CrismCamera.cpp

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#include "CrismCamera.h"

#include <fstream>
#include <iostream>
#include <iomanip>

#include <QString>

//#include "CrismCameraGroundMap.h"
//#include "CrismDistortionMap.h"
#include "CameraFocalPlaneMap.h"
#include "LineScanCameraDetectorMap.h"
#include "LineScanCameraGroundMap.h"
#include "LineScanCameraSkyMap.h"
#include "Constants.h"
#include "FileName.h"
#include "IException.h"
#include "IString.h"
#include "iTime.h"
#include "NaifStatus.h"
#include "SpecialPixel.h"

using namespace std;

namespace Isis {
  CrismCamera::CrismCamera(Cube &cube) : LineScanCamera(cube), m_lineRates(),
                                       m_isBandDependent(true) {
    m_instrumentNameLong = "Compact Reconnaissance Imaging Spectrometer for Mars";
    m_instrumentNameShort = "CRISM";
    m_spacecraftNameLong = "Mars Reconnaissance Orbiter";
    m_spacecraftNameShort = "MRO";
    NaifStatus::CheckErrors();

    Pvl &lab = *cube.label();

    PvlGroup inst = lab.findGroup("Instrument", Pvl::Traverse);

    // SensorId = S (VNIR), = L (IR) = J (JOINT)
    QString sensor = (QString) inst ["SensorId"];

    // Prepare instrument code
    QString ikCode(toString(naifIkCode()));

    // Set Frame mounting.  Same for both (VNIR, IR) detectors
    SetFocalLength();
    SetPixelPitch();

    // Get the start and end time in et
    double etStart = getEtTime((QString) inst ["SpacecraftClockStartCount"]);
    double etStop  = getEtTime((QString) inst ["SpacecraftClockStopCount"]);


    //  Compute the exposure time of the first line and the line rate.  This
    //  algorithm is taken from the CRISM instrument kernel, mro_crism_v10.ti,
    //  at the time of development.
//    double framesPerSec = (double) inst["FrameRate"];
    int    exposure     = (int)    inst["ExposureParameter"];

    // calculate seconds for a full frame
//    double frame_time = 1.0 / framesPerSec;

    // calculate seconds per pixel clock
//    double pixel_clock_time = frame_time / 83333.0;

    // This is what John Hayes does in the DPU (Data Processing Unit), to write
    // register to FPU (Focal Plane Unit) specifying how long NOT to integrate,
    // in pixel clocks [0..83333]
    int reg = ((480 - exposure) * 83333) / 480;

    // Actual integration starts 3 line-times later, rounded up to next line
    // time
    int start_clocks = reg + (3 * 166);
    if (start_clocks % 166) start_clocks += 166 - (start_clocks % 166);

    // integration continues 4 line-times after de-assertion
//    int stop_clocks = 83333 + (4 * 166);

//    double start_time = start_clocks * pixel_clock_time;
//    double stop_time  = stop_clocks  * pixel_clock_time;

    // Start of first line exposure time.  This is the start time of the
    // frame time plus the itegration delay start time - constant for all
    // frames
//    double obsStartTime(etStart+start_time);
//    double obsStopTime(obsStartTime+(stop_time*ParentLines())-start_time);
//    double obsEndTime(obsStartTime+(frame_time*(ParentLines()))-start_time);

    double frameStartTime(etStart);
//    double frameStopTime(frameStartTime+(stop_time*(ParentLines())));
//    double frameEndTime(frameStartTime+(frame_time*(ParentLines())));

//    double lineTime((etStop-etStart+frame_time)/(ParentLines()));


    //  Compute the sclk and UTC of the specifed line for cropping purposes
#if 0
     iTime myLineStartTime(etStart  + ((25.0 - 1.0) * frame_time));
//     cout << "\nLine 25 Start Times...\n";
     SpiceChar sclk[80];
     (void) sce2s_c(naifSclkCode(), myLineStartTime.Et(), sizeof(sclk), sclk);
//     cout << "UTC@Line 25:  " << myLineStartTime.UTC() << "\n";
//     cout << "SCLK@Line 25: " << sclk << "\n";

#endif
    //  Setup detector map
#if 1
    double jaTime = (etStop-etStart)/ParentLines();
    new LineScanCameraDetectorMap(this, frameStartTime, jaTime);
//    new LineScanCameraDetectorMap(this, frameStartTime, frame_time);
#else
    // Have to use variable line scan detector mapping due to how line scans
    // are performed.  This is currently segfaulting...

    double stime(obsStartTime);
    double scanTime(stop_time-start_time);
    m_lineRates.clear();
    for (int i = 0 ; i < ParentLines() ; i++) {
      m_lineRates.push_back(LineRateChange(i+1, stime, scanTime));
      stime += frame_time;
    }
    m_lineRates.push_back(LineRateChange(ParentLines()+1,stime-start_time,start_time));
    double endTime(stime-frame_time+scanTime);
    new VariableLineScanCameraDetectorMap(this, m_lineRates);
#endif

    int binning = inst["PixelAveragingWidth"];
    DetectorMap()->SetDetectorSampleSumming(binning);
    DetectorMap()->SetDetectorLineSumming(1.0);  // Line dimension never binned

    // Setup focal plane map
    CameraFocalPlaneMap *fmap = new CameraFocalPlaneMap(this, naifIkCode());

    // lines and samples added to the pvl in the order you
    // call getDouble()
    double bLine = getDouble("INS"+ikCode+"_BORESIGHT_LINE");
    double bSample = getDouble("INS"+ikCode+"_BORESIGHT_SAMPLE");

    fmap->SetDetectorOrigin(bSample, bLine);
    fmap->SetDetectorOffset(0.0, 0.0);

    // Setup distortion map
    //new CrismDistortionMap(this);
    new CameraDistortionMap(this);


    // Setup the ground and sky map
    new LineScanCameraGroundMap(this);
//    new CrismCameraGroundMap(this);
    new LineScanCameraSkyMap(this);

    setTime(iTime(frameStartTime));
    double tol = 0.0; //PixelResolution();
    if(tol < 0.) {
      // Alternative calculation of .01*ground resolution of a pixel
      tol = PixelPitch() * SpacecraftAltitude() / FocalLength() / 1000. / 100.;
    }

//    cout << "\nCreateCache(" << frameStartTime << ", " << frameEndTime << ")...\n";
#if 0
//    cout << "CacheSize: " << CacheSize(obsStartTime, obsStopTime) << "\n";
    createCache(obsStartTime, obsStopTime, ParentLines(), tol);

#else
//    cout << "LoadCache()...\n";
    LoadCache();
#endif
//    cout << "Done.\n";
    NaifStatus::CheckErrors();
    return;
  }

  void CrismCamera::SetBand (const int physicalBand) {
    return;
  }

  bool CrismCamera::IsBandIndependent () {
    return (m_isBandDependent);
  }


  double CrismCamera::getEtTime(const QString &sclk) {
    return (getClockTime(sclk, -74999).Et());
  }
}


// Plugin
extern "C" Isis::Camera *CrismCameraPlugin(Isis::Cube &cube) {
  return new Isis::CrismCamera(cube);
}