diff --git a/isis/src/apollo/apps/apollopangenck/Makefile b/isis/src/apollo/apps/apollopangenck/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..7578f0b21d038db6a5042c095cda9b34b6bb2570
--- /dev/null
+++ b/isis/src/apollo/apps/apollopangenck/Makefile
@@ -0,0 +1,7 @@
+ifeq ($(ISISROOT), $(BLANK))
+.SILENT:
+error:
+ echo "Please set ISISROOT";
+else
+ include $(ISISROOT)/make/isismake.apps
+endif
\ No newline at end of file
diff --git a/isis/src/apollo/apps/apollopangenck/apollopangenck.cpp b/isis/src/apollo/apps/apollopangenck/apollopangenck.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..f01f8233ae8d61de766418939eb0fa929e703ab9
--- /dev/null
+++ b/isis/src/apollo/apps/apollopangenck/apollopangenck.cpp
@@ -0,0 +1,1130 @@
+/**
+ * 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.
+ */
+
+
+//Isis.h and IsisDebug.h if needed
+#include "Isis.h"
+
+//C++ standard libraries if needed
+#include <math.h>
+
+//QT libraries if needed if needed
+
+//third party libraries if needed
+#include "NaifStatus.h"
+
+//Isis Headers if needed
+#include "Angle.h"
+#include "ApolloPanoramicCamera.h"
+#include "ApolloPanoramicDetectorMap.h"
+#include "AutoReg.h"
+#include "AutoRegFactory.h"
+#include "Camera.h"
+#include "CameraDetectorMap.h"
+#include "Centroid.h"
+#include "CentroidApolloPan.h"
+#include "Chip.h"
+#include "Cube.h"
+#include "CSVReader.h"
+#include "FileName.h"
+#include "IString.h"
+#include "iTime.h"
+#include "JP2Decoder.h"
+#include "LinearAlgebra.h"
+#include "ProcessImport.h"
+#include "Pvl.h"
+#include "PvlGroup.h"
+#include "PvlKeyword.h"
+#include "PvlObject.h"
+#include "PvlTranslationTable.h"
+#include "Spice.h"
+#include "SpicePosition.h"
+#include "SpiceRotation.h"
+#include "Table.h"
+#include "UserInterface.h"
+
+
+#define FIDL 26.72093 //spacing between fiducial marks in mm
+#define ROLLC 74.0846291699105 //constant to convert from V/H to roll speed in rads/sec
+
+#define NODES 87 //must be odd!!! number of nodes to put in tables
+
+//constants for 5 micro resolution scans
+#define SCALE 10.0 //scale used for down sizingS patternS an search chips
+#define SEARCHh 1400.0 //number of lines (in 5-micron-pixels) in search space for the first fiducial
+#define SEARCHc 350.0 //number of samples per edge(in 5-micron-pixels) in each sub-search area
+#define AVERs 5286.0 //average smaples (in 5-micron-pixels) between fiducials
+#define AVERl 23459.0 //average diference (in 5-micron-pixels) between the top and bottom fiducials
+#define TRANS_N 28520.0 //nomimal dx between scan lines, scani x + 28532 = (approx) scani+1 x--also
+ // the size of the search area for the first fiducial
+
+
+
+using namespace std;
+using namespace Isis;
+
+
+void crossp(double v1[3], double v2[3], double v1cv2[3]);
+void Geographic2GeocentricLunar(double geographic[3], double geocentric[3]);
+void MfromLeftEulers(double M[3][3], double omega, double phi, double kappa);
+void MfromVecLeftAngle(double M[3][3], double vec[3], double angle);
+void M2Q(double M[3][3], double Q[4]);
+
+
+double R_MOON[3];
+
+void IsisMain() {
+ UserInterface &ui = Application::GetUserInterface();
+ double time0,//start time
+ time1,//end time
+ alti, //altitude of the spacecraftmore
+ fmc, //forward motion compensation rad/sec
+ horV, //horizontal velocity km/sec
+ radV, //radial velocity km/sec
+ rollV,//roll speed in rad/sec
+ led; //line exposure duration in seconds
+
+ //***********
+
+ const QString fileName = ui.GetFileName("FROM");
+ CSVReader reader(fileName, true, 0, ',', true, true);
+
+ int numDataRows = reader.rows();
+
+ LinearAlgebra::Matrix tmp(3,3);
+ LinearAlgebra::Matrix phi0(3,3);
+ LinearAlgebra::Matrix omega0(3,3);
+ LinearAlgebra::Matrix kappa0(3,3);
+ LinearAlgebra::Matrix R0(3,3);
+ LinearAlgebra::Matrix R(3,3);
+ LinearAlgebra::Matrix sweep(3,3);
+ double mean_altitude_rate;
