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MsiCamera.cpp
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1 
20 #include "MsiCamera.h"
21 
22 #include <QString>
23 
24 #include "CameraDetectorMap.h"
25 #include "CameraFocalPlaneMap.h"
26 #include "CameraGroundMap.h"
27 #include "CameraSkyMap.h"
28 #include "IString.h"
29 #include "iTime.h"
30 #include "NaifStatus.h"
31 #include "Plugin.h"
32 #include "RadialDistortionMap.h"
33 
34 using namespace std;
35 namespace Isis {
48  MsiCamera::MsiCamera(Cube &cube) : FramingCamera(cube) {
49  m_instrumentNameLong = "Multi-Spectral Imager";
50  m_instrumentNameShort = "MSI";
51  m_spacecraftNameLong = "Near Earth Asteroid Rendezvous";
52  m_spacecraftNameShort = "NEAR";
53 
54  Pvl &lab = *cube.label();
57  SetPixelPitch();
59 
60  // Get the start time in et
61  PvlGroup inst = lab.findGroup("Instrument", Pvl::Traverse);
62 
63  double et = iTime((QString)inst["StartTime"]).Et();
64 
65  // divide exposure duration keyword value by 1000 to convert to seconds
66  double exposureDuration = ((double) inst["ExposureDuration"]) / 1000.0;
67  pair<iTime, iTime> shuttertimes = ShutterOpenCloseTimes(et, exposureDuration);
68 
69  //correct time for center of exposure duration
70  iTime centerTime = shuttertimes.first.Et() + exposureDuration / 2.0;
71 
72  // Setup detector map. These images are full summing.
73  new CameraDetectorMap(this);
74 
75  // Setup focal plane map
76  CameraFocalPlaneMap *focalMap = new CameraFocalPlaneMap(this, naifIkCode());
77 
78  // Make sure to grab lines and samples in the correct order.
79  double line = Spice::getDouble("INS" + toString(naifIkCode()) + "_BORESIGHT_LINE");
80  double sample = Spice::getDouble("INS" + toString(naifIkCode()) + "_BORESIGHT_SAMPLE");
81  focalMap->SetDetectorOrigin(sample, line);
82 
83  // Setup distortion map
84  double k1 = Spice::getDouble("INS" + toString(naifIkCode()) + "_K1");
85  new RadialDistortionMap(this, k1, 1);
86 
87  // Setup the ground and sky map
88  new CameraGroundMap(this);
89  new CameraSkyMap(this);
90  setTime(centerTime);
91  // Note: If the temperature-dependent instrument kernel is used,
92  // the following LoadCache() command should be replaced with the
93  // commented lines at the end of this file.
94  LoadCache();
96  }
97 
100 
126  pair<iTime, iTime> MsiCamera::ShutterOpenCloseTimes(double time,
127  double exposureDuration) {
128  return FramingCamera::ShutterOpenCloseTimes(time, exposureDuration);
129  }
130 
139  int MsiCamera::CkFrameId() const { return -93000; }
140 
149  int MsiCamera::CkReferenceId() const { return 1; }
150 
159 // int MsiCamera::SpkTargetId() const { return -93; }
160 
168  int MsiCamera::SpkReferenceId() const { return 1; }
169 }
170 
180  return new Isis::MsiCamera(cube);
181 }
182 
183 // Comment: 2013-03-08 Jeannie Backer - The following code will adjust the
184 // camera model using the temperature dependent
185 // instrument kernel. Currently, we have decided not to
186 // implement this adjustment since it does not appear to
187 // have been applied in ISIS2. (Code exists for this in
188 // ISIS2, but without SCLK or CK, it could not have been
189 // applied).
190 
191 // if (instrumentRotation()->IsCached()) {
192 // LoadCache();
193 // }
194 // else {
195 // double toCelcius = -273.15;
196 // SpiceDouble tempCelcius = toDouble(inst["DpuDeckTemperature"][0])+toCelcius;
197 // ConstSpiceChar *nearMsiTimeDependentFrame;
198 // iTime originalTempDependencyDate("1999-12-20T00:00:00");
199 //
200 // if (centerTime.Et() <= originalTempDependencyDate.Et() ) {
201 // nearMsiTimeDependentFrame = "NEAR_MSI_TEMP_DEP0000";
202 // }
203 // else {
204 // nearMsiTimeDependentFrame = "NEAR_MSI_TEMP_DEP0001";
205 // }
206 //
207 // // get transformation matrix based on temperature, from spacecraft to MSI
208 // SpiceDouble sc2msiMatrix[3][3];
209 // pxform_c("J2000", nearMsiTimeDependentFrame,tempCelcius, sc2msiMatrix);
210 // NaifStatus::CheckErrors();
211 // // get current TC matrix, from j2000 to spacecraft
212 // vector<double> originalCJ = instrumentRotation()->TimeBasedMatrix();
213 // // get new CJ matrix based on temperatureBasedRotation x originalTC
214 // // now we have transformation from j2000 to msi
215 // vector<double> newCJ(9);
216 // mxm_c(sc2msiMatrix, (SpiceDouble( *)[3]) &originalCJ[0],
217 // (SpiceDouble( *)[3]) &newCJ[0]);
218 // NaifStatus::CheckErrors();
219 // // mxmg_c(sc2msiMatrix, (SpiceDouble( *)[3]) &originalTC[0],
220 // // 6, 6, 6, (SpiceDouble( *)[3]) &newCJ[0]);
221 // // set new CJ matrix
222 // instrumentRotation()->SetTimeBasedMatrix(newCJ);
223 // LoadCache();
224 // }
void SetFocalLength()
Reads the focal length from the instrument kernel.
