocalPlane2SocetPlateTranspose[3][3] =
{{0.0, 0.0, 0.0}, {0.0, 0.0, 0.0}, {0.0, 0.0, 0.0}};
getCamPosOPK(spice, spacecraftName, et, cam, ographicCamPos,
omegaPhiKappa,isisFocalPlane2SocetPlateTranspose);
// Determine the SOCET Set camera calibration file
QString socetCamFile = socetCameraCalibrationPath;
if (spacecraftName == "VIKING_ORBITER_1") {
if (instrumentId == "VISUAL_IMAGING_SUBSYSTEM_CAMERA_A") {
socetCamFile += "VIK1A.cam";
}
else {
socetCamFile += "VIK1B.cam";
}
}
else if (spacecraftName == "VIKING_ORBITER_2") {
if (instrumentId == "VISUAL_IMAGING_SUBSYSTEM_CAMERA_A") {
socetCamFile += "VIK2A.cam";
}
else {
socetCamFile += "VIK2B.cam";
}
}
//----------------------------------------.-------------
//TO DO: Uncomment these lines when MEX SRC is supported
//----------------------------------------.-------------
// // Mars Express
// else if (spacecraftName == "MARS_EXPRESS") {
// socetCamFile += "SRC.cam";
// }
//-----------------------------------------------------
//TO DO: Uncomment these lines when Themis is supported
//-----------------------------------------------------
// // THEMIS VIS images (MARS Odyssey)
// else if (spacecraftName == "MARS_ODYSSEY") {
// socetCamFile += "THEMIS_VIS_F3.cam";
// }
//-----------------------------------------------------
//TO DO: Uncomment these lines when Apollo is supported
//-----------------------------------------------------
// else if (spacecraftName == "APOLLO 15") {
// socetCamFile += "Apollo15_M_ASU.cam";
// }
// else if (spacecraftName == "APOLLO 16") {
// socetCamFile += "Apollo16_M_ASU.cam";
// }
// else if (spacecraftName == "APOLLO 17") {
// socetCamFile += "Apollo17_M_ASU.cam";
// }
else if (spacecraftName == "Galileo Orbiter") {
//Check if this image was aquired with the cover on or off
iTime removeCoverDate("1994/04/01 00:00:00");
iTime imageDate((QString) inst["StartTime"]);
if (imageDate < removeCoverDate) {
socetCamFile += "Galileo_SSI_Cover.cam";
}
else {
socetCamFile += "Galileo_SSI.cam";
}
}
else if (spacecraftName == "Cassini-Huygens") {
// Get the image filter and replace "/" with "_"
PvlGroup bandBin = cube.label()->findGroup("BandBin", Pvl::Traverse);
QString filter = (QString) bandBin["FilterName"];
filter.replace("/", "_");
socetCamFile += "Cassini_ISSNA_";
socetCamFile += filter;
socetCamFile += ".cam";
}
else if (spacecraftName == "Messenger") {
if (instrumentId == "MDIS-NAC") {
socetCamFile += "MDIS_NAC.cam";
}
else {
socetCamFile += "MDIS_WAC.cam";
}
}
else if (spacecraftName == "CLEMENTINE 1") {
if (instrumentId == "UVVIS") {
socetCamFile += "ClemUVVIS.cam";
}
}
// Throw exception for unsupported camera
else {
QString msg = QString("The ISIS to SOCET Set translation of input image [%1] is currently "
"not supported for instrument [%2].").arg(from).arg(instrumentId);
throw IException(IException::User, msg, _FILEINFO_);
}
// For THEMIS VIS, Galileo SSI, Cassini ISS get the image summation mode
int summation = 1;
//-----------------------------------------------------
//TO DO: Uncomment these lines when Themis is supported
//-----------------------------------------------------
// if (spacecraftName == "MARS_ODYSSEY") {
// try {
// summation = (int) detectorMap->SampleScaleFactor();
// }
// catch (IException &e) {
// QString msg = "Error reading SpatialSumming from Instrument label";
// throw IException(IException::User, msg, _FILEINFO_);
// }
// }
if (spacecraftName == "Galileo Orbiter") {
try {
summation = (int) detectorMap->SampleScaleFactor();
}
catch (IException &e) {
QString msg = "Error reading Summing from Instrument label";
throw IException(IException::User, msg, _FILEINFO_);
}
}
if (spacecraftName == "Cassini-Huygens") {
try {
summation = (int) detectorMap->SampleScaleFactor();
}
catch (IException &e) {