+ double horizontal_velocity;
+ double altitude;
+ double rollVelocity;
+ double rollAngularVelocity;
+
+ QString str;
+ CSVReader::CSVAxis row;
+ CSVReader::CSVAxis startRow;
+ CSVReader::CSVAxis stopRow;
+ QStringList outputListFwd;
+ QStringList outputListReverse;
+
+ int rowsProcessed = 0;
+
+ while (rowsProcessed < numDataRows-1) {
+ startRow = reader.getRow(rowsProcessed);
+ QString imageId = startRow[0];
+
+ do {
+ rowsProcessed++;
+ stopRow = reader.getRow(rowsProcessed);
+
+ } while (QString(stopRow[0]) == imageId);
+
+ stopRow = reader.getRow(rowsProcessed-1);
+
+ qDebug() << QString(stopRow[0]);
+ qDebug() << QString(startRow[0]);
+
+ // get data
+ QString strStartTime = startRow[6];
+ QString strStopTime = stopRow[7];
+ iTime startTime(strStartTime);
+ iTime stopTime(strStopTime);
+
+ qDebug() << strStartTime;
+ qDebug() << strStopTime;
+
+ double elapsedTime = stopTime - startTime;
+// iTime centerTime((startTime) + elapsedTime/2.0);
+
+// qDebug() << centerTime.UTC();
+
+// QString ctrTime = "1971-08-03T16:41:01.46976245";
+// QString ctrTime = "1971-08-03T16:41:01.57976245";
+ QString ctrTime = "1971-08-03T16:41:01.68976245";
+ iTime centerTime(ctrTime);
+
+ str = startRow[21];
+ mean_altitude_rate = str.toDouble();
+
+ str = startRow[22];
+ horizontal_velocity = str.toDouble();
+
+ str = startRow[23];
+ altitude = str.toDouble();
+
+ rollVelocity = sqrt(mean_altitude_rate*mean_altitude_rate +
+ horizontal_velocity*horizontal_velocity);
+ fmc = rollVelocity/altitude;
+ rollAngularVelocity = fmc * ROLLC;
+
+ str = startRow[24];
+ Angle phi = Angle(str.toDouble(), Angle::Units::Degrees);
+ qDebug() << phi.toString();
+ double cosp = cos(phi.radians());
+ double sinp = sin(phi.radians());
+
+ str = startRow[25];
+ Angle kappa = Angle(str.toDouble(), Angle::Units::Degrees);
+ double cosk = cos(kappa.radians());
+ double sink = sin(kappa.radians());
+
+ str = startRow[26];
+ Angle omega = Angle(str.toDouble(), Angle::Units::Degrees);
+ double coso = cos(omega.radians());
+ double sino = sin(omega.radians());
+
+ // reset matrices to
+ phi0.clear();
+ omega0.clear();
+ kappa0.clear();
+
+ // form phi, omega, kappa matrices at time 0 (center of image)
+ phi0(0,0) = cosp;
+ phi0(0,2) = sinp;
+ phi0(1,1) = 1.0;
+ phi0(2,0) = -sinp;
+ phi0(2,2) = cosp;
+
+ omega0(0,0) = 1.0;
+ omega0(1,1) = coso;
+ omega0(1,2) = -sino;
+ omega0(2,1) = sino;
+ omega0(2,2) = coso;
+
+ kappa0(0,0) = cosk;
+ kappa0(0,1) = -sink;
+ kappa0(1,0) = sink;
+ kappa0(1,1) = cosk;
+ kappa0(2,2) = 1.0;
+
+ qDebug() << phi0;
+ qDebug() << omega0;
+ qDebug() << kappa0;
+
+ // create phi-omega-kappa rotation at time 0
+
+ tmp = prod(phi0,omega0);
+ R0 = prod(tmp,kappa0);
+
+ // add center time
+ // create output string
+ QString outstr;
+ outstr = QString("%1 %2 %3 %4 %5 %6 %7 %8 %9 %10").arg(centerTime.UTC()).
+ arg(R0(0,0)).arg(R0(0,1)).arg(R0(0,2)).arg(R0(1,0)).arg(R0(1,1)).arg(R0(1,2)).arg(R0(2,0)).
+ arg(R0(2,1)).arg(R0(2,2));
+
+ outputListReverse.append(outstr);
+
+
+ // loop backward in time from t0
+ iTime intervalTime;
+ double cacheSlope = 1.05*(elapsedTime)/(NODES-1);
+ for (int i=(NODES-1)/2-1; i>=0; i--) {
+
+ double relT =
+ double(i - (NODES-1)/2 + 0.5)*cacheSlope; // interval center time relative to center line
+
+ intervalTime = centerTime + relT;
+
+ Angle theta = Angle(rollAngularVelocity * relT, Angle::Units::Radians); // sweep angle radians
+
+ sweep.clear();
+ sweep(0,0) = 1.0;
+ sweep(1,1) = cos(theta.radians());
+ sweep(1,2) = -sin(theta.radians());
+ sweep(2,1) = sin(theta.radians());
+ sweep(2,2) = cos(theta.radians());
+
+ R = prod(trans(sweep),R0);
+
+ // create output string
+ QString outstr;
+ outstr = QString("%1 %2 %3 %4 %5 %6 %7 %8 %9 %10").arg(intervalTime.UTC()).
+ arg(R(0,0)).arg(R(0,1)).arg(R(0,2)).arg(R(1,0)).arg(R(1,1)).arg(R(1,2)).arg(R(2,0)).
