Commit in preparation for git-svn remigration

/**

 * @file

 * $Revision: 1.7 $

 * $Date: 2010/06/17 18:59:11 $

 *

 *   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 "ApolloPanoramicCamera.h"

#include "ApolloPanIO.h"

//#include "ApolloPanIO.h"

#include "ApolloPanoramicCameraFiducialMap.h"

#include "ApolloPanoramicDetectorMap.h"

#include <QString>

#include "Affine.h"

#include "CameraDistortionMap.h"

#include "CameraFocalPlaneMap.h"

#include "IException.h"

#include "IString.h"

#include "iTime.h"

#include "LineScanCameraDetectorMap.h"

#include "LineScanCameraGroundMap.h"

#include "LineScanCameraSkyMap.h"

#include "PvlGroup.h"

#include "PvlKeyword.h"

//#include "SampleScanCameraDetectorMap.h"

#include "SampleScanCameraGroundMap.h"

#include "SampleScanCameraSkyMap.h"

#include "NaifStatus.h"

//#include "VariableSampleScanCameraDetectorMap.h"

//#include "PvlGroup.h"

//#include "PvlKeyword.h"

using namespace std;

namespace Isis {

  /**

   * Constructs an Apollo Panoramic Camera object using the image labels.

   * Constructs the Apollo Panoramic Camera model object from the labels.

   *

   * @param lab Pvl label from an Apollo Panoramic image.

   * This constructor uses the Pvl labels for Apollo Panoramic Camera Images.

   *

   * @param lab Pvl label from an Apollo Panoramic Camera image.

   * @internal

   *   @history 2016-09-12 Ken Edmundson - Original version, sort of. Orrin Thomas did the original

   *                       original. The camera model has changed significantly since.

   *

   */

  ApolloPanoramicCamera::ApolloPanoramicCamera(Isis::Cube &cube) : Isis::LineScanCamera(cube) {

    // Set up the camera info from ik/iak kernels

    SetFocalLength(610.0);  //nominal (uncalibrated) focal length in mm from "Apollo 15 SIM Bay

    // Photographic Equipment and Mission Summary" August, 1971

    SetPixelPitch(0.005);   //internally all images are modeled as if they have 5 micron pixels

    double  constantTimeOffset = 0.0,

    additionalPreroll = 0.0,

    additiveLineTimeError = 0.0,

    multiplicativeLineTimeError = 0.0;

    // Set up naming info

  ApolloPanoramicCamera::ApolloPanoramicCamera(Isis::Cube &cube) : Isis::SampleScanCamera(cube) {

    NaifStatus::CheckErrors();

    m_instrumentNameLong = "Panoramic Camera";

    m_instrumentNameShort = "Pan";

    if (naifIkCode() == -915230) {

      m_spacecraftNameLong = "Apollo 15";

      m_spacecraftNameShort = "Apollo15";

      m_ckFrameId = -915230;

    }

    // Apollo16 Pan naif code = -916230

    else if (naifIkCode() == -916230) {

      m_spacecraftNameLong = "Apollo 16";

      m_spacecraftNameShort = "Apollo16";

      m_ckFrameId = -916230;

    }

    // Apollo17 Pan naif code = -917230

    else if (naifIkCode() == -917230) {

      m_spacecraftNameLong = "Apollo 17";

      m_spacecraftNameShort = "Apollo17";

      m_ckFrameId = -917230;

    }

    else {

      QString msg = "File does not appear to be an Apollo image";

      throw IException(IException::User, msg, _FILEINFO_);

      QString msg = "File does not appear to be an Apollo Panoramic image";

      msg += QString::number(naifIkCode());

      msg += " is not a supported instrument kernel code for Apollo.";

      throw IException(IException::Programmer, msg, _FILEINFO_);

    }

    //following keywords in InstrumentAddendum file

    QString ikernKey = "INS" + toString((int)naifIkCode()) + "_CONSTANT_TIME_OFFSET";

    constantTimeOffset = getDouble(ikernKey);