QString msg = "Error reading Summing from Instrument label";
throw IException(IException::User, msg, _FILEINFO_);
}
}
// Get NL/NS of image and calculate the size in x/y dimensions, in mm
// Note: for THEMIS VIS, Galileo SSI and Cassini ISS summed images, calculate the size of the full
// resolution image because our "isis2socet" scripts will enlarge the summed image for import into
// Socet Set
double pixelSize = 1.0 / cam->PixelPitch();
int numLines = cube.lineCount();
int numSamples = cube.sampleCount();
if (summation > 1) {
// For Themis VIS, Galileo SSI, Cassini ISS:
numLines *= summation;
numSamples *= summation;
}
double sizeX = numSamples / pixelSize;
double sizeY = numLines / pixelSize;
// Make sure the Socet Set project name has the .prj extension
if (socetProject.endsWith(".prj", Qt::CaseInsensitive) == FALSE) socetProject += ".prj";
// Find cube base name w/o extensions & establish the Socet Set support file name
// Note: I'm using the QFileInfo class because the baseName method in the ISIS
// FileName class only strips the last extension, and we need the core name
// of the file without any extensions, or path
QString baseName = QFileInfo(from).baseName();
QString socetSupFile = baseName + ".sup";
// Open and write to the SOCET Set Framing Camera settings file keywords and values
// If this is a Messenger image, add the temperature-dependent focal length so as to overrride
// the nominal focal lenghth stored in the SOCET Set camera calibration files
ofstream toStrm;
toStrm.open (to.toAscii().data(), ios::trunc);
if (toStrm.bad()) {
QString msg = "Unable to open output settings file";
throw IException(IException::User, msg, _FILEINFO_);
}
toStrm << "setting_file 1.1\n";
toStrm << "multi_frame.project " << socetProject << endl;
toStrm << "multi_frame.cam_calib_filename " << socetCamFile << endl;
toStrm << "multi_frame.create_files IMAGE_AND_SUPPORT\n";
toStrm << "multi_frame.atmos_ref 0\n";
toStrm << "multi_frame.auto_min YES\n";
toStrm << "multi_frame.digital_cam NO\n";
toStrm << "multi_frame.input_image_filename " << socetInputDataPath + baseName +
".raw" << endl;
toStrm << "multi_frame.output_format img_type_vitec\n";
toStrm << "multi_frame.output_name " << socetSupFile << endl;
toStrm << "multi_frame.output_location " << socetImageLocation << endl;
toStrm << "multi_frame.cam_loc_ang_sys OPK\n";
toStrm << "multi_frame.cam_loc_ang_units UNIT_DEGREES\n";
toStrm << "multi_frame.cam_loc_xy_units UNIT_DEGREES\n";
if (spacecraftName == "Messenger") {
// Overide the nominal focal length in the SOCET SET camera calibration file with the
// Temperature Dependent Focal Length used in ISIS
double focalLength = cam->FocalLength();
toStrm << "multi_frame.cam_loc_focal " << setprecision(17) << focalLength
<< endl;
}
toStrm << "multi_frame.cam_loc_y_or_lat " << setprecision(17) <<
ographicCamPos[0] << endl;
toStrm << "multi_frame.cam_loc_x_or_lon " << ographicCamPos[1] << endl;
toStrm << "multi_frame.cam_loc_elev " << ographicCamPos[2] << endl;
toStrm << "multi_frame.cam_loc_omega " << omegaPhiKappa[0] << endl;
toStrm << "multi_frame.cam_loc_phi " << omegaPhiKappa[1] << endl;
toStrm << "multi_frame.cam_loc_kappa " << omegaPhiKappa[2] << endl;
toStrm << "multi_frame.img_size_lines " << numLines << endl;
toStrm << "multi_frame.img_size_samps " << numSamples << endl;
toStrm << "multi_frame.sizex " << setprecision(6) << sizeX << endl;
toStrm << "multi_frame.sizey " << sizeY << endl;
toStrm << "multi_frame.orientation 1\n";
// Furthermore, if this is a Messenger image, get the needed keywords values needed for the
// USGSAstro FrameOffAxis *support* file, and add them to the output settings file.
// During frame import in SOCET Set, these values will be ignored, but then later accessed by
// the USGSAstro import_frame SOCET Set program.