Definition: Camera.cpp:1485
Isis::Camera * MsiCameraPlugin(Isis::Cube &cube)
This is the function that is called in order to instantiate a MsiCamera object.
Definition: MsiCamera.cpp:179
PvlGroupIterator findGroup(const QString &name, PvlGroupIterator beg, PvlGroupIterator end)
Find a group with the specified name, within these indexes.
Definition: PvlObject.h:141
Parse and return pieces of a time string.
Definition: iTime.h:74
QString m_instrumentNameLong
Full instrument name.
Definition: Camera.h:494
Pvl * label() const
Returns a pointer to the IsisLabel object associated with the cube.
Definition: Cube.cpp:1298
void SetPixelPitch()
Reads the Pixel Pitch from the instrument kernel.
Definition: Camera.cpp:1492
Search child objects.
Definition: PvlObject.h:170
virtual std::pair< iTime, iTime > ShutterOpenCloseTimes(double time, double exposureDuration)
Returns the shutter open and close times.
Definition: MsiCamera.cpp:126
QString toString(bool boolToConvert)
Global function to convert a boolean to a string.
Definition: IString.cpp:226
void SetDetectorOrigin(const double sample, const double line)
Set the detector origin.
double Et() const
Returns the ephemeris time (TDB) representation of the time as a double.
Definition: iTime.h:135
virtual int SpkReferenceId() const
SPK Target ID - Target Body value for NEAR Shoemaker from spacit run on SPK.
Definition: MsiCamera.cpp:168
virtual std::pair< iTime, iTime > ShutterOpenCloseTimes(double time, double exposureDuration)=0
Returns the shutter open and close times.
virtual double exposureDuration() const
Return the exposure duration for the pixel that the camera is set to.
Definition: Camera.cpp:3113
Convert between parent image coordinates and detector coordinates.
Convert between undistorted focal plane and ground coordinates.
Convert between distorted focal plane and detector coordinates.
QString m_instrumentNameShort
Shortened instrument name.
Definition: Camera.h:495
Contains multiple PvlContainers.
Definition: PvlGroup.h:57
void setTime(const iTime &time)
By setting the time you essential set the position of the spacecraft and body as indicated in the cla...
Definition: Sensor.cpp:112
Container for cube-like labels.
Definition: Pvl.h:135
void LoadCache()
This loads the spice cache big enough for this image.
Definition: Camera.cpp:2489
virtual int CkFrameId() const
CK frame ID - Instrument Code from spacit run on CK For more details, read the Camera class documenta...
Definition: MsiCamera.cpp:139
QString m_spacecraftNameLong
Full spacecraft name.
Definition: Camera.h:496
~MsiCamera()
Destroys the MsiCamera object.
Definition: MsiCamera.cpp:99
static void CheckErrors(bool resetNaif=true)
This method looks for any naif errors that might have occurred.
Definition: NaifStatus.cpp:43
SpiceInt naifIkCode() const
This returns the NAIF IK code to use when reading from instrument kernels.
Definition: Spice.cpp:888
Convert between undistorted focal plane and ra/dec coordinates.
Definition: CameraSkyMap.h:47
QString m_spacecraftNameShort
Shortened spacecraft name.
Definition: Camera.h:497
Unless noted otherwise, the portions of Isis written by the USGS are public domain.
Generic class for Framing Cameras.
Definition: FramingCamera.h:48
virtual int CkReferenceId() const
CK Reference ID - Reference Frame value for J2000 from spacit run on CK.
Definition: MsiCamera.cpp:149
SpiceDouble getDouble(const QString &key, int index=0)
This returns a value from the NAIF text pool.
Definition: Spice.cpp:958
IO Handler for Isis Cubes.
Definition: Cube.h:158
NEAR Shoemaker MSI Camera Model.
Definition: MsiCamera.h:52

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File Modified: 07/12/2023 23:24:15