+ arg(R(2,1)).arg(R(2,2));
+
+ outputListReverse.append(outstr);
+ }
+
+ // loop forward in time from t0
+ for (int i=(NODES-1)/2+1; i<NODES; i++) {
+
+ double relT =
+ double(i - (NODES-1)/2 - 0.5)*cacheSlope; // interval center time relative to center line
+
+ intervalTime = centerTime + relT;
+
+ Angle theta = Angle(rollAngularVelocity * relT, Angle::Units::Radians); // sweep angle radians
+
+ sweep.clear();
+ sweep(0,0) = 1.0;
+ sweep(1,1) = cos(theta.radians());
+ sweep(1,2) = -sin(theta.radians());
+ sweep(2,1) = sin(theta.radians());
+ sweep(2,2) = cos(theta.radians());
+
+ R = prod(trans(sweep),R0);
+
+ // create output string
+ QString outstr;
+ outstr = QString("%1 %2 %3 %4 %5 %6 %7 %8 %9 %10").arg(intervalTime.UTC()).
+ arg(R(0,0)).arg(R(0,1)).arg(R(0,2)).arg(R(1,0)).arg(R(1,1)).arg(R(1,2)).arg(R(2,0)).
+ arg(R(2,1)).arg(R(2,2));
+
+ outputListFwd.append(outstr);
+ }
+
+ //output Reverse list in reverse order
+ for (int i = outputListReverse.size()-1; i >= 0; i--) {
+ qDebug() << outputListReverse.at(i);
+ }
+
+ //output Fwd list
+ for (int i = 0; i < outputListFwd.size(); i++) {
+ qDebug() << outputListFwd.at(i);
+ }
+
+ int fred=1;
+ }
+
+
+//***********
+
+ Cube panCube;
+ iTime isisTime;
+ QString iStrTEMP;
+
+ int i,j,k,scFrameCode,insCode;
+
+ QString mission;
+
+ SpicePosition *spPos;
+ SpiceRotation *spRot;
+
+ //int nlines,nsamples,nbands;
+
+ double deg2rad = acos(-1.0)/180.0;
+
+ ProcessImport jp;
+ FileName transFile("$apollo15/translations/apollopantranstable.trn");
+ PvlTranslationTable transTable(transFile);
+ PvlGroup kernels_pvlG;
+
+
+ insCode = scFrameCode - 230;
+
+ try {
+ panCube.open(ui.GetFileName("FROM"),"rw");
+ }
+ catch (IException &e) {
+ throw IException(IException::User,
+ "Unable to open the file [" + ui.GetFileName("FROM") + "] as a cube.",
+ _FILEINFO_);
+ }
+
+ ////////////////////////////////////////////build the cube header instrament group
+ PvlGroup inst_pvlG("Instrument");
+
+ PvlKeyword keyword;
+
+ //four that are the same for every panaramic mission
+ keyword.setName("SpacecraftName");
+ keyword.setValue(mission);
+ inst_pvlG.addKeyword(keyword);
+
+ keyword.setName("InstrumentName");
+ keyword.setValue(transTable.Translate("InstrumentName","whatever"));
+ inst_pvlG.addKeyword(keyword);
+
+ keyword.setName("InstrumentId");
+ keyword.setValue(transTable.Translate("InstrumentId","whatever"));
+ inst_pvlG.addKeyword(keyword);
+
+ keyword.setName("TargetName");
+ keyword.setValue(transTable.Translate("TargetName","whatever"));
+ inst_pvlG.addKeyword(keyword);
+
+ //three that need to be calculated from input values
+ horV = ui.GetDouble("VEL_HORIZ");
+ radV = ui.GetDouble("VEL_RADIAL");
+ alti = ui.GetDouble("CRAFT_ALTITUDE");
+
+ //caculate the LineExposureDuration (led)
+ if( ui.WasEntered("V/H_OVERRIDE") )
+ fmc = ui.GetDouble("V/H_OVERRIDE")/1000.0;
+ else
+ //forward motion compensation is directly equivalent to V/H
+ fmc = sqrt(horV*horV + radV*radV)/alti;
+ rollV = fmc*ROLLC; //roll angular velcoity is equal to V/H * constant (units rad/sec)
+ //led = rad/mm * sec/rad = radians(2.5)/FIDL / rollV (final units: sec/mm)
+ led = (2.5*acos(-1.0)/180.0)/rollV/FIDL;
+
+ //use led and the number of mm to determine the start and stop times
+ isisTime = ui.GetString("GMT");
+
+ //calculate starting and stoping times
+ time0 = isisTime.Et() - led*FIDL*21.5;
+ time1 = time0 + led*FIDL*43;
+
+ isisTime = time0;
+ keyword.setName("StartTime");
+ keyword.setValue(iStrTEMP=isisTime.UTC());
+ inst_pvlG.addKeyword(keyword);
+
+ isisTime = time1;
+ keyword.setName("StopTime");
+ keyword.setValue(iStrTEMP=isisTime.UTC());
+ inst_pvlG.addKeyword(keyword);
+
+ keyword.setName("LineExposureDuration");
+ //converted led to msec/mm--negative sign to account for the anti-parallel time and line axes
+ keyword.setValue(iStrTEMP=toString(-led),"sec/mm");
+ inst_pvlG.addKeyword(keyword);
+
+ panCube.putGroup(inst_pvlG);
+
+ ///////////////////////////////////The kernals group
+ kernels_pvlG.setName("Kernels");
+ kernels_pvlG.clear();
+
+ keyword.setName("NaifFrameCode");
+ keyword.setValue(toString(insCode));
+ kernels_pvlG.addKeyword(keyword);
+
+ keyword.setName("LeapSecond");
+ keyword.setValue( transTable.Translate("LeapSecond","File1") );
+ kernels_pvlG.addKeyword(keyword);
+
+ keyword.setName("TargetAttitudeShape");
+ keyword.setValue( transTable.Translate("TargetAttitudeShape", "File1") );
