void IsisMain() {
UserInterface &ui = Application::GetUserInterface();
try {
// Open the cube
Cube cube;
cube.open(ui.GetFileName("FROM"), "rw");
//check for existing polygon, if exists delete it
if(cube.label()->hasObject("Polygon")) {
cube.label()->deleteObject("Polygon");
}
// Get the camera, interpolate to a parabola
Camera *cam = cube.camera();
if(cam->DetectorMap()->LineRate() == 0.0) {
QString msg = "[" + ui.GetFileName("FROM") + "] is not a line scan camera";
throw IException(IException::User, msg, _FILEINFO_);
}
cam->instrumentRotation()->SetPolynomial();
// Get the instrument pointing keyword from the kernels group and update
// its value to table.
Isis::PvlGroup kernels =
cube.label()->findGroup("Kernels", Isis::Pvl::Traverse);
// Save original kernels in keyword before changing to "Table" in the kernels group
PvlKeyword origCk = kernels["InstrumentPointing"];
// Write out the "Table" label to the tabled kernels in the kernels group
kernels["InstrumentPointing"] = "Table";
// And finally write out the original kernels after Table
for (int i = 0; i < origCk.size(); i++) {
kernels["InstrumentPointing"].addValue(origCk[i]);
}
cube.putGroup(kernels);
// Pull out the pointing cache as a table and write it
Table cmatrix = cam->instrumentRotation()->Cache("InstrumentPointing");
cmatrix.Label().addComment("Smoothed using spicefit");
cube.write(cmatrix);
cube.close();
}
catch(IException &e) {
QString msg = "Unable to fit pointing for [" + ui.GetFileName("FROM") + "]";
throw IException(IException::User, msg, _FILEINFO_);
}
}
void IsisMain ()
{
ProcessImportPds p;
Pvl pdsLabel;
UserInterface &ui = Application::GetUserInterface();
FileName inFile = ui.GetFileName("FROM");
QString imageFile("");
if (ui.WasEntered("IMAGE")) {
imageFile = ui.GetFileName("IMAGE");
}
// Generate the housekeeping filenames
QString hkLabel("");
QString hkData("");
if (ui.WasEntered("HKFROM") ) {
hkLabel = ui.GetFileName("HKFROM");
}
else {
hkLabel = inFile.originalPath() + "/" + inFile.baseName() + "_HK.LBL";
// Determine the housekeeping file
FileName hkFile(hkLabel);
if (!hkFile.fileExists()) {
hkFile = hkLabel.replace("_1B_", "_1A_");
if (hkFile.fileExists()) hkLabel = hkFile.expanded();
}
}
if (ui.WasEntered("HKTABLE")) {
hkData = ui.GetFileName("HKTABLE");
}
QString instid;
QString missid;
try {
Pvl lab(inFile.expanded());
instid = (QString) lab.findKeyword ("CHANNEL_ID");
missid = (QString) lab.findKeyword ("INSTRUMENT_HOST_ID");
}
catch (IException &e) {
QString msg = "Unable to read [INSTRUMENT_ID] or [MISSION_ID] from input file [" +
inFile.expanded() + "]";
throw IException(e, IException::Io,msg, _FILEINFO_);
}
instid = instid.simplified().trimmed();
missid = missid.simplified().trimmed();
if (missid != "DAWN" && instid != "VIS" && instid != "IR") {
QString msg = "Input file [" + inFile.expanded() + "] does not appear to be a " +
"DAWN Visual and InfraRed Mapping Spectrometer (VIR) EDR or RDR file.";
throw IException(IException::Unknown, msg, _FILEINFO_);
}
QString target;
if (ui.WasEntered("TARGET")) {
target = ui.GetString("TARGET");
}
// p.SetPdsFile (inFile.expanded(),imageFile,pdsLabel);
// QString labelFile = ui.GetFileName("FROM");
p.SetPdsFile (inFile.expanded(),imageFile,pdsLabel);
p.SetOrganization(Isis::ProcessImport::BIP);
Cube *outcube = p.SetOutputCube ("TO");
// p.SaveFileHeader();
Pvl labelPvl (inFile.expanded());
p.StartProcess ();
// Get the directory where the DAWN translation tables are.