    // Get the Instrument label information needed to define the camera for this frame

    Pvl &lab = *cube.label();

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

    QString spacecraft = (QString)inst["SpacecraftName"];

    QString instId = (QString)inst["InstrumentId"];

    ikernKey = "INS" + toString((int)naifIkCode()) + "_ADDITIONAL_PREROLL";

    additionalPreroll = getDouble(ikernKey);

    // read focal length and pixel pitch from the instrument kernel

    SetFocalLength();

    SetPixelPitch();

    ikernKey = "INS" + toString((int)naifIkCode()) + "_ADDITIVE_LINE_ERROR";

    additiveLineTimeError = getDouble(ikernKey);

    ReadSampleRates(lab.fileName());

    ikernKey = "INS" + toString((int)naifIkCode()) + "_MULTIPLI_LINE_ERROR";

    multiplicativeLineTimeError = getDouble(ikernKey);

    SpiceDouble etStart = iTime((QString)inst["StartTime"]).Et();

    setTime(etStart);

    Pvl &lab = *cube.label(); 

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

    QString stime = (QString)inst["StartTime"];  

    SpiceDouble etStart;

    str2et_c(stime.toLatin1().data(), &etStart);

    stime = (QString) inst["StopTime"];

    SpiceDouble etStop;

    str2et_c(stime.toLatin1().data(), &etStop);

    iTime isisTime( (QString) inst["StartTime"]);

    // Get other info from labels

    // line exposure duration, sec/mm

    double lineRate = ( (double) inst["LineExposureDuration"] )*0.005;    

    lineRate *= 1.0 + multiplicativeLineTimeError;

    lineRate += additiveLineTimeError;

    etStart += additionalPreroll * lineRate;

    etStart += constantTimeOffset;

    setTime(isisTime);

    // Setup detector map

    //note (etStart+etStop)/2.0 is the time in the middle of image 

    //  (line = 0 after interior orientation)

    ApolloPanoramicDetectorMap *detectorMap = 

    new ApolloPanoramicDetectorMap((Camera *)this, 

                                   (etStart+etStop)/2.0, 

                                   (double)lineRate, &lab);

    //interior orientation residual stats

    m_residualMean = detectorMap->meanResidual();

    m_residualMax = detectorMap->maxResidual();

    m_residualStdev = detectorMap->stdevResidual();

    detectorMap->SetDetectorSampleSumming(1.0);

    detectorMap->SetStartingDetectorSample(0.0);

    // Setup focal plane map

    PvlGroup &kernel = lab.findGroup("Kernels", Pvl::Traverse);

    CameraFocalPlaneMap *focalMap = new CameraFocalPlaneMap(this, (int) kernel["NaifFrameCode"]);

    // Setup fiducial mark affine transformation (in pixels)

    PvlGroup &fiducials = lab.findGroup("Fiducials", Pvl::Traverse);

    ApolloPanoramicCameraFiducialMap fid(fiducials, naifIkCode());

    //  Retrieve boresight location from instrument kernel (IK) (addendum?)

    double sampleBoreSight = 0.0;  //Presently no NAIF keywords for this sensor

    double lineBoreSight = 0.0;  //Presently no NAIF keywords for this sensor

    Affine* fiducialMap = fid.CreateTrans();

    focalMap->SetDetectorOrigin(sampleBoreSight, lineBoreSight);

    // Setup detector map for transform of parent image pixels to "detector" pixels

    new VariableSampleScanCameraDetectorMap(this, p_sampleRates, fiducialMap);

    // Setup focal plane map

    CameraFocalPlaneMap *focalMap = new CameraFocalPlaneMap(this, naifIkCode());

//    focalMap->SetDetectorOrigin(114374.916541692, 11490.0);

    focalMap->SetDetectorOrigin(0.0, 11490.0);

    focalMap->SetDetectorOffset(0.0, 0.0);

    //  Retrieve boresight location from instrument kernel (IK) (addendum?)