+ keyword.addValue( transTable.Translate("TargetAttitudeShape", "File2") );
+ keyword.addValue( transTable.Translate("TargetAttitudeShape", "File3") );
+ kernels_pvlG.addKeyword(keyword);
+
+ keyword.setName("TargetPosition");
+ keyword.setValue("Table");
+ keyword.addValue( transTable.Translate("TargetPosition", "File1") );
+ keyword.addValue( transTable.Translate("TargetPosition", "File2") );
+ kernels_pvlG.addKeyword(keyword);
+
+ keyword.setName("ShapeModel");
+ keyword.setValue( transTable.Translate("ShapeModel", "File1") );
+ kernels_pvlG.addKeyword(keyword);
+
+ keyword.setName("InstrumentPointing");
+ keyword.setValue("Table");
+ kernels_pvlG.addKeyword(keyword);
+
+ keyword.setName("InstrumentPosition");
+ keyword.setValue("Table");
+ kernels_pvlG.addKeyword(keyword);
+
+ keyword.setName("InstrumentAddendum");
+ keyword.setValue( transTable.Translate("InstrumentAddendum",mission));
+ kernels_pvlG.addKeyword(keyword);
+
+ panCube.putGroup(kernels_pvlG);
+
+ //////////////////////////////////////////attach a target rotation table
+ char frameName[32];
+ SpiceInt frameCode;
+ SpiceBoolean found;
+ //get the framecode from the body code (301=MOON)
+ cidfrm_c(301, sizeof(frameName), &frameCode, frameName, &found);
+ if(!found) {
+ QString naifTarget = QString("IAU_MOOM");
+ namfrm_c(naifTarget.toLatin1().data(), &frameCode);
+ if(frameCode == 0) {
+ QString msg = "Can not find NAIF code for [" + naifTarget + "]";
+ throw IException(IException::Io, msg, _FILEINFO_);
+ }
+ }
+ spRot = new SpiceRotation(frameCode);
+ //create a table from starttime to endtime (streched by 3%) with NODES entries
+ spRot->LoadCache(time0-0.015*(time1-time0), time1+0.015*(time1-time0), NODES);
+ Table tableTargetRot = spRot->Cache("BodyRotation");
+ tableTargetRot.Label() += PvlKeyword("Description", "Created by apollopaninit");
+ panCube.write(tableTargetRot);
+
+
+ //////////////////////////////////////////////////attach a sun position table
+ spPos = new SpicePosition(10,301); //Position of the sun (10) WRT to the MOON (301)
+ //create a table from starttime to endtime (stretched by 3%) with NODES entries
+ spPos->LoadCache(time0-0.015*(time1-time0), time1+0.015*(time1-time0), NODES);
+ Table tableSunPos = spPos->Cache("SunPosition");
+ tableSunPos.Label() += PvlKeyword("SpkTableStartTime", toString(time0-0.015*(time1-time0)));
+ tableSunPos.Label() += PvlKeyword("SpkTablleEndTime", toString(time1+0.015*(time1-time0)));
+ tableSunPos.Label() += PvlKeyword("Description", "Created by apollopaninit");
+ panCube.write(tableSunPos); //attach the table to the cube
+
+
+ /////////////Finding the principal scan line position and orientation
+ //get the radii of the MOON
+ SpiceInt tempRadii = 0;
+ bodvcd_c(301,"RADII",3,&tempRadii,R_MOON); //units are km
+ double omega,phi,kappa;
+
+ std::vector<double> posSel; //Seleno centric position
+ std::vector<double> sunPos; //sunPosition used to transform to J2000
+ std::vector<double> posJ20; //camera position in J2000
+ posSel.resize(3);
+ sunPos.resize(3);
+ posJ20.resize(3);
+
+ double temp,
+ vel[3] = { 0.0, 0.0, 0.0 }, //the total velocity vector (combined Horizonatal and normal components)
+ // in km/sec
+ M[3][3] = { { 0.0, 0.0, 0.0 },
+ { 0.0, 0.0, 0.0 },
+ { 0.0, 0.0, 0.0 } }, //rotation matrix
+ zDir[] = { 0.0, 0.0, 1.0 }, //selenographic Z axis
+ northPN[3] = { 0.0, 0.0, 0.0 }, //normal to the plane containing all the north/south directions,
+ // that is plane containing
+ // the origin, the z axis, and the primary point of intersection
+ northL[3] = { 0.0, 0.0, 0.0 }, //north direction vector in local horizontal plane
+ azm[3] = { 0.0, 0.0, 0.0 }, //azm direction of the veclocity vector in selenographic coordinates
+ azmP[3] = { 0.0, 0.0, 0.0 }, //azm rotated (partially) and projected into the image plane
+ norm[3] = { 0.0, 0.0, 0.0 }, //normal to the local horizontal plane
+ look[3] = { 0.0, 0.0, 0.0 }; //unit direction vector in the pincipal cameral look direction,
+ // parallel to the vector from the center of the moon through the spacecraft
+
+ double pos0[3] = { 0.0, 0.0, 0.0 }, //coordinate of the camera position
+ pInt[3] = { 0.0, 0.0, 0.0 }; //coordinate of the principle intersection point
+
+ /////////////////calculating the camera position for the center (principal scan line)
+ pos0[1] = ui.GetDouble("LON_NADIR")*deg2rad;
+ pos0[0] = ui.GetDouble("LAT_NADIR")*deg2rad;
+ pos0[2] = ui.GetDouble("CRAFT_ALTITUDE"); //units are km