PvlGroup dataDir (Preference::Preferences().findGroup("DataDirectory"));
QString transDir = (QString) dataDir["Dawn"] + "/translations/";
// Create a PVL to store the translated labels in
Pvl outLabel;
// Translate the BandBin group
FileName transFile (transDir + "dawnvirBandBin.trn");
PvlTranslationManager bandBinXlater (labelPvl, transFile.expanded());
bandBinXlater.Auto(outLabel);
// Translate the Archive group
transFile = transDir + "dawnvirArchive.trn";
PvlTranslationManager archiveXlater (labelPvl, transFile.expanded());
archiveXlater.Auto(outLabel);
// Translate the Instrument group
transFile = transDir + "dawnvirInstrument.trn";
PvlTranslationManager instrumentXlater (labelPvl, transFile.expanded());
instrumentXlater.Auto(outLabel);
// Update target if user specifies it
if (!target.isEmpty()) {
PvlGroup &igrp = outLabel.findGroup("Instrument",Pvl::Traverse);
igrp["TargetName"] = target;
}
// Write the BandBin, Archive, and Instrument groups
// to the output cube label
outcube->putGroup(outLabel.findGroup("BandBin",Pvl::Traverse));
outcube->putGroup(outLabel.findGroup("Archive",Pvl::Traverse));
outcube->putGroup(outLabel.findGroup("Instrument",Pvl::Traverse));
PvlGroup kerns("Kernels");
if (instid == "VIS") {
kerns += PvlKeyword("NaifFrameCode","-203211");
} else if (instid == "IR") {
kerns += PvlKeyword("NaifFrameCode","-203213");
} else {
QString msg = "Input file [" + inFile.expanded() + "] has an invalid " +
"InstrumentId.";
throw IException(IException::Unknown, msg, _FILEINFO_);
}
outcube->putGroup(kerns);
// Now handle generation of housekeeping data
try {
ImportPdsTable hktable(hkLabel, hkData);
hktable.setType("ScetTimeClock", "CHARACTER");
hktable.setType("ShutterStatus", "CHARACTER");
hktable.setType("MirrorSin", "DOUBLE");
hktable.setType("MirrorCos", "DOUBLE");
Table hktab = hktable.importTable("ScetTimeClock,ShutterStatus,MirrorSin,MirrorCos",
"VIRHouseKeeping");
hktab.Label().addKeyword(PvlKeyword("SourceFile", hkLabel));
outcube->write(hktab);
}
catch (IException &e) {
QString mess = "Cannot read/open housekeeping data";
throw IException(e, IException::User, mess, _FILEINFO_);
}
p.EndProcess ();
}
bool TryKernels(Cube *icube, Process &p,
Kernel lk, Kernel pck,
Kernel targetSpk, Kernel ck,
Kernel fk, Kernel ik, Kernel sclk,
Kernel spk, Kernel iak,
Kernel dem, Kernel exk) {
Pvl lab = *icube->Label();
// Add the new kernel files to the existing kernels group
PvlKeyword lkKeyword("LeapSecond");
PvlKeyword pckKeyword("TargetAttitudeShape");
PvlKeyword targetSpkKeyword("TargetPosition");
PvlKeyword ckKeyword("InstrumentPointing");
PvlKeyword ikKeyword("Instrument");
PvlKeyword sclkKeyword("SpacecraftClock");
PvlKeyword spkKeyword("InstrumentPosition");
PvlKeyword iakKeyword("InstrumentAddendum");
PvlKeyword demKeyword("ShapeModel");
PvlKeyword exkKeyword("Extra");
for (int i=0; i<lk.size(); i++) {
lkKeyword.AddValue(lk[i]);
}
for (int i=0; i<pck.size(); i++) {
pckKeyword.AddValue(pck[i]);
}
for (int i=0; i<targetSpk.size(); i++) {
targetSpkKeyword.AddValue(targetSpk[i]);
}
for (int i=0; i<ck.size(); i++) {
ckKeyword.AddValue(ck[i]);
}
for (int i=0; i<ik.size(); i++) {
ikKeyword.AddValue(ik[i]);
}
for (int i=0; i<sclk.size(); i++) {
sclkKeyword.AddValue(sclk[i]);
}
for (int i=0; i<spk.size(); i++) {
spkKeyword.AddValue(spk[i]);
}
for (int i=0; i<iak.size(); i++) {