//
// Note: Summed Messenger images are handled in the FrameOffAxis sensor model, so no need to
// account for enlarging Messenger images in the "socet2isis" scripts
if (spacecraftName == "Messenger") {
double originalHalfLines = numLines / 2.0;
double originalHalfSamples = numSamples / 2.0;
// Set the lens distortion coefficients
// Note: These values were calculated for SOCET Set by Orrin Thomas in an MSExcel spreadsheet,
// and are hardcoded here
QString lenscoX;
QString lenscoY;
if (instrumentId == "MDIS-WAC") {
lenscoX = QString("1.0913499678359500E-06 1.0000181809155400E+00 5.2705094712778700E-06 "
"7.3086112844249500E-05 -2.1503011755973800E-06 -3.5311655893430800E-08 "
"-5.3312743384716000E-06 -1.4642661005550900E-07 -5.4770856997706100E-06 "
"-1.2364567692453900E-07 0.0000000000000000E+00 0.0000000000000000E+00 "
"0.0000000000000000E+00 0.0000000000000000E+00 0.0000000000000000E+00");
lenscoY = QString("-4.8524316760252900E-08 -5.2704844291112000E-06 1.0000181808487100E+00 "
"2.4702140905559800E-09 7.3084305868732200E-05 -2.1478354889239300E-06 "
"1.2364567791040000E-07 -5.4663905009059100E-06 1.4516772126792600E-07 "
"-5.3419626374895400E-06 0.0000000000000000E+00 0.0000000000000000E+00 "
"0.0000000000000000E+00 0.0000000000000000E+00 0.0000000000000000E+00");
}
else {
//MDIS-NAC lens distortion coefficients:
lenscoX = QString("-0.000000000000005 0.997948053760188 0.000000000000000 0.000000000000000 "
"0.000542184519158 0.000000000000000 -0.000007008182254 0.000000000000000 "
"-0.000006526474815 0.000000000000000 0.000000000000000 0.000000000000000 "
"0.000000000000000 0.000000000000000 0.000000000000000");
lenscoY = QString("-0.000003746900328 0.000000000000000 0.999999575428613 -0.000880501428960 "
"0.000000000000000 -0.000332760373453 0.000000000000000 -0.000008067196812 "
"0.000000000000000 -0.000007553955548 0.000000000000000 0.000000000000000 "
"0.000000000000000 0.000000000000000 0.000000000000000");
}
// Get the image summation
double sampleSumming = (int) detectorMap->SampleScaleFactor();
double lineSumming = (int) detectorMap->LineScaleFactor();
// Get the Starting Detector Line/Sample
double startingSample = detectorMap->AdjustedStartingSample();
double startingLine = detectorMap->AdjustedStartingLine();
// Get the image plane corrdinates to pixel coordinates transformation matrices
const double *iTransS = focalMap->TransS();
const double *iTransL = focalMap->TransL();
// Because of the options for applying light-time correction, capture the pertinent
// ISIS keywords as a record to be stored in the settingsfile
// Note: these values will not go into the Socet Set support file)
QString ikCode;
QString swapObserverTarget;
QString lightTimeCorrection;
QString ltSurfaceCorrect;
PvlObject naifKeywordsObject = cube.label()->findObject("NaifKeywords");
if (instrumentId == "MDIS-NAC") {
ikCode = "236820";
swapObserverTarget = (QString) naifKeywordsObject["INS-236820_SWAP_OBSERVER_TARGET"];
lightTimeCorrection = (QString) naifKeywordsObject["INS-236820_LIGHTTIME_CORRECTION"];
ltSurfaceCorrect = (QString) naifKeywordsObject["INS-236820_LT_SURFACE_CORRECT"];
}
else {
ikCode = "236800";
swapObserverTarget = (QString) naifKeywordsObject["INS-236800_SWAP_OBSERVER_TARGET"];
lightTimeCorrection = (QString) naifKeywordsObject["INS-236800_LIGHTTIME_CORRECTION"];
ltSurfaceCorrect = (QString) naifKeywordsObject["INS-236800_LT_SURFACE_CORRECT"];
}
toStrm << "\nSENSOR_TYPE FrameOffAxis" << endl;
toStrm << "USE_LENS_DISTORTION 1" << endl;
toStrm << "ORIGINAL_HALF_LINES " << originalHalfLines << endl;
toStrm << "ORIGINAL_HALF_SAMPLES " << originalHalfSamples << endl;
toStrm << "LENSCOX " << lenscoX << endl;
toStrm << "LENSCOY " << lenscoY << endl;
toStrm << "SAMPLE_SUMMING " << sampleSumming << endl;
toStrm << "LINE_SUMMING " << lineSumming << endl;
toStrm << "STARTING_DETECTOR_SAMPLE " << setprecision(17) << startingSample << endl;
toStrm << "STARTING_DETECTOR_LINE " << startingLine << endl;
toStrm << "SAMPLE_BORESIGHT " << detectorSampleOrigin << endl;
toStrm << "LINE_BORESIGHT " << detectorLineOrigin << endl;
toStrm << "INS_ITRANSS";
for (int i = 0; i < 3; i++)
toStrm << " " << setprecision(14) << iTransS[i];
toStrm << endl;
toStrm << "INS_ITRANSL";
for (int i = 0; i < 3; i++)
toStrm << " " << iTransL[i];
toStrm << endl;
toStrm << "M_SOCET2ISIS_FOCALPLANE " << setprecision(2) <<
isisFocalPlane2SocetPlateTranspose[0][0] << " " <<
isisFocalPlane2SocetPlateTranspose[0][1] << " " <<
isisFocalPlane2SocetPlateTranspose[0][2] << endl;
toStrm << " " <<
isisFocalPlane2SocetPlateTranspose[1][0] << " " <<
isisFocalPlane2SocetPlateTranspose[1][1] << " " <<
isisFocalPlane2SocetPlateTranspose[1][2] << endl;
toStrm << " " <<
isisFocalPlane2SocetPlateTranspose[2][0] << " " <<
isisFocalPlane2SocetPlateTranspose[2][1] << " " <<
isisFocalPlane2SocetPlateTranspose[2][2] << endl;
toStrm << "INS-" << ikCode << "_SWAP_OBSERVER_TARGET = '" << swapObserverTarget << "'\n";
toStrm << "INS-" << ikCode << "_LIGHTTIME_CORRECTION = '" << lightTimeCorrection << "'\n";
toStrm << "INS-" << ikCode << "_LT_SURFACE_CORRECT = '" << ltSurfaceCorrect <<"'\n";
}
} //End IsisMain