+ Geographic2GeocentricLunar(pos0,pos0); //function is written so the input can also be the
+ // output
+
+ /////////////////////calculating the camera orientation for the center (principal) scan line
+ pInt[1] = ui.GetDouble("LON_INT")*deg2rad;
+ pInt[0] = ui.GetDouble("LAT_INT")*deg2rad;
+ pInt[2] = 0.0;
+ Geographic2GeocentricLunar(pInt,pInt); //function is written so the input can also be the output
+ //calculate the unit look direction vector in object space
+ look[0] = -pos0[0] + pInt[0];
+ look[1] = -pos0[1] + pInt[1];
+ look[2] = -pos0[2] + pInt[2];
+ temp = sqrt(look[0]*look[0] + look[1]*look[1] + look[2]*look[2]);
+ look[0] /= temp;
+ look[1] /= temp;
+ look[2] /= temp;
+ //the local normal vector is equal to pInt0/|pInt0|
+ temp = sqrt(pInt[0]*pInt[0] + pInt[1]*pInt[1] + pInt[2]*pInt[2]);
+ norm[0] = pInt[0]/temp;
+ norm[1] = pInt[1]/temp;
+ norm[2] = pInt[2]/temp;
+ //omega and phi are defined so that M(phi)M(omega)look = [0 0 -1] leaving only the roation
+ // around z axis to be found
+ omega = -atan2(look[1], look[2]); //omega rotation to zero look[1]
+ phi = atan2(-look[0], sin(omega)*look[1] - cos(omega)*look[2]); //phi rotation to zero look[0]
+ //use the horizontal velocity vector direction to solve for the last rotation; we will make the
+ // image x axis parallel to the in-image-plane projection of the horizontal direction of flight.
+ // The local normal cross the selenogrpahic z gives northPN (normal to the plane containing all
+ // the north/south directions), that is, the plane containing the origin, the z axis, and the
+ // primary point of intersection.
+ crossp(norm, zDir, northPN);
+
+ //The normal to the plane containing all the north/south directions cross the local normal
+ // direction gives the local north/south direction in the local normal plane
+ crossp(northPN,norm,northL);
+ if (northL[2] < 0) { //if by chance we got the south direction change the signs
+ northL[0] = -northL[0];
+ northL[1] = -northL[1];
+ northL[2] = -northL[2];
+ }
+ //define the rotation matrix to convert northL to the azimuth of flight.
+ // A left handed rotation of "VEL_AZM" around the positive normal direction will convert northL
+ // to azm
+ MfromVecLeftAngle(M,norm,ui.GetDouble("VEL_AZM")*deg2rad);
+ azm[0] = M[0][0]*northL[0] + M[0][1]*northL[1] + M[0][2]*northL[2];
+ azm[1] = M[1][0]*northL[0] + M[1][1]*northL[1] + M[1][2]*northL[2];
+ azm[2] = M[2][0]*northL[0] + M[2][1]*northL[1] + M[2][2]*northL[2];
+ //apply the two rotations we already know
+ MfromLeftEulers(M,omega,phi,0.0);
+ azmP[0] = M[0][0]*azm[0] + M[0][1]*azm[1] + M[0][2]*azm[2];
+ azmP[1] = M[1][0]*azm[1] + M[1][1]*azm[1] + M[1][2]*azm[2];
+ azmP[2] = M[2][0]*azm[2] + M[2][1]*azm[1] + M[2][2]*azm[2];
+ //subtract that portion of the azm that is perpindicular to the image plane (also the portion
+ // which is parallel to look) making azm a vector parrallel to the image plane
+ // Further, since we're now rotated into some coordinate system that differs from
+ // the image coordinate system by only a kappa rotation making the vector parrallel to the
+ // image plan is as simple as zeroing the z component (and as pointless to further calculations
+ // as a nat's fart in hurricane) nevertheless it completes the logical transition
+ azmP[2] = 0.0;
+
+ //finally the kappa rotation that will make azmP parallel (including sign) to the camera x axis
+ kappa = -atan2(-azmP[1], azmP[0]);
+
+
+ ////////////////////Add an instrument position table
+ //Define the table records
+ TableRecord recordPos; // reacord to be added to table
+ // add x,y,z position labels and ephemeris time et to record
+ TableField x("J2000X", TableField::Double);
+ TableField y("J2000Y", TableField::Double);
+ TableField z("J2000Z", TableField::Double);
+ TableField t("ET", TableField::Double);
+ recordPos += x;
+ recordPos += y;
+ recordPos += z;
+ recordPos += t;
+ Table tablePos("InstrumentPosition", recordPos);
+ //now that the azm and norm vectors are defined
+ // the total velocity vector can be calcualted (km/sec)
+ vel[0] = horV*azm[0] + radV * norm[0];
+ vel[1] = horV*azm[1] + radV * norm[1];
+ vel[2] = horV*azm[2] + radV * norm[2];
+ //we'll provide a two ellement table (more is redundant because the motion is modeled as linear
+ // at this point) we'll extend the nodes 3% beyond the edges of the images to be sure
+ // rounding errors don't cause problems
+ temp = 0.515*(time1-time0); //3% extension
