Unverified Commit e4173632 authored by acpaquette's avatar acpaquette Committed by GitHub
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CSM Camera Skymap (#5072) 



* stuff

* idk

* working skypt on csm cam

* Initial tweeks to the CSM camera to get skymap to work with it

* Adds body rotation in csminit if it is present on the ISD

* Adds test to extract body rotation from isd if it exists

* Addressed feedback and did extra clean uip

* A bunch of msl related camera changes

* Removed left over print statements

* Updated csminit/CSMCamera pipeline to get the correct data

* Small doc fix in RaDecRange in Camera.cpp

* Cleaned up constant frame check in SpiceRotation

* Set camera based center longitude and allowed users to select mapping direction

* Updated the skymap docs

* Addressed PR feedback

* Moved git into its own environment

* Removed git submodule update in favor of jenkins doing it

* Fixed most test failures

* Fixed last failing test

* Clean up

* Fixed changes to comments in camera.cpp

* Added changelog entries

* Minor fixes and guards in CSMCamera

* Fixes in qview tools when working with sky target imagery

* Fixed spacing

* Removed body rotation extraction from ISDs

* Fixed failing test

* Updated cam camera tests

* Remove body rotation tests

* Added print statement

* Removed print statement

* Modified imageToRemoteImageLocus expected call

---------

Co-authored-by: default avatarKelvin Rodriguez <krodriguez@usgs.gov>
Co-authored-by: default avatarEC2 Default User <ec2-user@ip-10-12-67-80.us-west-2.compute.internal>
parent 12e0ec6d

CHANGELOG.md

+5 −0
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@@ -35,6 +35,11 @@ release. 


## [Unreleased]



### Added



- CSMCamera can now read and use the body rotation from ALE produced ISDs [#5072](https://github.com/DOI-USGS/ISIS3/pull/5072)

- CSMSkyMap added to CSMCamera for use with local rover projections in ISIS [#5072](https://github.com/DOI-USGS/ISIS3/pull/5072)



### Fixed

- Fixed <i>noproj</i> bug where some temporary files were not deleted after call to cam2cam.  Issue: [#4813](https://github.com/USGS-Astrogeology/ISIS3/issues/4813)

- Fixed <i>noproj</i> bug where missing shapemodel-related keywords (RayTraceEngine, BulletParts, Tolerance) are dropped when the output label is created. This resulted in the Bullet collision detection engine not being used. Issue: [#5377](https://github.com/USGS-Astrogeology/ISIS3/issues/5377)

isis/src/base/apps/csminit/csminit.cpp

+20 −0
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@@ -29,8 +29,10 @@ find files of those names at the top level of this repository. **/ 
#include "Pvl.h"

#include "PvlGroup.h"

#include "PvlKeyword.h"

#include "SpiceRotation.h"



using namespace std;

using json = nlohmann::json;



namespace Isis {
@@ -417,6 +419,24 @@ namespace Isis { 
    blobLabel += PvlKeyword("PluginName", pluginName);

    cube->write(csmStateBlob);



    // Try to add naif keywords

    if (ui.WasEntered("ISD")) {

      QString isdFilePath = ui.GetFileName("ISD");

      std::ifstream isdFileStream(isdFilePath.toStdString());

      try {

        json isd = json::parse(isdFileStream);



        if (isd.contains("naif_keywords")) {

          json aleNaifKeywords = isd["naif_keywords"];

          PvlObject naifKeywords = PvlObject("NaifKeywords", aleNaifKeywords);

          *cube->label() += naifKeywords;

        }

      }

      catch (json::parse_error &e) {

        // continue if we hit a parse error

      }

    }



    try {

      CameraFactory::Create(*cube);

      p.WriteHistory(*cube);

isis/src/base/apps/skymap/main.cpp

+13 −1
Original line number Diff line number Diff line
@@ -88,7 +88,9 @@ void IsisMain() { 
  userGrp.addKeyword(PvlKeyword("EquatorialRadius", toString(1.0)), Pvl::Replace);

  userGrp.addKeyword(PvlKeyword("PolarRadius", toString(1.0)), Pvl::Replace);

  userGrp.addKeyword(PvlKeyword("LatitudeType", "Planetocentric"), Pvl::Replace);

  if (!userGrp.hasKeyword("LongitudeDirection")) {

    userGrp.addKeyword(PvlKeyword("LongitudeDirection", "PositiveWest"), Pvl::Replace);