iakKeyword.AddValue(iak[i]);
}
for (int i=0; i<dem.size(); i++) {
demKeyword.AddValue(dem[i]);
}
for (int i=0; i<exk.size(); i++) {
exkKeyword.AddValue(exk[i]);
}
PvlGroup originalKernels = icube->GetGroup("Kernels");
PvlGroup currentKernels = originalKernels;
currentKernels.AddKeyword(lkKeyword, Pvl::Replace);
currentKernels.AddKeyword(pckKeyword, Pvl::Replace);
currentKernels.AddKeyword(targetSpkKeyword, Pvl::Replace);
currentKernels.AddKeyword(ckKeyword, Pvl::Replace);
currentKernels.AddKeyword(ikKeyword, Pvl::Replace);
currentKernels.AddKeyword(sclkKeyword, Pvl::Replace);
currentKernels.AddKeyword(spkKeyword, Pvl::Replace);
currentKernels.AddKeyword(iakKeyword, Pvl::Replace);
currentKernels.AddKeyword(demKeyword, Pvl::Replace);
// report qualities
PvlKeyword spkQuality("InstrumentPositionQuality");
spkQuality.AddValue(spiceInit::kernelTypeEnum(spk.kernelType));
currentKernels.AddKeyword(spkQuality, Pvl::Replace);
PvlKeyword ckQuality("InstrumentPointingQuality");
ckQuality.AddValue(spiceInit::kernelTypeEnum(ck.kernelType));
currentKernels.AddKeyword(ckQuality, Pvl::Replace);
if (!exkKeyword.IsNull()) {
currentKernels.AddKeyword(exkKeyword, Pvl::Replace);
}
else if( currentKernels.HasKeyword("EXTRA") ) {
currentKernels.DeleteKeyword( "EXTRA" );
}
// Get rid of old keywords from previously inited cubes
if (currentKernels.HasKeyword("SpacecraftPointing")) {
currentKernels.DeleteKeyword("SpacecraftPointing");
}
if (currentKernels.HasKeyword("SpacecraftPosition")) {
currentKernels.DeleteKeyword("SpacecraftPosition");
}
if (currentKernels.HasKeyword("ElevationModel")) {
currentKernels.DeleteKeyword("ElevationModel");
}
if (currentKernels.HasKeyword("Frame")) {
currentKernels.DeleteKeyword("Frame");
}
if (currentKernels.HasKeyword("StartPadding")) {
currentKernels.DeleteKeyword("StartPadding");
}
if (currentKernels.HasKeyword("EndPadding")) {
currentKernels.DeleteKeyword("EndPadding");
}
UserInterface &ui = Application::GetUserInterface();
// Add any time padding the user specified to the spice group
if(ui.GetDouble("STARTPAD") > DBL_EPSILON) {
currentKernels.AddKeyword(PvlKeyword("StartPadding", ui.GetDouble("STARTPAD"), "seconds"));
}
if(ui.GetDouble("ENDPAD") > DBL_EPSILON) {
currentKernels.AddKeyword(PvlKeyword("EndPadding", ui.GetDouble("ENDPAD"), "seconds"));
}
currentKernels.AddKeyword(PvlKeyword("CameraVersion",CameraFactory::CameraVersion(lab)), Pvl::Replace);
// Add the modified Kernels group to the input cube labels
icube->PutGroup(currentKernels);
// Create the camera so we can get blobs if necessary
try {
Camera *cam;
try {
cam = icube->Camera();
Application::Log(currentKernels);
} catch (iException &e) {
Pvl errPvl = e.PvlErrors();
if(errPvl.Groups() > 0) {
currentKernels += PvlKeyword("Error", errPvl.Group(errPvl.Groups()-1)["Message"][0]);
}
Application::Log(currentKernels);
icube->PutGroup(originalKernels);
throw e;
}
if (ui.GetBoolean("ATTACH")) {
Table ckTable = cam->InstrumentRotation()->Cache("InstrumentPointing");
ckTable.Label() += PvlKeyword("Description", "Created by spiceinit");
ckTable.Label() += PvlKeyword("Kernels");
for (int i=0; i<ckKeyword.Size(); i++) {
ckTable.Label()["Kernels"].AddValue(ckKeyword[i]);
}
icube->Write(ckTable);
Table spkTable = cam->InstrumentPosition()->Cache("InstrumentPosition");
