ThemisIrCamera.cpp

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#include "ThemisIrCamera.h"
#include "ThemisIrDistortionMap.h"

#include <QString>

#include "CameraFocalPlaneMap.h"
#include "IException.h"
#include "iTime.h"
#include "LineScanCameraDetectorMap.h"
#include "LineScanCameraGroundMap.h"
#include "LineScanCameraSkyMap.h"
#include "NaifStatus.h"

using namespace std;
namespace Isis {
  ThemisIrCamera::ThemisIrCamera(Cube &cube) : LineScanCamera(cube) {
    m_instrumentNameLong = "Thermal Emission Imaging System Infrared";
    m_instrumentNameShort = "Themis-IR";
    m_spacecraftNameLong = "Mars Odyssey";
    m_spacecraftNameShort = "Odyssey";
    
    NaifStatus::CheckErrors();
    // Set the detector size
    SetPixelPitch(0.05);
    SetFocalLength(203.9213);

    // Get the start time.  This includes adding a time offset that could
    // have been put in the labels during ingestion (thm2isis).  This is meant
    // to handle a random timing errors which can be up to four pixels
    Pvl &lab = *cube.label();
    PvlGroup &inst = lab.findGroup("Instrument", Pvl::Traverse);
    QString stime = inst["SpacecraftClockCount"];
    p_etStart = getClockTime(stime).Et();

    double offset = inst["SpacecraftClockOffset"];
    p_etStart += offset;

    // If bands have been extracted from the original image then we
    // need to read the band bin group so we can map from the cube band
    // number to the instrument band number
    PvlGroup &bandBin = lab.findGroup("BandBin", Pvl::Traverse);
    PvlKeyword &orgBand = bandBin["FilterNumber"];
    for(int i = 0; i < orgBand.size(); i++) {
      p_originalBand.push_back(toInt(orgBand[i]));
    }

    // Themis IR had a summing mode added.  This directly affects the line
    // rate.  That is, the seconds per line.  In the Kieffer-Torson model
    // the line rates was 33.2804 ms per line in SumMode = 1.  In the
    // Duxbury model it is 33.2871 based on 1/22/2009 email with a readout
    // rate of 30.0417 lines/second
    int sumMode = 1;
    if(inst.hasKeyword("SpatialSumming")) {
      sumMode = inst["SpatialSumming"];
    }
    p_lineRate = 33.2871 / 1000.0 * sumMode;

    // If the TDI mode is enabled then 16 line in the detector are summed
    // to improve the SNR.  In the SetBand method we will the TDI mode to
    // determine line offset for the band.
    p_tdiMode = (QString) inst["TimeDelayIntegration"];

    // The detector map tells us how to convert from image coordinates to
    // detector coordinates.  In our case, a (sample,line) to a (sample,time)
    // This is band dependent so it will change in SetBand
    LineScanCameraDetectorMap *detectorMap = new LineScanCameraDetectorMap(this, p_etStart, p_lineRate);
    detectorMap->SetDetectorSampleSumming(sumMode);
    detectorMap->SetDetectorLineSumming(sumMode);

    // The focal plane map tells us how to go from detector position
    // to focal plane x/y (distorted).  That is, (sample,time) to (x,y).
    // This is band dependent so it will change in SetBand
    CameraFocalPlaneMap *focalMap = new CameraFocalPlaneMap(this, naifIkCode());

    // The boresight sample in the K-T model was 164.25.  In Duxbury's it is
    // 160.5 or half the detector width.  The detector offset varies by band
    // and is set to the proper value for band 1 for now
    focalMap->SetDetectorOrigin(160.5, 0.0);
    focalMap->SetDetectorOffset(0.0, 120.5 - 8.5);

    // The camera has a distortion map which scales in the X direction,
    // effectively a variable focal length, and an independent Y direction.
    // Both are based on the band number
    new ThemisIrDistortionMap(this);

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

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


  void ThemisIrCamera::SetBand(const int vband) {
    // Lookup the original band from the band bin group.  Unless there is
    // a reference band which means the data has all been aligned in the
    // band dimension
    int band;
    if(HasReferenceBand()) {
      band = ReferenceBand();
      if((band < 1) || (band > 10)) {
        string msg = "Invalid Reference Band [" + IString(band) + "]";
        throw IException(IException::User, msg, _FILEINFO_);
      }
    }
    else {
      if(vband > (int) p_originalBand.size()) {
        string msg = "Band number out of array bounds in ThemisIRCamera";
        throw IException(IException::Programmer, msg, _FILEINFO_);
      }
      band = p_originalBand[vband-1];
    }

    // Get the detector line in the CCD.  If TDI mode is enabled then
    // we used the middle of the 16 lines which were summed.  Otherwise
    // an individual line was read out.  It is not clear where/how the
    // noTDI offsets were derived.  Hopefully from some THEMIS document.
    // They were copied from ISIS2 code and the only suspicious value is
    // at 52.  Also, Duxbury's 1/22/09 email used 128.5 vs 129.5 for the
    // center of the TDI enable detector line positions.
    double detectorLine;
    if(p_tdiMode == "ENABLED") {
      double bandDetector_TDI[] = {8.5, 24.5, 50.5, 76.5, 102.5,
                                   128.5, 154.5, 180.5, 205.5, 231.5
                                  };
      detectorLine = bandDetector_TDI[band-1];
    }
    else {
      int bandDetector_noTDI[] = {9, 24, 52, 77, 102, 129, 155, 181, 206, 232};
      detectorLine = (double) bandDetector_noTDI[band-1];
    }

    // Compute the time offset for this band (using detector line)
    // Subtracting 1.0 as in Duxbury's example would be the offset to
    // the center of the pixel but we want to the top edge so we
    // subtract 0.5
    p_bandTimeOffset = (detectorLine - 0.5) * p_lineRate;
    p_bandTimeOffset /= this->DetectorMap()->LineScaleFactor();

    // Adjust the starting time in the detector map for this band
    LineScanCameraDetectorMap *detectorMap =
      (LineScanCameraDetectorMap *) this->DetectorMap();
    detectorMap->SetStartTime(p_etStart + p_bandTimeOffset);

    // Compute the along track offset at this detector line.  That is,
    // the number of pixels away from the boresight line.  In the K-T model
    // the boresight line was 109.5.  In Duxbury's it is half of the
    // detector height or 120.5
    double alongtrackOffset = 120.5 - detectorLine;

    // Adjust alongtrackOffset using Kirk's empirically fitted numbers from
    // Apr 2009
    double empiricalOffset[] = { -0.076, -0.098, -0.089, -0.022, 0.0,
                                 -0.020, -0.005, -0.069, 0.025, 0.0
                               };
    alongtrackOffset += empiricalOffset[band-1];
    this->FocalPlaneMap()->SetDetectorOffset(0.0, alongtrackOffset);

    // Adjust the sample boresight using Kirk's empirically fitted numbers
    // from Apr 2009
    double sampleBoresight = 160.5;
    double empiricalBoresightOffset[] = { 0.021, 0.027, 0.005, 0.005, 0.0,
                                          -0.007, -0.012, -0.039, -0.045, 0.0
                                        };
    sampleBoresight -= empiricalBoresightOffset[band-1];
    this->FocalPlaneMap()->SetDetectorOrigin(sampleBoresight, 0.0);

    // Finally, adjust the optical distortion model based on the band
    ThemisIrDistortionMap *distMap =
      (ThemisIrDistortionMap *) DistortionMap();
    distMap->SetBand(band);
  }
}


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