  }

  userGrp.addKeyword(PvlKeyword("LongitudeDomain", "360"), Pvl::Replace);

  if(userGrp.hasKeyword("PixelResolution")) {

    userGrp.deleteKeyword("PixelResolution");
@@ -102,6 +104,9 @@ void IsisMain() { 
    userGrp.addKeyword(PvlKeyword("MaximumLongitude", toString(maxRa)), Pvl::Replace);

    userGrp.addKeyword(PvlKeyword("MinimumLatitude", toString(minDec)), Pvl::Replace);

    userGrp.addKeyword(PvlKeyword("MaximumLatitude", toString(maxDec)), Pvl::Replace);

    incam->SetImage(icube->sampleCount() / 2.0, icube->lineCount() / 2.0);

    double centerRa = incam->RightAscension();

    userGrp.addKeyword(PvlKeyword("CenterLongitude", toString(centerRa)), Pvl::Replace);

  }

  if(ui.GetString("DEFAULTSCALE") == "CAMERA") {

    double res = incam->RaDecResolution();
@@ -247,6 +252,13 @@ bool sky2map::Xform(double &inSample, double &inLine, 
  if(p_incam->Sample() > p_inputSamples + 0.5) return false;

  if(p_incam->Line() > p_inputLines + 0.5) return false;



  p_incam->SetImage(p_incam->Sample(), p_incam->Line());

  

  // Check that the new line and sample projects close to the input Right Ascension 

  // and Declination

  if (abs(p_incam->RightAscension() - lon) > 0.1) return false;

  if (abs(p_incam->Declination() - lat) > 0.1) return false;



  // Everything is good

  inSample = p_incam->Sample();

  inLine = p_incam->Line();

isis/src/base/apps/skymap/skymap.xml

+14 −1
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@@ -29,6 +29,7 @@ 
    MaximumLatitude        = Computed from the input camera cube or map file

    MinimumLongitude       = Computed from the input camera cube or map file

    MaximumLongitude       = Computed from the input camera cube or map file

    CenterLongitude        = Computed from the input camera cube at the center of the image



    ProjectionName         = Projection name in the map file

    Scale                  = Computed from the input camera cube or map file
@@ -48,6 +49,14 @@ 
    Finally, the user has the option to override the pixel resolution and the ground range (latitude/longitude).  These changes can be

    facilitied through the parameters SCALE, SRA, ERA, SDEC, and EDEC.

  </p>



  <p>

    In addition, skymap can be used to produce landed mosaics from rovers like MSL. This can be done using ALE to generate an ISD

    which can be attached to the cube via <def link="csminit">csminit</def>. The user would then have to update the LongitudeDirection 

    their map file to PositiveWest. This converts the projection from a right ascension/declination projection to an azimuth/elevation 

    projection. Once that is done, the user would run their ISIS cube through <def link="skymap">skymap</def> and see that the landed 

    rover data would project relative to other images in the same image sequence.

  </p>

  </description>



  <category>
@@ -101,6 +110,10 @@ 
      <change name="Debbie A. Cook" date="2012-12-10">

        Changed to use TProjection instead of Projection.  References #775

      </change>

      <change name="Adam Paquette" date="2023-05-01">

        Updated camera to properly calculate the center longitude. Also

        allowed users to select PositiveEast in there mapping file.

      </change>

 </history>



  <groups>

isis/src/base/apps/skypt/main.cpp

+8 −2
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@@ -2,6 +2,7 @@ 


#include "Brick.h"

#include "Camera.h"

#include "CSMCamera.h"

#include "IException.h"

#include "iTime.h"
@@ -48,7 +49,12 @@ void IsisMain() { 
  b.SetBasePosition(intSamp, intLine, 1);

  cube.read(b);

  

  double rot = cam->CelestialNorthClockAngle();

  double rot;

  if (cube.hasBlob("CSMState", "String")) {

    rot = ((CSMCamera*)cam)->CelestialNorthClockAngle();

  } else {

    rot = cam->CelestialNorthClockAngle();

  }



  // Create group with sky position

  PvlGroup sp("SkyPoint");