Merge pull request #526 from AgoinsUSGS/kaguya

Agoins Kaguya changes

isis/src/kaguya/objs/KaguyaTcCamera/KaguyaTcCamera.cpp

+/**
+ * @file
+ *
+ *   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 "KaguyaTcCamera.h"
+#include "CameraDetectorMap.h"
+#include "CameraDistortionMap.h"
+#include "CameraFocalPlaneMap.h"
+#include "CameraGroundMap.h"
+#include "CameraSkyMap.h"
+
+#include <QString>
+#include "IException.h"
+#include "IString.h"
+#include "iTime.h"
+#include "NaifStatus.h"
+
+using namespace std;
+namespace Isis {
+  /**
+   * Constructor for the Kaguya TC Camera Model
+   *
+   * @param lab Pvl Label to create the camera model from
+   *
+   * Data can be found in /work/projects/jaxa01
+   * To unpack this data:
+   *   1. mv or cp filename.sl2 to filename.tar
+   *   2. tar xvf filename.tar
+   *   3. mv or cp filename.igz to filename.img.gz
+   *   4. gzip -d filename.img.gz
+   *   5. filename.img are the files to be imported using kaguyatc2isis
+   *
+   * @internal
+   *   @history 2018-10-02 Adam Goins & Jeannie Backer - Original Version
+   */
+  KaguyaTcCamera::KaguyaTcCamera(Cube &cube) : LineScanCamera(cube) {
+    m_instrumentNameLong  = "Terrain Camera";
+    m_instrumentNameShort = "TC";
+    m_spacecraftNameLong  = "Kaguya";
+    m_spacecraftNameShort = "Kaguya";
+
+    QString msg = "Kaguya TC Camera is still under development.";
+    throw IException(IException::Programmer, msg, _FILEINFO_);
+
+    NaifStatus::CheckErrors();
+    // Get the camera characteristics
+    SetFocalLength();
+    SetPixelPitch();
+
+    // Get the start time in et
+    Pvl &lab = *cube.label();
+    PvlGroup inst = lab.findGroup("Instrument", Pvl::Traverse);
+
+    // set variables startTime and exposureDuration
+    double time = iTime((QString)inst["StartTime"]).Et();
+
+    // divide exposure duration keyword value by 1000 to convert to seconds
+    double exposureDuration = ((double) inst["ExposureDuration"]) / 1000.0;
+    pair<iTime, iTime> shuttertimes = ShutterOpenCloseTimes(time, exposureDuration);
+    // Add half exposure duration to get time at center of image
+    iTime centerTime = shuttertimes.first.Et() + exposureDuration / 2.0;
+
+    // Setup detector map
+    new CameraDetectorMap(this);
+
+    // Setup focal plane map
+    CameraFocalPlaneMap *focalMap = new CameraFocalPlaneMap(this, naifIkCode());
+
+    focalMap->SetDetectorOrigin(
+      Spice::getDouble("INS" + toString(naifIkCode()) +
+                       "_BORESIGHT_SAMPLE"),
+      Spice::getDouble(0.5);
+
+    // Setup distortion map
+    new CameraDistortionMap(this);
+
+    // Setup the ground and sky map
+    new CameraGroundMap(this);
+    new CameraSkyMap(this);
+
+    setTime(centerTime);
+    LoadCache();
+    NaifStatus::CheckErrors();
+  }
+
+  /**
+   * @author 2018-10-02 Adam Goins & Jeannie Backer
+   * @internal
+   *   @history 2018-10-02 Adam Goins & Jeannie Backer - Original version.
+   */
+  pair<iTime, iTime> KaguyaTcCamera::ShutterOpenCloseTimes(double time,
+                                                        double exposureDuration) {
+    return FramingCamera::ShutterOpenCloseTimes(time, exposureDuration);
+  }
+
+
+  /**
+   * CK frame ID -  - Instrument Code from spacit run on CK
+   *
+   * @return @b int The appropriate instrument code for the "Camera-matrix"
+   *         Kernel Frame ID
+   */
+  int KaguyaTcCamera::CkFrameId() const {
+     return (-131000);
+    }
+
+  /**
+   * CK Reference ID - J2000
+   *
+   * @return @b int The appropriate instrument code for the "Camera-matrix"
+   *         Kernel Reference ID
+   */
+  int KaguyaTcCamera::CkReferenceId() const {
+    return (1);
+  }
+
+  /**
+   * SPK Reference ID - J2000
+   *
+   * @return @b int The appropriate instrument code for the Spacecraft
+   *         Kernel Reference ID
+   */
+  int KaguyaTcCamera::SpkReferenceId() const {
+    return (1);
+  }
+
+}
+
+
+/**
+ * This is the function that is called in order to instantiate a KaguyaCamera
+ * object.
+ *
+ * @param lab Cube labels
+ *
+ * @return Isis::Camera* Kaguya
+ */
+extern "C" Isis::Camera *KaguyaTcCameraPlugin(Isis::Cube &cube) {
+  return new Isis::KaguyaTcCamera(cube);
+}

isis/src/kaguya/objs/KaguyaTcCamera/KaguyaTcCamera.h

+#ifndef KaguyaTcCamera_h
+#define KaguyaTcCamera_h
+/**
+ * @file
+ *
+ *   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"
+
+namespace Isis {
+
+  class KaguyaTcCamera : public LineScanCamera {
+    public:
+      KaguyaTcCamera(Cube &cube);
+      //! Destroys the KaguyaTcCamera object.
+      ~KaguyaTcCamera() {};
+      virtual std::pair <iTime, iTime> ShutterOpenCloseTimes(double time,
+                                                             double exposureDuration);
+
+       virtual int CkFrameId() const;
+       virtual int CkReferenceId() const;
+       virtual int SpkReferenceId() const;
+
+
+  };
+};
+#endif

