DawnFcCamera.cpp

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#include "DawnFcCamera.h"
#include "DawnFcDistortionMap.h"

#include <QString>

#include "CameraDetectorMap.h"
#include "CameraFocalPlaneMap.h"
#include "CameraGroundMap.h"
#include "CameraSkyMap.h"
#include "IString.h"
#include "iTime.h"
#include "NaifStatus.h"

using namespace std;

namespace Isis {
  DawnFcCamera::DawnFcCamera(Cube &cube) : FramingCamera(cube) {
    NaifStatus::CheckErrors();

    m_spacecraftNameLong = "Dawn";
    m_spacecraftNameShort = "Dawn";

    int ikCode = naifIkCode();

    // http://naif.jpl.nasa.gov/pub/naif/DAWN/kernels/ik/dawn_fc_v10.ti
    // FC1 has instrument codes -203110 to -203119 (to reference filters and radiator as well
    if (ikCode <= -203110 && ikCode > -203120) {
      m_instrumentNameLong = "Framing Camera 1";
      m_instrumentNameShort = "FC1";
    }
    // Likewise, FC2 has instrument codes -203120 to -203129
    else if (ikCode <= -203120 && ikCode > -203130) {
      m_instrumentNameLong = "Framing Camera 2";
      m_instrumentNameShort = "FC2";
    }
    else {
      QString msg = "File does not appear to be a Dawn Framing Camera image. ";
      msg += "(" + QString::number(ikCode) + " is not a Dawn FC instrument code)";
      throw IException(IException::Programmer, msg, _FILEINFO_);
    }
    
    // The focal length is dependent on wave length.  The NAIF code set
    // in the ISIS labels will read the correct focal length from the
    // Instrument kernel (IK)
    SetFocalLength();

    // The pixel pitch is not square for the FC instrument.  It is only
    // slightly rectangular 14 vs 14.088 microns.  ISIS only supports
    // square CCD pixels. The impact by calling SetPixelPitch means the
    // computation of pixel resolution (on the ground) will be slightly off.
    // We will spread the error by setting the pixel pitch to the average of the
    // two. The important part is the translation from detector coordinates
    // to focal plane coordinates.  Fortunately the affine transform will
    // allow us to have different sized detector pixels.  Therefore the
    // only problem with ISIS is the pixel resolution computation.  This may
    // be something we want to refactor later in case future instrument have
    // non-square detectors.
    QString keyword = "INS" + toString(naifIkCode()) + "_PIXEL_SIZE";
    double pixelPitch = (Spice::getDouble(keyword, 0) + Spice::getDouble(keyword, 1)) / 2.0;
    pixelPitch /= 1000.0;
    SetPixelPitch(pixelPitch);

    // We have not seen images or tested images with summing mode or
    // starting sample/line coordinates. Because of this uncertainty we will
    // throw an error the image size is not 1024 x 1024.  If in the future we
    // encounter such an image then inputs to the detector map will need
    // to be given
    if ((ParentLines() != 1024) || (ParentSamples() != 1024)) {
      string msg = "The ISIS Dawn FC model expects the image size to be 1024x1024";
      msg += "Please contact Jeff Anderson (janderson@usgs.gov) with the Dawn FC PDS filename for further testing.";
      throw IException(IException::Programmer, msg, _FILEINFO_);
    }
    CameraDetectorMap *detectorMap = new CameraDetectorMap(this);
    detectorMap->SetDetectorSampleSumming(1);
    detectorMap->SetDetectorLineSumming(1);

    // Setup focal plane map. The class will read the instrument addendum kernel to pull out the affine tronsforms
    // from detector samp,line to focal plane x,y.  This is where the non-square detector size are read and utilized.
    // The boresight position recorded in the IK is zero-based and therefore needs to be adjusted for ISIS
    CameraFocalPlaneMap *focalMap = new CameraFocalPlaneMap(this, naifIkCode());
    double boresightSample = Spice::getDouble("INS" + toString(naifIkCode()) + "_CCD_CENTER",0) + 1.0;
    double boresightLine   = Spice::getDouble("INS" + toString(naifIkCode()) + "_CCD_CENTER",1) + 1.0;
    focalMap->SetDetectorOrigin(boresightSample,boresightLine);

    // Setup distortion map.  Start by reading the distortion coefficient from the instrument kernel.  Then
    // construct the distortion model.  Note the distortion model code is copied from the RadialDistortionMap
    // class and reversed.  TODO:  Check with Ken Edmundson to see if we can just read from IK and pass 1/K
    // to the original RadialDistortionMap which would allow us to delete the DawnFcDistortionMap
    double k = Spice::getDouble("INS" + toString(naifIkCode()) + "_RAD_DIST_COEFF");
    new DawnFcDistortionMap(this,k);

    // Setup the ground and sky map
    new CameraGroundMap(this);
    new CameraSkyMap(this);

    // Get the timing information of the observation.  Start by computing the
    // beginning time of the exposure.  This will be based off the
    // spacecraft clock start count. There is a delay of 193 ms while the
    // CCD is discharged or cleared.  Finally the exporsure information
    // needs to be obtained.
    Pvl &lab = *cube.label();
    PvlGroup &inst = lab.findGroup("Instrument", Pvl::Traverse);
    QString stime = inst["SpacecraftClockStartCount"];
    double et = getClockTime(stime).Et();
    et += 193.0 / 1000.0;
    double exposureDuration = (double)inst["ExposureDuration"] / 1000.0;
    pair<iTime, iTime> shuttertimes = ShutterOpenCloseTimes(et, exposureDuration);
    iTime centerTime = et + exposureDuration / 2.0;
    setTime(centerTime);

    // Internalize all the NAIF SPICE information into memory.
    LoadCache();
    NaifStatus::CheckErrors();
  }

  
  pair<iTime, iTime> DawnFcCamera::ShutterOpenCloseTimes(double time,
                                                         double exposureDuration) {
    return FramingCamera::ShutterOpenCloseTimes(time, exposureDuration);
  }
}


extern "C" Isis::Camera *DawnFcCameraPlugin(Isis::Cube &cube) {
  return new Isis::DawnFcCamera(cube);
}