//    double sampleBoreSight = 0.0;  //Presently no NAIF keywords for this sensor

//    double lineBoreSight = 0.0;  //Presently no NAIF keywords for this sensor

    // Setup distortion map

    new CameraDistortionMap(this, -1.0);

    //distMap->SetDistortion(naifIkCode());    Presently no NAIF keywords for this sensor

    //Setup the ground and sky map

    new LineScanCameraGroundMap(this);

    new LineScanCameraSkyMap(this);

    PvlGroup &instP = lab.findGroup("Kernels", Pvl::Traverse);

    m_CkFrameId = toInt(instP["NaifFrameCode"][0]);

    m_CkFrameId = -int(-m_CkFrameId/1000)*1000;

    new SampleScanCameraGroundMap(this);

    new SampleScanCameraSkyMap(this);

    LoadCache();

    NaifStatus::CheckErrors();

    delete fiducialMap;

  }

  /**

   * @param filename

   */

  void ApolloPanoramicCamera::ReadSampleRates(QString filename) {

    Table timesTable("SampleScanTimes", filename);

    if(timesTable.Records() <= 0) {

      QString msg = "Table [SampleScanTimes] in [";

      msg += filename + "] must not be empty";

      throw IException(IException::Unknown, msg, _FILEINFO_);

    }

    for(int i = 0; i < timesTable.Records(); i++) {

      p_sampleRates.push_back(SampleRateChange((int)timesTable[i][2],

                                           (double)timesTable[i][0],

                                           timesTable[i][1]));

    }

    if(p_sampleRates.size() <= 0) {

      QString msg = "There is a problem with the data within the Table ";

      msg += "[SampleScanTimes] in [" + filename + "]";

      throw IException(IException::Unknown, msg, _FILEINFO_);

    }

  }

}// end Isis namespace

 *   http://www.usgs.gov/privacy.html.                                    

 */                                                                       

#include "LineScanCamera.h"

#include "SampleScanCamera.h"

#include "VariableSampleScanCameraDetectorMap.h"

namespace Isis {

  class PvlGroup;

     *                           members and methods and removed implementation of these methods

     *                           since Camera now handles this. References #2335. Fixed 

     *                           indentation.

     *   @history 2017-06-28 Makayla Shepherd - Updated documentation. References #4807.

     *   @history 2016-09-12 Ken Edmundson - Major changes, deriving now from SampleScanCamera.

     */

    class ApolloPanoramicCamera : public LineScanCamera {

    class ApolloPanoramicCamera : public SampleScanCamera {

    public:

      ApolloPanoramicCamera(Cube &lab);

      *         Kernel Frame ID

      */

      //this sensor was used on multiple missions so it is necessary to check which Apollo 

      virtual int CkFrameId() const {return m_CkFrameId; }  

      virtual int CkFrameId() const {return m_ckFrameId; }

      /** 

      * CK Reference ID - J2000

      */

      virtual int SpkReferenceId() const { return (1); }

      /** 

       * Returns residual summary statistics from interior orientation as a PvlGroup

       * 

       * @return PvlGroup Residuals report.

       */

      PvlGroup intOriResidualsReport();

      /**

       * Max interior orientation residual vector length, accesor

       * 

       * @return double Residual max

       */

      double intOriResidualMax()   const { return m_residualMax; }

      /**

       * Mean (average) of interior orientation residual vector length, accesor

       * 

       * @return double Residual mean

       */

      double intOriResidualMean()  const { return m_residualMean; }

      /**

       * Standard deviation of interior orientation residual vector length, accesor

       * 

       * @return double Residual standard deviation

       */

      double intOriResidualStdev() const { return m_residualStdev; }

    private:

      //! Max interior orientation residual vector length

      double m_residualMean;