+ posSel[0] = pos0[0] - temp*vel[0]; //selenocentric coordinate calculation
+ posSel[1] = pos0[1] - temp*vel[1];
+ posSel[2] = pos0[2] - temp*vel[2];
+ //converting to J2000
+ temp = time0 - 0.005*(time1-time0); //et just before the first scan line
+ spPos->SetEphemerisTime(temp);
+ spRot->SetEphemerisTime(temp);
+ //Despite being labeled as J2000, the coordinates for the instrument position are in fact in
+ // target centric coordinated rotated to a system centered at the target with aces parallel
+ // to J2000, whatever that means
+ posJ20 = spRot->J2000Vector(posSel); //J2000Vector calls rotates the position vector into J2000,
+ // completing the transformation
+ recordPos[0] = posJ20[0];
+ recordPos[1] = posJ20[1];
+ recordPos[2] = posJ20[2];
+ recordPos[3] = temp; //temp = et (right now anyway)
+ tablePos += recordPos;
+ tablePos.Label() += PvlKeyword("SpkTableStartTime",toString(temp));
+ //now the other node
+ temp = 0.515*(time1-time0); //3% extension
+ posSel[0] = pos0[0] + temp*vel[0]; //selenocentric coordinate calculation
+ posSel[1] = pos0[1] + temp*vel[1];
+ posSel[2] = pos0[2] + temp*vel[2];
+ //converting to J2000
+ temp = time1 + 0.015*(time1-time0); //et just after the last scan line
+ spPos->SetEphemerisTime(temp);
+ spRot->SetEphemerisTime(temp);
+ //Despite being labeled as J2000, the coordinates for the instrument position are in fact
+ // in target centric coordinated rotated to a system centered at the target with aces
+ // parallel to J2000, whatever that means
+ posJ20 = spRot->J2000Vector(posSel); //J2000Vector calls rotates the position vector into J2000,
+ // completing the transformation
+ recordPos[0] = posJ20[0];
+ recordPos[1] = posJ20[1];
+ recordPos[2] = posJ20[2];
+ recordPos[3] = temp; //temp = et (right now anyway)
+ tablePos += recordPos;
+ tablePos.Label() += PvlKeyword("SpkTableEndTime",toString(temp));
+ tablePos.Label() += PvlKeyword("CacheType","Linear");
+ tablePos.Label() += PvlKeyword("Description","Created by apollopaninit");
+ panCube.write(tablePos); //now attach it to the table
+
+ /////////////////////////////attach a camera pointing table
+ double cacheSlope, //time between epoches in the table
+ rollComb, //magnitude of roll relative to the center in the middle of the epoch
+ relT, //relative time at the center of each epoch
+ Q[NODES][5], //NODES four ellement unit quarternions and et (to be calculated).
+ gimVec[3], //the direction of the gimbal rotation vector (to the cameras persepective
+ // this is always changing because the camera is mounted to the roll frame
+ // assembly which is mounted to the gimbal)
+ M0[3][3], //rotation matrix of the previous epoch
+ Mtemp1[3][3], //intermediate step in the multiplication of rotation matricies
+ Mtemp2[3][3], //intermediate step in the multiplication of rotation matricies
+ Mdg[3][3], //incremental rotation due the the gimbal motion in the camera frame
+ Mdr[3][3]; //the contribution of the roll motion in the camera frame during time
+ // cacheSlope
+ std::vector <double> M_J2toT; //rotation matrix from J2000 to the target frame
+ M_J2toT.resize(9);
+ //Table Definition
+ TableField q0("J2000Q0", TableField::Double);
+ TableField q1("J2000Q1", TableField::Double);
+ TableField q2("J2000Q2", TableField::Double);
+ TableField q3("J2000Q3", TableField::Double);
+ TableField et("ET", TableField::Double);
+ TableRecord recordRot;
+ recordRot += q0;
+ recordRot += q1;
+ recordRot += q2;
+ recordRot += q3;
+ recordRot += et;
+ Table tableRot("InstrumentPointing",recordRot);
+ //From the cameras perspective the gimbal motion is around a constantly changing axis,
+ // this is handled by combining a series of incremental rotations
+ MfromLeftEulers(M0, omega, phi, kappa); //rotation matrix in the center Q[(NOPDES-1)/2]
+ spRot->SetEphemerisTime(isisTime.Et());
+ M_J2toT = spRot->Matrix(); //this actually gives the rotation from J2000 to target centric
+ for(j=0; j<3; j++) //reformating M_J2toT to a 3x3
+ for(k=0; k<3; k++)
+ Mtemp1[j][k] = M_J2toT[3*j+k];
+ mxm_c(M0, Mtemp1, Mtemp2);
+ M2Q(Mtemp2, Q[(NODES-1)/2]); //save the middle scan line quarternion
+
+ Q[(NODES-1)/2][4] = (time1 + time0)/2.0; //time in the center of the image
+ //the total time is scaled up slightly so that nodes will extend just beyond the edge of the image
+ cacheSlope = 1.03*(time1 - time0)/(NODES-1);
+ //Mdr is constant for all the forward time computations