spkTable.Label() += PvlKeyword("Description", "Created by spiceinit");
spkTable.Label() += PvlKeyword("Kernels");
for (int i=0; i<spkKeyword.Size(); i++) {
spkTable.Label()["Kernels"].AddValue(spkKeyword[i]);
}
icube->Write(spkTable);
Table bodyTable = cam->BodyRotation()->Cache("BodyRotation");
bodyTable.Label() += PvlKeyword("Description", "Created by spiceinit");
bodyTable.Label() += PvlKeyword("Kernels");
for (int i=0; i<targetSpkKeyword.Size(); i++) {
bodyTable.Label()["Kernels"].AddValue(targetSpkKeyword[i]);
}
for (int i=0; i<pckKeyword.Size(); i++) {
bodyTable.Label()["Kernels"].AddValue(pckKeyword[i]);
}
bodyTable.Label() += PvlKeyword("SolarLongitude", cam->SolarLongitude());
icube->Write(bodyTable);
Table sunTable = cam->SunPosition()->Cache("SunPosition");
sunTable.Label() += PvlKeyword("Description", "Created by spiceinit");
sunTable.Label() += PvlKeyword("Kernels");
for (int i=0; i<targetSpkKeyword.Size(); i++) {
sunTable.Label()["Kernels"].AddValue(targetSpkKeyword[i]);
}
icube->Write(sunTable);
// Save original kernels in keyword before changing to Table
PvlKeyword origCk = currentKernels["InstrumentPointing"];
PvlKeyword origSpk = currentKernels["InstrumentPosition"];
PvlKeyword origTargPos = currentKernels["TargetPosition"];
currentKernels["InstrumentPointing"] = "Table";
for (int i=0; i<origCk.Size(); i++) {
currentKernels["InstrumentPointing"].AddValue(origCk[i]);
}
currentKernels["InstrumentPosition"] = "Table";
for (int i=0; i<origSpk.Size(); i++) {
currentKernels["InstrumentPosition"].AddValue(origSpk[i]);
}
currentKernels["TargetPosition"] = "Table";
for (int i=0; i<origTargPos.Size(); i++) {
currentKernels["TargetPosition"].AddValue(origTargPos[i]);
}
icube->PutGroup(currentKernels);
}
//modify Kernels group only
else {
Pvl *label = icube->Label();
int i=0;
while (i < label->Objects()) {
PvlObject currObj = label->Object(i);
if (currObj.IsNamed("Table")) {
if (currObj["Name"][0] == iString("InstrumentPointing")) {
label->DeleteObject(i);
} else if (currObj["Name"][0] == iString("InstrumentPosition")) {
label->DeleteObject(i);
} else if (currObj["Name"][0] == iString("BodyRotation")) {
label->DeleteObject(i);
} else if (currObj["Name"][0] == iString("SunPosition")) {
label->DeleteObject(i);
} else {
i++;
}
} else {
i++;
}
}
}
p.WriteHistory(*icube);
} catch (iException &e) {
e.Clear();
icube->PutGroup(originalKernels);
return false;
}
return true;
}
void IsisMain() {
// Create a serial number list
UserInterface &ui = Application::GetUserInterface();
QString filename = ui.GetFileName("FROM");
SerialNumberList serialNumberList;
serialNumberList.Add(filename);
// Get the coordinate for updating the camera pointing
// We will want to make the camera pointing match the lat/lon at this
// line sample
double samp1 = ui.GetDouble("SAMP1");
double line1 = ui.GetDouble("LINE1");
Latitude lat1(ui.GetDouble("LAT1"), Angle::Degrees);
Longitude lon1(ui.GetDouble("LON1"), Angle::Degrees);
Distance rad1;
if(ui.WasEntered("RAD1")) {
rad1 = Distance(ui.GetDouble("RAD1"), Distance::Meters);
}
else {
rad1 = GetRadius(ui.GetFileName("FROM"), lat1, lon1);
}
// In order to use the bundle adjustment class we will need a control
// network
ControlMeasure * m = new ControlMeasure;
m->SetCubeSerialNumber(serialNumberList.SerialNumber(0));
m->SetCoordinate(samp1, line1);
// m->SetType(ControlMeasure::Manual);
