RosettaOsirisCamera.cpp

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#include "RosettaOsirisCamera.h"

#include <QDebug>
#include <QFile>
#include <QString>

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

using namespace std;

namespace Isis {
  RosettaOsirisCamera::RosettaOsirisCamera(Cube &cube) : FramingCamera(cube) {
    m_instrumentNameLong = "Optical, Spectroscopic, and Infrared Remote Imaging System";
    m_instrumentNameShort = "OSIRIS";
    m_spacecraftNameLong = "Rosetta";
    m_spacecraftNameShort = "Rosetta";

    NaifStatus::CheckErrors();

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

    // The Osiris focal length is fixed and is designed not to change throught the operational
    // temperature.  For OSIRIS, the focal length is in mm, so we shouldn't need the unit conversion

    QString ikCode =  toString(naifIkCode());

    QString fl = "INS" + ikCode + "_FOCAL_LENGTH";
    double focalLength = Spice::getDouble(fl);
    SetFocalLength(focalLength);

    // For setting the pixel pitch, the Naif keyword PIXEL_SIZE is used instead of the ISIS
    // default of PIXEL_PITCH, so set the value directly.  Needs to be converted from microns to mm.
    QString pp = "INS" + ikCode + "_PIXEL_SIZE";

    double pixelPitch = Spice::getDouble(pp);
    pixelPitch /= 1000.0;
    SetPixelPitch(pixelPitch);

    // Setup focal plane map. The class will read data from the instrument addendum kernel to pull
    // out the affine transforms from detector samp,line to focal plane x,y.
    CameraFocalPlaneMap *focalMap = new CameraFocalPlaneMap(this, naifIkCode());

    CameraDetectorMap *detectorMap = new CameraDetectorMap(this);
    detectorMap->SetStartingDetectorSample((double) inst["FirstLineSample"]);
    // Because images are flipped on ingestion,
    // the first line on the label is actually the last line.
    detectorMap->SetStartingDetectorLine(2050 - cube.lineCount() - (double) inst["FirstLine"]);

    //Read the pixel averaging width/height and update the detector map:
    double pixelAveragingWidth=(double) inst["PixelAveragingWidth"];
    double pixelAveragingHeight=(double) inst["PixelAveragingHeight"];
    detectorMap->SetDetectorSampleSumming(pixelAveragingWidth);
    detectorMap->SetDetectorLineSumming(pixelAveragingHeight);

    RosettaOsirisCameraDistortionMap* distortionMap = new RosettaOsirisCameraDistortionMap(this);

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

    // Setup clock start and stop times.
    QString clockStartCount = inst["SpacecraftClockStartCount"];
    double start = getClockTime(clockStartCount).Et();
    // QString clockStopCount = inst["SpacecraftClockStopCount"];
    // double stop = getClockTime(clockStopCount).Et();
    double exposureTime = (double) inst["ExposureDuration"];

    // Setup the distortion map
    PvlGroup &BandBin = lab.findGroup("BandBin", Pvl::Traverse);
    QString filterNumber = BandBin["FilterNumber"];
    initDistortion(ikCode, distortionMap);
    distortionMap->setPixelPitch(pixelPitch);

    // The boresight position depends on the filter. They are all defined as
    // offsets from the middle of the ccd.
    double referenceSample = Spice::getDouble("INS" + ikCode + "_BORESIGHT",0) + 1.0;
    double referenceLine = Spice::getDouble("INS" + ikCode + "_BORESIGHT",1) + 1.0;
    // The offsets in the IAK are based on the S/C frame, not the camera frame
    // For now, do not adjust based on filter. -JAM
//     referenceSample += Spice::getDouble("INS" + ikCode + "_FILTER_" + filterNumber + "_DX");
//     referenceLine += Spice::getDouble("INS" + ikCode + "_FILTER_" + filterNumber + "_DY");
    focalMap->SetDetectorOrigin(referenceSample, referenceLine);
    distortionMap->setBoresight(referenceSample, referenceLine);

    iTime centerTime = start + (exposureTime / 2.0);
    setTime( centerTime );

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

    return;
  }


  /* This should not be an issue with the Osiris cameras, so this can likely be deleted.
     It has been left here just in case something of importance in it was missed.   -Sasha
  */
  pair<iTime, iTime> RosettaOsirisCamera::ShutterOpenCloseTimes(double time,
                                                         double exposureDuration) {
    return FramingCamera::ShutterOpenCloseTimes(time, exposureDuration);
  }


  void RosettaOsirisCamera::initDistortion(QString ikCode,
                                           RosettaOsirisCameraDistortionMap *distortionMap) {

    // Initialize matrices
    LinearAlgebra::Matrix toUnDistX = LinearAlgebra::zeroMatrix(4, 4);
    LinearAlgebra::Matrix toUnDistY = LinearAlgebra::zeroMatrix(4, 4);

    // Fill matrices from the kernels
    for (int i = 0; i < 4; i++) {
      for (int j = 0; j < 4; j++) {
        toUnDistX(i, j) = Spice::getDouble("INS" + ikCode + "_TO_UNDISTORTED_X", 4 * i + j);
        toUnDistY(i, j) = Spice::getDouble("INS" + ikCode + "_TO_UNDISTORTED_Y", 4 * i + j);
      }
    }

    // Save the matrices
    distortionMap->setUnDistortedXMatrix(toUnDistX);
    distortionMap->setUnDistortedYMatrix(toUnDistY);
  }
}

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