OsirisRexOcamsCamera.cpp

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#include "OsirisRexOcamsCamera.h"

#include <QDebug>
#include <QString>

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

using namespace std;

namespace Isis {

  OsirisRexOcamsCamera::OsirisRexOcamsCamera(Cube &cube) : FramingCamera(cube) {

    NaifStatus::CheckErrors();

    m_spacecraftNameLong = "OSIRIS-REx";
    m_spacecraftNameShort = "OSIRIS-REx";

    // The general IK code will be used to retrieve the transx,
    // transy, transs and transl from the iak. The focus position specific
    // IK code will be used to find pixel pitch and ccd center in the ik.
    int frameCode = naifIkCode();

    if (frameCode == -64361) {
      m_instrumentNameLong = "Mapping Camera";
      m_instrumentNameShort = "MapCam";
    }
    else if (frameCode == -64362) {
      m_instrumentNameLong = "Sampling Camera";
      m_instrumentNameShort = "SamCam";
    } // IK values for polycam: -64360 (general) and -64616 to -64500 (focus specific)
    else if (frameCode == -64360) {
      m_instrumentNameLong = "PolyMath Camera";
      m_instrumentNameShort = "PolyCam";
    }
    else {
      QString msg = "Unable to construct OSIRIS-REx camera model. "
                    "Unrecognized NaifFrameCode [" + toString(frameCode) + "].";
      throw IException(IException::User, msg, _FILEINFO_);
    }

    Pvl &lab = *cube.label();
    PvlGroup inst = lab.findGroup("Instrument", Pvl::Traverse);

    QString ikCode = toString(frameCode);
    if (inst.hasKeyword("PolyCamFocusPositionNaifId") && frameCode == -64360) {
      if (QString::compare("NONE", inst["PolyCamFocusPositionNaifId"],
                           Qt::CaseInsensitive) != 0) {
        ikCode = inst["PolyCamFocusPositionNaifId"][0];
      }
    }

    QString focalLength = "INS" + ikCode + "_FOCAL_LENGTH";
    SetFocalLength(getDouble(focalLength));

    // The instrument kernel contains pixel pitch in microns, so convert it to mm.
    QString pitch = "INS" + ikCode + "_PIXEL_SIZE";
    SetPixelPitch(getDouble(pitch) / 1000.0);

    // Get the start time in et
    // Set the observation time and exposure duration
    QString clockCount = inst["SpacecraftClockStartCount"];
    double startTime = getClockTime(clockCount).Et();
    double exposureDuration = ((double) inst["ExposureDuration"]) / 1000.0;
    pair<iTime, iTime> shuttertimes = ShutterOpenCloseTimes(startTime, exposureDuration);

    // Add half exposure duration to get time at center of image
    iTime centerTime = shuttertimes.first.Et() + exposureDuration / 2.0;

    // Setup detector map
    new CameraDetectorMap(this);

    // Setup focal plane map using the general IK code for the given camera
    // Note that this is not the specific naifIkCode() value for PolyCam
    CameraFocalPlaneMap *focalMap = new CameraFocalPlaneMap(this, frameCode);

    // The instrument kernel contains a CCD_CENTER keyword instead of BORESIGHT_LINE
    // and BORESIGHT_SAMPLE keywords.
    focalMap->SetDetectorOrigin(
        Spice::getDouble("INS" + ikCode + "_CCD_CENTER", 0) + 1.0,
        Spice::getDouble("INS" + ikCode + "_CCD_CENTER", 1) + 1.0);

    // Setup distortion map
    OsirisRexDistortionMap *distortionMap = new OsirisRexDistortionMap(this);

    // Different distortion model for each instrument and filter
    PvlGroup bandBin = lab.findGroup("BandBin", Pvl::Traverse);
    QString filterName = bandBin["FilterName"];
    distortionMap->SetDistortion(ikCode.toInt(), filterName);

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

    setTime(centerTime);
    LoadCache();
    NaifStatus::CheckErrors();
  }


  OsirisRexOcamsCamera::~OsirisRexOcamsCamera() {
  }


  int OsirisRexOcamsCamera::CkFrameId() const {
    return -64000;
  }


  int OsirisRexOcamsCamera::CkReferenceId() const {
    return 1;
  }


  int OsirisRexOcamsCamera::SpkReferenceId() const {
    return 1;
  }


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

}


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