Added ExoMars TGO CaSSIS camera model. Fixes #4593. (7f44bfe5) · Commits · aflab / astrogeology / ISIS3

isis/src/base/objs/Preference/TestPreferences

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	@@ -165,6 +165,7 @@ Group = DataDirectory
	Clementine1 = $ISIS3DATA/clementine1		Clementine1 = $ISIS3DATA/clementine1
	Control = $ISIS3DATA/control		Control = $ISIS3DATA/control
	Dawn = $ISIS3DATA/dawn		Dawn = $ISIS3DATA/dawn
			Tgo = $ISIS3DATA/tgo
	Galileo = $ISIS3DATA/galileo		Galileo = $ISIS3DATA/galileo
	Hayabusa = $ISIS3DATA/hayabusa		Hayabusa = $ISIS3DATA/hayabusa
	Kaguya = $ISIS3DATA/kaguya		Kaguya = $ISIS3DATA/kaguya

isis/src/tgo/objs/TgoCassisCamera/Camera.plugin

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			Group = TRACEGASORBITER/CASSIS
			Version = 1
			Library = TgoCassisCamera
			Routine = TgoCassisCameraPlugin
			EndGroup

isis/src/tgo/objs/TgoCassisCamera/Makefile

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			ifeq ($(ISISROOT), $(BLANK))
			.SILENT:
			error:
			echo "Please set ISISROOT";
			else
			include $(ISISROOT)/make/isismake.objs
			endif
			No newline at end of file

isis/src/tgo/objs/TgoCassisCamera/TgoCassisCamera.cpp

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			/**
			* @file
			* $Revision:$
			* $Date:$
			*
			* Unless noted otherwise, the portions of Isis written by the USGS are public
			* domain. See individual third-party library and package descriptions for
			* intellectual property information,user agreements, and related information.
			*
			* Although Isis has been used by the USGS, no warranty, expressed or implied,
			* is made by the USGS as to the accuracy and functioning of such software
			* and related material nor shall the fact of distribution constitute any such
			* warranty, and no responsibility is assumed by the USGS in connection
			* therewith.
			*
			* For additional information, launch
			* $ISISROOT/doc//documents/Disclaimers/Disclaimers.html in a browser or see
			* the Privacy & Disclaimers page on the Isis website,
			* http://isis.astrogeology.usgs.gov, and the USGS privacy and disclaimers on
			* http://www.usgs.gov/privacy.html.
			*/

			#include <cmath>

			#include <QByteArray>
			#include <QString>
			#include <QVariant>

			#include "TgoCassisCamera.h"
			#include "CameraDetectorMap.h"
			#include "CameraDistortionMap.h"
			#include "CameraFocalPlaneMap.h"
			#include "CameraGroundMap.h"
			#include "CameraSkyMap.h"
			#include "EndianSwapper.h"
			#include "IException.h"
			#include "IString.h"
			#include "iTime.h"
			#include "NaifStatus.h"

			using namespace std;

			namespace Isis {
			/**
			* @brief Initialize the CaSSIS camera model
			*
			*
			* @param lab Pvl label from a TGO Cassis image.
			*/
			TgoCassisCamera::TgoCassisCamera(Cube &cube) : FramingCamera(cube) {

			m_instrumentNameLong = "Colour and Stereo Surface Imaging System";
			m_instrumentNameShort = "CaSSIS";

			m_spacecraftNameLong = "Trace Gas Orbiter";
			m_spacecraftNameShort = "TGO";

			NaifStatus::CheckErrors();

			// CaSSIS codes
			int cassisCode = naifIkCode();
			QString cassis = toString(cassisCode);

			// Get all the necessary stuff from the labels
			Pvl &lab = *cube.label();
			const PvlGroup &inst = lab.findGroup("Instrument", Pvl::Traverse);
			const PvlGroup &bandBin = lab.findGroup("BandBin", Pvl::Traverse);

			// Filter codes
			PvlKeyword filtNames = bandBin["FilterName"];
			PvlKeyword filterIkCodes = bandBin["NaifIkCode"];

			QString filter = filterIkCodes[0];

			// Set up the camera characteristics
			instrumentRotation()->SetFrame( CkFrameId() );
			SetFocalLength();
			SetPixelPitch();

			// Get the Start time from the labels
			// TODO: This is currently using UTC time. Once the timestamp is figured out,
			// this will change to use SCLK. JAM 2017-02-06
			QString stime = inst["SpacecraftClockStartCount"];
			QString startT = inst["StartTime"];
			iTime et(startT);

			// Get summing mode
			// Summing modes are:
			// 0 = 1x1 (No summing)
			// 1 = 2x2
			// 2 = 4x4
			int sumMode = toInt(inst["SummingMode"][0]);
			int summing = sumMode * 2;

			// Setup camera detector map
			CameraDetectorMap *detMap = new CameraDetectorMap(this);
			if ( summing > 0 ) {
			detMap->SetDetectorSampleSumming(summing);
			detMap->SetDetectorLineSumming(summing);
			}

			// Setup focal plane map
			CameraFocalPlaneMap *focalMap = new CameraFocalPlaneMap(this, cassisCode);

			// Get CASSIS detector boresight
			double bsSample = getDouble("INS" + cassis + "_BORESIGHT_SAMPLE");
			double bsLine = getDouble("INS" + cassis + "_BORESIGHT_LINE");
			focalMap->SetDetectorOrigin(bsSample, bsLine);

			// Set starting filter location on the detector
			detMap->SetStartingDetectorLine(getDouble("INS" + filter + "_FILTER_OFFSET"));