+ MfromLeftEulers(Mdr,cacheSlope*rollV,0.0,0.0);
+ for (i=(NODES-1)/2+1; i<NODES; i++) { //moving foward in time first
+ Q[i][4] = Q[i-1][4] + cacheSlope; //new time epoch
+ //epoch center time relative to the center line
+ relT = double(i - (NODES-1)/2 - 0.5)*cacheSlope;
+ rollComb = relT*rollV;
+ gimVec[0] = 0.0; //gimbal rotation vector direction in the middle of the epoch
+ gimVec[1] = cos(rollComb);
+ gimVec[2] = -sin(rollComb);
+ //incremental rotation due to the gimbal (forward motion compensation)
+ MfromVecLeftAngle(Mdg, gimVec, fmc*cacheSlope);
+ //the new rotation matrix is Transpose(Mdr)*Transpose(Mdg)*M0--NOTE the order swap and
+ // transposes are needed because both Mdr and Mdg were caculated in image space and need to be
+ // transposed to apply to object space
+ mtxm_c(Mdg, M0, Mtemp1);
+ //M0 is now what would typically be considered the rotation matrix of an image. It rotates a
+ // vector from the target centric space into camera space. However, what is standard to
+ // include in the cube labels is a rotation from camera space to J2000. M0 is therefore the
+ // transpose of the first part of this rotation. Transpose(M0) is the rotation from camera
+ // space to target centric space
+ mtxm_c(Mdr, Mtemp1, M0);
+ //now adding the rotation from the target frame to J2000
+ spRot->SetEphemerisTime(Q[i][4]);
+ //this actually gives the rotation from J2000 to target centric--hence the mxmt_c function being
+ // used later
+ M_J2toT = spRot->Matrix();
+ for(j=0; j<3; j++) //reformating M_J2toT to a 3x3
+ for(k=0; k<3; k++)
+ Mtemp1[j][k] = M_J2toT[3*j+k];
+ mxm_c(M0, Mtemp1, Mtemp2);
+ M2Q(Mtemp2, Q[i]); //convert to a quarterion
+ }
+
+ MfromLeftEulers(M0, omega, phi, kappa); //rotation matrix in the center Q[(NOPDES-1)/2]
+ //Mdr is constant for all the backward time computations
+ MfromLeftEulers(Mdr, -cacheSlope*rollV, 0.0, 0.0);
+ for (i=(NODES-1)/2-1; i>=0; i--) { //moving backward in time
+ Q[i][4] = Q[i+1][4] - cacheSlope; //new time epoch
+ //epoch center time relative to the center line
+ relT = double(i - (NODES-1)/2 + 0.5)*cacheSlope;
+ rollComb = relT*rollV;
+ gimVec[0] = 0.0; //gimbal rotation vector direction in the middle of the epoch
+ gimVec[1] = cos(rollComb);
+ gimVec[2] = -sin(rollComb);
+ //incremental rotation due to the gimbal (forward motion compensation)
+ MfromVecLeftAngle(Mdg, gimVec, -fmc*cacheSlope);
+ //the new rotation matrix is Transpose(Mdr)*Transpose(Mdg)*M0 NOTE the order swap and
+ // transposes are needed because both Mdr and Mdg were caculated in image space and need to be
+ // transposed to apply to object space
+ mtxm_c(Mdg, M0, Mtemp1);
+ //M0 is now what would typically be considered the rotation matrix of an image. It rotates a
+ // vector from the target centric space into camera space. However, what is standard to
+ // include in the cube labels is a rotation from camera space to J2000. M0 is therefore the
+ // transpose of the first part of this rotation. Transpose(M0) is the rotation from camera
+ // space to target centric space
+ mtxm_c(Mdr, Mtemp1, M0);
+ //now adding the rotation from the target frame to J2000
+ spRot->SetEphemerisTime(Q[i][4]);
+ M_J2toT = spRot->Matrix();
+ for(j=0; j<3; j++) //reformating M_J2toT to a 3x3
+ for(k=0; k<3; k++)
+ Mtemp1[j][k] = M_J2toT[3*j+k];
+ mxm_c(M0, Mtemp1, Mtemp2);
+ M2Q(Mtemp2, Q[i]); //convert to a quarterion
+ }
+ //fill in the table
+ for (i=0; i<NODES; i++) {
+ recordRot[0] = Q[i][0];
+ recordRot[1] = Q[i][1];
+ recordRot[2] = Q[i][2];
+ recordRot[3] = Q[i][3];
+ recordRot[4] = Q[i][4];
+ tableRot += recordRot;
+ }
+ tableRot.Label() += PvlKeyword("CkTableStartTime", toString(Q[0][4]));
+ tableRot.Label() += PvlKeyword("CkTableEndTime", toString(Q[NODES-1][4]));
+ tableRot.Label() += PvlKeyword("Description", "Created by appollopan2isis");
+
+ keyword.setName("TimeDependentFrames");
+ keyword.setValue(toString(scFrameCode));
+ keyword.addValue("1");
+ tableRot.Label() += keyword;
+
+ keyword.setName("ConstantFrames");
+ keyword.setValue(toString(insCode));
+ keyword.addValue(toString(scFrameCode));
+ tableRot.Label() += keyword;
+
+ keyword.setName("ConstantRotation");
+ keyword.setValue("1");
+ for (i=1;i<9;i++)
+ if (i%4 == 0) keyword.addValue("1");
+ else keyword.addValue("0");
+ tableRot.Label() += keyword;
+ panCube.write(tableRot);
+
+
+ /////////////////////////Attach a table with all the measurements of the fiducial mark locations.