m->SetType(ControlMeasure::RegisteredPixel);
ControlPoint * p = new ControlPoint;
p->SetAprioriSurfacePoint(SurfacePoint(lat1, lon1, rad1));
p->SetId("Point1");
p->SetType(ControlPoint::Fixed);
p->Add(m);
ControlNet cnet;
// cnet.SetType(ControlNet::ImageToGround);
cnet.AddPoint(p);
// We need the target body
Cube c;
c.open(filename, "rw");
//check for target name
if(c.label()->hasKeyword("TargetName", PvlObject::Traverse)) {
// c.Label()->findKeyword("TargetName");
PvlGroup inst = c.label()->findGroup("Instrument", PvlObject::Traverse);
QString targetName = inst["TargetName"];
cnet.SetTarget(targetName);
}
c.close();
// See if they wanted to solve for twist
if(ui.GetBoolean("TWIST")) {
double samp2 = ui.GetDouble("SAMP2");
double line2 = ui.GetDouble("LINE2");
Latitude lat2(ui.GetDouble("LAT2"), Angle::Degrees);
Longitude lon2(ui.GetDouble("LON2"), Angle::Degrees);
Distance rad2;
if(ui.WasEntered("RAD2")) {
rad2 = Distance(ui.GetDouble("RAD2"), Distance::Meters);
}
else {
rad2 = GetRadius(ui.GetFileName("FROM"), lat2, lon2);
}
ControlMeasure * m = new ControlMeasure;
m->SetCubeSerialNumber(serialNumberList.SerialNumber(0));
m->SetCoordinate(samp2, line2);
m->SetType(ControlMeasure::Manual);
ControlPoint * p = new ControlPoint;
p->SetAprioriSurfacePoint(SurfacePoint(lat2, lon2, rad2));
p->SetId("Point2");
p->SetType(ControlPoint::Fixed);
p->Add(m);
cnet.AddPoint(p);
}
// Bundle adjust to solve for new pointing
try {
BundleAdjust b(cnet, serialNumberList);
b.SetSolveTwist(ui.GetBoolean("TWIST"));
// double tol = ui.GetDouble("TOL");
//int maxIterations = ui.GetInteger("MAXITS");
//b.Solve(tol, maxIterations);
b.SetSolveCmatrix(BundleAdjust::AnglesOnly);
b.SetSolveSpacecraftPosition(BundleAdjust::Nothing);
b.SetErrorPropagation(false);
b.SetOutlierRejection(false);
b.SetSolutionMethod("SPECIALK");
b.SetStandardOutput(true);
b.SetCSVOutput(false);
b.SetResidualOutput(true);
b.SetConvergenceThreshold(ui.GetDouble("SIGMA0"));
b.SetMaxIterations(ui.GetInteger("MAXITS"));
b.SetDecompositionMethod(BundleAdjust::SPECIALK);
b.SolveCholesky();
Cube c;
c.open(filename, "rw");
//check for existing polygon, if exists delete it
if(c.label()->hasObject("Polygon")) {
c.label()->deleteObject("Polygon");
}
Table cmatrix = b.Cmatrix(0);
// Write out a description in the spice table
QString deltackComment = "deltackAdjusted = " + Isis::iTime::CurrentLocalTime();
cmatrix.Label().addComment(deltackComment);
//PvlKeyword description("Description");
//description = "Camera pointing updated via deltack application";
//cmatrix.Label().findObject("Table",Pvl::Traverse).addKeyword(description);
// Update the cube history
c.write(cmatrix);
History h("IsisCube");
c.read(h);
h.AddEntry();
c.write(h);
c.close();
PvlGroup gp("DeltackResults");
gp += PvlKeyword("Status", "Camera pointing updated");
Application::Log(gp);
}
catch(IException &e) {
QString msg = "Unable to update camera pointing for [" + filename + "]";
throw IException(e, IException::Unknown, msg, _FILEINFO_);
}
}
void IsisMain() {
UserInterface &ui = Application::GetUserInterface();
/*Processing steps
1. Open and read the jitter table, convert the pixel offsets to angles,
and create the polynomials (solve for the coefficients) to use to do
the high pass filter putting the results into a rotation matrix in the jitter class.