isis/src/kaguya/objs/KaguyaTcCamera/Makefile

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

isis/src/kaguya/objs/KaguyaTcCamera/unitTest.cpp

+/**
+ * @file
+ *
+ *   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
+ *   $ISISROOT/doc//documents/Disclaimers/Disclaimers.html in a browser or see
+ *   the Privacy & Disclaimers page on the Isis website,
+ *   http://isis.astrogeology.usgs.gov, and the USGS privacy and disclaimers on
+ *   http://www.usgs.gov/privacy.html.
+ */
+#include <QDebug>
+
+#include <iomanip>
+#include <iostream>
+
+#include "Camera.h"
+#include "CameraFactory.h"
+#include "FileName.h"
+#include "IException.h"
+#include "iTime.h"
+#include "Preference.h"
+#include "Pvl.h"
+#include "PvlGroup.h"
+#include "KaguyaTcCamera.h"
+
+using namespace std;
+using namespace Isis;
+
+void TestLineSamp(Camera *cam, double samp, double line);
+
+/**
+ * Unit test for Kaguya Tc Camera.
+ *
+ * @internal
+ *   @history 2018-08-15 Jeannie Backer - Updated lat/lon changes due to
+ *                           changes in focal length.
+ */
+int main(void) {
+  Preference::Preferences(true);
+
+  qDebug() << "Unit Test for KaguyaTcCamera...";
+  try {
+    // These should be lat/lon at center of image. To obtain these numbers for a new cube/camera,
+    // set both the known lat and known lon to zero and copy the unit test output
+    // "Latitude off by: " and "Longitude off by: " values directly into these variables.
+    double knownLat = 0; //
+    double knownLon = 0; //
+
+    Cube c("$tgo/testData/CAS-MCO-2016-11-22T16.38.39.354-NIR-02036-00.cub", "r");
+    KaguyaTcCamera *cam = (KaguyaTcCamera *) CameraFactory::Create(c);
+    qDebug() << "FileName: " << FileName(c.fileName()).name();
+    qDebug() << "CK Frame: " << cam->instrumentRotation()->Frame();
+    qDebug() << "";
+
+    // Test kernel IDs
+    qDebug() << "Kernel IDs: ";
+    qDebug() << "CK Frame ID = " << cam->CkFrameId();
+    qDebug() << "CK Reference ID = " << cam->CkReferenceId();
+    qDebug() << "SPK Target ID = " << cam->SpkTargetId();
+    qDebug() << "SPK Reference ID = " << cam->SpkReferenceId();
+    qDebug() << "";
+
+    // Test Shutter Open/Close
+    const PvlGroup &inst = c.label()->findGroup("Instrument", Pvl::Traverse);
+    double exposureDuration = toDouble( inst["ExposureDuration"][0] );
+    QString stime = inst["StartTime"];
+    double et;
+    str2et_c(stime.toLatin1().data(), &et);
+    pair <iTime, iTime> shuttertimes = cam->ShutterOpenCloseTimes(et, exposureDuration);
+    qDebug() << qSetRealNumberPrecision(18) << "Shutter open = " << shuttertimes.first.Et();
+    qDebug() << qSetRealNumberPrecision(18) << "Shutter close = " << shuttertimes.second.Et();
+    qDebug() << qSetRealNumberPrecision(18) << "Focal Length = " << cam->FocalLength();
+    qDebug() << "";
+
+    // Test all four corners to make sure the conversions are right
+    qDebug() << "For upper left corner ...";
+    TestLineSamp(cam, 1.0, 1.0);
+
+    qDebug() << "For upper right corner ...";
+    TestLineSamp(cam, cam->Samples(), 1.0);
+
+    qDebug() << "For lower left corner ...";
+    TestLineSamp(cam, 1.0, cam->Lines());
+
+    qDebug() << "For lower right corner ...";
+    TestLineSamp(cam, cam->Samples(), cam->Lines());
+
+    double samp = cam->Samples() / 2;
+    double line = cam->Lines() / 2;
+    qDebug() << "For center pixel position ...";
+
+    if(!cam->SetImage(samp, line)) {
+      qDebug() << "ERROR";
+      return 0;
+    }
+
+    if(abs(cam->UniversalLatitude() - knownLat) < 1E-13) {
+      qDebug() << "Latitude OK";
+    }
+    else {
+      qDebug() << qSetRealNumberPrecision(18)
+               << "Latitude off by: " << cam->UniversalLatitude() - knownLat;
+    }
+
+    if(abs(cam->UniversalLongitude() - knownLon) < 1E-11) {
+      qDebug() << "Longitude OK";
+    }
+    else {
+      qDebug() << qSetRealNumberPrecision(18)
+               << "Longitude off by: " << cam->UniversalLongitude() - knownLon;
+    }
+  }
+  catch(IException &e) {
+    e.print();
+  }
+}
+
+void TestLineSamp(Camera *cam, double samp, double line) {
+  bool success = cam->SetImage(samp, line);
+
+  if(success) {
+    success = cam->SetUniversalGround(cam->UniversalLatitude(), cam->UniversalLongitude());
+  }
+
+  if(success) {
+    double deltaSamp = samp - cam->Sample();
+    double deltaLine = line - cam->Line();
+    if(fabs(deltaSamp) < 1.1e-2) deltaSamp = 0.0;
+    if(fabs(deltaLine) < 1.0e-2) deltaLine = 0.0;
+    qDebug() << "DeltaSample = " << deltaSamp;
+    qDebug() << "DeltaLine = " << deltaLine;
+    qDebug() << "";
+  }
+  else {
+    qDebug() << "DeltaSample = ERROR";
+    qDebug() << "DeltaLine = ERROR";
+    qDebug() << "";
+  }
+}