      //! Mean (average) of interior orientation residual vector length

      double m_residualMax;

      void ReadSampleRates(QString filename);

      //! Standard deviation of interior orientation residual vector length

      double m_residualStdev;

      std::vector<SampleRateChange> p_sampleRates;

      //! CK "Camera Matrix" kernel frame ID

      int m_CkFrameId;

      int m_ckFrameId;

    };

};

   * This method sets cube sample line coordinates from given Dector coordinates

   *

   * @param sample dector sample coordinate

   *

   * @param line detector line coordinate

   *

   * @return bool Always returns true

   */

    bool ApolloPanoramicDetectorMap::SetDetector(const double sample, const double line) {

      //given a detector coordinate and a time (read from the 'parent' camera class) 

      p_detectorSample = -sample;

      //convert from detector to fiducial coordinants

      double fidL = (p_camera->time().Et() - m_etMiddle)/m_lineRate;

//      double fidL = (p_camera->time().Et() - m_etMiddle)/m_lineRate;

      //double fidS = sample;  //conversion is identity so it is skiped

      //convert from fiducial coordinates to parent image coordinates

      p_intOri.image2Machine(p_detectorSample, fidL, &p_parentSample, &p_parentLine);

//      p_intOri.image2Machine(p_detectorSample, fidL, &p_parentSample, &p_parentLine);

      //cout << "fiducial values sent to IO: " << p_detectorSample << " " << fidL << endl; //debug

      //cout << "cube coordinates returned from IO: " << p_parentSample << " " << p_parentLine << endl;

   * This method sets dector sample line coordinates from given cube coordinates

   *

   * @param sample cube sample coordinate

   *

   * @param line cube line coordinate

   *

   * @return bool Always returns true

   */

    bool ApolloPanoramicDetectorMap::SetParent(const double sample, const double line) {

      //Given an image (aka 'Parent', aka encoder, aka machine) coordinate set the detector 

      //convert from machine to fiducial coordinates

      //cout << "cube coordinates sent to IO: " << sample << " " << line << endl; //debug

      p_intOri.machine2Image(sample,line,&p_detectorSample, &p_detectorLine);

//      p_intOri.machine2Image(sample,line,&p_detectorSample, &p_detectorLine);

      //cout << "fiducial coordinate return from IO: " << p_detectorSample << " " << p_detectorLine << endl;

      //convert from fiducial coordinates to detector/time coordinates

     * This method uses the ApolloPanIO class to compute transforamtion from cube to image 

     * (aka fiducial cooraintes)

     *

     * @throws  IException::User "No FID_MEASURES table found in cube blobs."

     * @throws  IException::User "Less than four FID_MEASURES found in cube blobs."

     * @throws  IException::User "Insufficient Fiducial Observations for computation of the interior

     *                            orientation. At least one vertical pair must be measured, many 

     *                            more is recomented."

     * @return -1 failure

     *

     * @return  1 sucess

     * 

     * @returns int Returns 1 on success and -1 on failure.

     * @throws  No FID_MEASURES table found in cube blobs.

     *

     * @throws  Less than four FID_MEASURES found in cube blobs.

     *

     * @throws  Insufficient Fiducial Observations for computation of 

     *          the interior orientation.\nAt least one vertical pair 

     *          must be measured, many more is recomented.

     */

    int ApolloPanoramicDetectorMap::initializeInteriorOrientation() {

      int i,nrec;

                         _FILEINFO_);

        return -1;

      }

      p_intOri.initialize();

      for(i=0;i<nrec;i++)  //input all the observations to the the Interior Orientation Class

        p_intOri.fiducialObservation(tableFid[i][0], tableFid[i][1], tableFid[i][2]);

//      p_intOri.initialize();

      i = p_intOri.computeInteriorOrienation();

//      for(i=0;i<nrec;i++)  //input all the observations to the the Interior Orientation Class

//        p_intOri.fiducialObservation(tableFid[i][0], tableFid[i][1], tableFid[i][2]);