2. Apply the jitter correction in the LineScanCameraRotation object of the master cube.
3. Loop through FROMLIST correcting the pointing and writing out the
updated camera pointing from the master cube
*/
int degree = ui.GetInteger("DEGREE");
// Get the input file list to make sure it is not empty and the master cube is included
FileList list;
list.Read(ui.GetFilename("FROMLIST"));
if (list.size() < 1) {
string msg = "The input list file [" + ui.GetFilename("FROMLIST") + "is empty";
throw iException::Message(iException::User,msg,_FILEINFO_);
}
int ifile = 0;
// Make sure the master file is included in the input file list
while (ifile < (int) list.size() && Filename(list[ifile]).Expanded() != Filename(ui.GetFilename("MASTER")).Expanded()) {
ifile++;
}
if (ifile >= (int) list.size()) {
string msg = "The master file, [" + Filename(ui.GetFilename("MASTER")).Expanded() + " is not included in " +
"the input list file " + ui.GetFilename("FROMLIST") + "]";
throw iException::Message(iException::User,msg,_FILEINFO_);
}
bool step2 = false;
PvlGroup gp("AppjitResults");
//Step 1: Create the jitter rotation
try {
// Open the master cube
Cube cube;
cube.Open(ui.GetFilename("MASTER"),"rw");
//check for existing polygon, if exists delete it
if (cube.Label()->HasObject("Polygon")){
cube.Label()->DeleteObject("Polygon");
}
// Get the camera
Camera *cam = cube.Camera();
if (cam->DetectorMap()->LineRate() == 0.0) {
string msg = "[" + ui.GetFilename("MASTER") + "] is not a line scan camera image";
throw iException::Message(Isis::iException::User,msg,_FILEINFO_);
}
// Create the master rotation to be corrected
int frameCode = cam->InstrumentRotation()->Frame();
cam->SetImage(int(cube.Samples()/2), int(cube.Lines()/2) );
double tol = cam->PixelResolution();
if (tol < 0.) {
// Alternative calculation of .01*ground resolution of a pixel
tol = cam->PixelPitch()*cam->SpacecraftAltitude()*1000./cam->FocalLength()/100.;
}
LineScanCameraRotation crot(frameCode, *(cube.Label()), cam->InstrumentRotation()->GetFullCacheTime(), tol );
crot.SetPolynomialDegree(ui.GetInteger("DEGREE"));
crot.SetAxes(1, 2, 3);
if (ui.WasEntered("PITCHRATE")) crot.ResetPitchRate(ui.GetDouble("PITCHRATE"));
if (ui.WasEntered("YAW")) crot.ResetYaw(ui.GetDouble("YAW"));
crot.SetPolynomial();
double baseTime = crot.GetBaseTime();
double timeScale = crot.GetTimeScale();
double fl = cam->FocalLength();
double pixpitch = cam->PixelPitch();
std::vector<double> cacheTime = cam->InstrumentRotation()->GetFullCacheTime();
// Get the jitter in pixels, compute jitter angles, and fit a polynomial to each angle
PixelOffset jitter(ui.GetFilename("JITTERFILE"), fl, pixpitch, baseTime, timeScale, degree);
jitter.LoadAngles(cacheTime);
jitter.SetPolynomial();
// Set the jitter and apply to the instrument rotation
crot.SetJitter( &jitter );
crot.ReloadCache();
// Pull out the pointing cache as a table and write it
Table cmatrix = crot.Cache("InstrumentPointing");
cmatrix.Label().AddComment("Corrected using appjit and" + ui.GetFilename("JITTERFILE"));
cube.Write(cmatrix);
// Write out the instrument position table
Isis::PvlGroup kernels = cube.Label()->FindGroup("Kernels",Isis::Pvl::Traverse);
// Write out the "Table" label to the tabled kernels in the kernels group
kernels["InstrumentPointing"] = "Table";
// kernels["InstrumentPosition"] = "Table";
cube.PutGroup(kernels);
cube.Close();
gp += PvlKeyword("StatusMaster",ui.GetFilename("MASTER") + ": camera pointing updated");
// Apply the dejittered pointing to the rest of the files
step2 = true;
for (int ifile = 0; ifile < (int) list.size(); ifile++) {
if (list[ifile] != ui.GetFilename("MASTER")) {
// Open the cube
cube.Open(list[ifile],"rw");
//check for existing polygon, if exists delete it
if (cube.Label()->HasObject("Polygon")){
cube.Label()->DeleteObject("Polygon");
}
// Get the camera and make sure it is a line scan camera
Camera *cam = cube.Camera();
if (cam->DetectorMap()->LineRate() == 0.0) {
string msg = "[" + ui.GetFilename("FROM") + "] is not a line scan camera";
throw iException::Message(Isis::iException::User,msg,_FILEINFO_);
}
// Pull out the pointing cache as a table and write it
cube.Write(cmatrix);
cube.PutGroup(kernels);
cube.Close();
gp += PvlKeyword("Status" + iString(ifile), list[ifile] + ": camera pointing updated");
}
}
Application::Log( gp );
}
catch (iException &e) {
string msg;
if (!step2) {
msg = "Unable to fit pointing for [" + ui.GetFilename("MASTER") + "]";
}
else {
msg = "Unable to update pointing for nonMaster file(s)";
}
throw iException::Message(Isis::iException::User,msg,_FILEINFO_);
}
}
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;
}