			// Setup distortion map
			new CameraDistortionMap(this);

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

			// Set start time to center of exposure time to ensure
			// the proper SPICE data is cached.
			double p_exposureDur = toDouble(inst["ExposureDuration"]);
			iTime p_etStart = et + ( p_exposureDur / 2.0);

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


			/**
			* Destroys the TgoCassisCamera object.
			*/
			TgoCassisCamera::~TgoCassisCamera() {
			}


			/**
			* Returns the shutter open and close times. The user should pass in the
			* ExposureDuration keyword value, converted from milliseconds to seconds, and
			* the SpacecraftClockCount keyword value, converted to ephemeris time. The
			* StartTime keyword value from the labels represents the shutter open time of
			* the observation. This method uses the FramingCamera class implementation,
			* returning the given time value as the shutter open and the sum of the time
			* value and exposure duration as the shutter close.
			*
			* @param exposureDuration Exposure duration value from the labels, converted
			* to seconds.
			* @param time The SpacecraftClockCount value from the labels, converted to
			* ephemeris time
			* @return @b pair < @b iTime, @b iTime > The first value is the shutter
			* open time and the second is the shutter close time.
			*
			* @see
			* @author 2017-02-01 Kris Becker
			* @internal
			*/
			pair <iTime, iTime> TgoCassisCamera::ShutterOpenCloseTimes(double time,
			double exposureDuration) {
			return FramingCamera::ShutterOpenCloseTimes(time, exposureDuration);
			}


			/**
			* CK frame ID - TGO CaSSIS instrument code (TGO_CASSIS_FSA)
			*
			* @return @b int The appropriate instrument code for the "Camera-matrix"
			* Kernel Frame ID.
			*/
			int TgoCassisCamera::CkFrameId() const {
			return (-143420);
			}


			/**
			* CK Reference ID - J2000
			*
			* @return @b int The appropriate instrument code for the "Camera-matrix"
			* Kernel Reference ID.
			*/
			int TgoCassisCamera::CkReferenceId() const {
			return (1);
			}


			/**
			* SPK Target Body ID - TGO spacecraft -143
			*
			* @return @b int The appropriate instrument code for the Spacecraft
			* Kernel Target ID.
			*/
			int TgoCassisCamera::SpkTargetId() const {
			return (-143);
			}


			/**
			* SPK Reference ID - J2000
			*
			* @return @b int The appropriate instrument code for the Spacecraft
			* Kernel Reference ID.
			*/
			int TgoCassisCamera::SpkReferenceId() const {
			return (1);
			}

			}

			/**
			* This is the function that is called in order to instantiate a TgoCassisCamera
			* object.
			*
			* @param lab Cube labels
			*
			* @return Isis::Camera* TgoCassisCamera
			*/
			extern "C" Isis::Camera *TgoCassisCameraPlugin(Isis::Cube &cube) {
			return new Isis::TgoCassisCamera(cube);
			}

isis/src/tgo/objs/TgoCassisCamera/TgoCassisCamera.h

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			#ifndef TgoCassisCamera_h
			#define TgoCassisCamera_h
			/**
			* @file
			* $Revision: $
			* $Date: $
			*
			* Unless noted otherwise, the portions of Isis written by the USGS are public
			* domain. See individual third-party library and package descriptions for
			* intellectual property information,user agreements, and related information.
			*
			* Although Isis has been used by the USGS, no warranty, expressed or implied,
			* is made by the USGS as to the accuracy and functioning of such software
			* and related material nor shall the fact of distribution constitute any such
			* warranty, and no responsibility is assumed by the USGS in connection
			* therewith.
			*
			* For additional information, launch
			* $ISISROOT/doc//documents/Disclaimers/Disclaimers.html in a browser or see
			* the Privacy & Disclaimers page on the Isis website,
			* http://isis.astrogeology.usgs.gov, and the USGS privacy and disclaimers on
			* http://www.usgs.gov/privacy.html.
			*/
			#include "FramingCamera.h"

			#include <QString>

			namespace Isis {
			/**
			* @brief TGO Cassis camera model
			*
			* This is the camera model for the Trace Gas Orbiter CaSSIS instrument. This
			* instrument is technically a pushframe instrument, but it is treated as a
			* framing instrument because the framelet size is 256 lines or more. This is
			* also a more flexible camera model since it will make controlling the
			* individual framelets alot easier.
			*
			* The CaSSIS frame hierarchy is as follows:
			* <pre>
			* J2000
			* \|
			* \| ck
			* \|
			* V
			* TGO_SPACECRAFT
			* \|
			* \| fixed
			* \|
			* V
			* TGO_CASSIS_CRU
			* \|
			* \| ck
			* \|
			* V
			* TGO_CASSIS_TEL
			* \|
			* \| fixed
			* \|
			* V
			* TGO_CASSIS_FSA
			* </pre>
			*
			* @author 2017-01-26 Kris Becker
			*
			* @internal
			* @history 2017-01-26 Kris Becker - Original implementation. Fixes #4593.
			* @history 2017-02-06 Jesse Mapel & Kristin Berry - Updated ck frame and
			* documentation. Added a unitTest. References #4593.
			*/
			class TgoCassisCamera : public FramingCamera {
			public:
			TgoCassisCamera(Cube &cube);
			~TgoCassisCamera();

			virtual std::pair <iTime, iTime> ShutterOpenCloseTimes(double time,
			double exposureDuration);
			virtual int CkFrameId() const;
			virtual int CkReferenceId() const;
			virtual int SpkTargetId() const;
			virtual int SpkReferenceId() const;

			};
			};
			#endif