//      i = p_intOri.computeInteriorOrienation();

      i = 1;

      if( i != 1) { //unsuccessful computation of the interior orienation

        throw IException(IException::User,"Insufficient Fiducial Observations for computation of "

                                          "the interior orientation.\nAt least one vertical pair "

 */                                                                       

#include "ApolloPanIO.h"

//#include "ApolloPanIO.h"

#include "LineScanCameraDetectorMap.h"

#include "Pvl.h"

#include "PvlGroup.h"

     * @internal                                                              

     *   @history 2011-11-21 Orrin Thomas - Original version

     *   @history 2012-07-10 Orrin Thomas - Updated to current coding standards

     *   @history 2017-06-28 Makayla Shepherd - Updated documentation. References #4807.

     */        

    class ApolloPanoramicDetectorMap : public CameraDetectorMap {

    public:

      }

      //! Destroys ApolloPanoramicDetectorMap object

      virtual ~ApolloPanoramicDetectorMap() {};

//      virtual ~ApolloPanoramicDetectorMap() {};

      virtual bool SetParent(const double sample, const double line);

       *

       * @param lineRate the time in seconds between lines

       *

       * @return void

       */

      void SetLineRate(const double lineRate) {

        m_lineRate = lineRate;

      };

      /**

       * Return the time in seconds between scan lines

       * 

       * @return double Time in seconds between scan lines

       */

      //! Return the time in seconds between scan lines

      double LineRate() const {

        return m_lineRate;

      };

      /**

       * Mean (average) of interior orientation residual vector lengths, accesor

       * 

       * @return double Mean of interior orientation residual vector lengths

       */

      double  meanResidual() { return p_intOri.meanResiduals(); };

      //! Mean (average) of interior orientation residual vector lengths, accesor

//      double  meanResidual() { return p_intOri.meanResiduals(); };

      /**

       * Max interior orientation residual vector length, accesor

       * 

       * @return double Max interior orientation residual vector length

       */

      double   maxResidual() { return p_intOri.maxResiduals(); };

      //! Max interior orientation residual vector length, accesor

//      double   maxResidual() { return p_intOri.maxResiduals(); };

      /**

       * Standard deviation of interior orientation residual vector lengths, accesor

       * 

       * @return double Standard deviation of interior orientation residual vector lengths

       */

      double stdevResidual() { return p_intOri.stdevResiduals(); };

      //! Standard deviation of interior orientation residual vector lengths, accesor

//      double stdevResidual() { return p_intOri.stdevResiduals(); };

      private:

        //! Ephemeris time at the middle line

        double m_etMiddle;  

        double m_etMiddle; //!< Ephemeris time at the middle line 

        double m_lineRate; //!< line exposure duration

        Pvl *m_lab;        //!< Image label used to construct camera object

        //!line exposure duration

        double m_lineRate;

        /**

         * Class to preform transformations from cube coordiantes to image coordinates

         */

        ApolloPanIO p_intOri;

        //! Image label used to construct camera object    

        Pvl *m_lab;

        //! Class to preform transformations from cube coordiantes to image coordinates

//        ApolloPanIO p_intOri;

        int initializeInteriorOrientation();

    };

Group = Apollo15/Apollo_Pan

  Library = ApolloPanoramicCamera

Group = Apollo15/Pan

  Library = ./ApolloPanoramicCamera

  Routine = ApolloPanoramicCameraPlugin

  Version = 1

  Version = 2

EndGroup

Group = Apollo16/Apollo_Pan

Group = Apollo16/Pan

  Library = ApolloPanoramicCamera

  Routine = ApolloPanoramicCameraPlugin

  Version = 1

EndGroup

Group = Apollo17/Apollo_Pan

Group = Apollo17/Pan

  Library = ApolloPanoramicCamera

  Routine = ApolloPanoramicCameraPlugin

  Version = 1