+ Chip patternS,searchS; //scaled pattern and search chips
+ Cube fidC; //Fiducial image
+
+ //line and sample coordinates for looping through the panCube
+ double l=1,s=1,sample,line,sampleInitial=1,lineInitial=1,play;
+
+ int regStatus,
+ fidn,
+ panS,
+ refL, //number of lines in the patternS
+ refS; //number of samples in the patternS
+ Pvl pvl;
+
+ bool foundFirst=false;
+
+// QString fileName;
+
+ panS = panCube.sampleCount();
+
+ //Table definition
+ TableRecord recordFid;
+ TableField indexFid("FID_INEX",TableField::Integer);
+ TableField xFid("X_COORD",TableField::Double);
+ TableField yFid("Y_COORD",TableField::Double);
+ recordFid += indexFid;
+ recordFid += xFid;
+ recordFid += yFid;
+ Table tableFid("Fiducial Measurement",recordFid);
+
+ //read the image resolutions and scale the constants acordingly
+ double resolution = ui.GetDouble("MICRONS"), //pixel size in microns
+ scale = SCALE *5.0/resolution, //reduction scale for fast autoregistrations
+ searchHeight = SEARCHh*5.0/resolution, //number of lines (in 5-micron-pixels) in
+ // search space for the first fiducial
+ searchCellSize = SEARCHc*5.0/resolution, //height/width of search chips block
+ averageSamples = AVERs *5.0/resolution, //scaled smaples between fiducials
+ averageLines = AVERl *5.0/resolution; //scaled average distance between the top and
+ //bottom fiducials
+
+ if( 15.0/resolution < 1.5) play=1.5;
+ else play = 15.0/resolution;
+
+ //copy the patternS chip (the entire ApolloPanFiducialMark.cub)
+ FileName fiducialFileName("$apollo15/calibration/ApolloPanFiducialMark.cub");
+ fidC.open(fiducialFileName.expanded(),"r");
+ if( !fidC.isOpen() ) {
+ QString msg = "Unable to open the fiducial patternS cube: ApolloPanFiducialMark.cub\n";
+ throw IException(IException::User, msg, _FILEINFO_);
+ }
+ refL = fidC.lineCount();
+ refS = fidC.sampleCount();
+ //scaled pattern chip for fast matching
+ patternS.SetSize(int((refS-2)/SCALE), int((refL-2)/SCALE));
+ patternS.TackCube((refS-1)/2, (refL-1)/2);
+ patternS.Load(fidC, 0, SCALE);
+
+ //parameters for maximum correlation autoregestration
+ // see: file:///usgs/pkgs/isis3nightly2011-09-21/isis/doc/documents/patternSMatch/patternSMatch.html#DistanceTolerance
+ FileName fiducialPvl("$apollo15/templates/apolloPanFiducialFinder.pvl");
+ pvl.read(fiducialPvl.expanded()); //read in the autoreg parameters
+ AutoReg *arS = AutoRegFactory::Create(pvl);
+
+ *arS->PatternChip() = patternS; //patternS chip is constant
+
+ //set up a centroid measurer
+ CentroidApolloPan centroid(resolution);
+ Chip inputChip,selectionChip;
+ inputChip.SetSize(int(ceil(200*5.0/resolution)), int(ceil(200*5.0/resolution)));
+// fileName = ui.GetFileName("FROM");
+ if( panCube.pixelType() == 1) //UnsignedByte
+ centroid.setDNRange(12, 1e99); //8 bit bright target
+ else
+ centroid.setDNRange(3500, 1e99); //16 bit bright target
+
+ Progress progress;
+ progress.SetText("Locating Fiducials");
+ progress.SetMaximumSteps(91);
+
+ //Search for the first fiducial, search sizes are constanst
+ searchS.SetSize(int(searchCellSize/scale),int(searchCellSize/scale));
+ //now start searching along a horizontal line for the first fiducial mark
+ for(l = searchCellSize/2;
+ l<searchHeight+searchCellSize/2.0 && !foundFirst;
+ l+=searchCellSize-125*5.0/resolution) {
+ for (s = searchCellSize/2;
+ s < averageSamples + searchCellSize/2.0 && !foundFirst;
+ s += searchCellSize-125*5.0/resolution) {
+ searchS.TackCube(s, l);
+ searchS.Load(panCube, 0, scale);
+ *arS->SearchChip() = searchS;
+ regStatus = arS->Register();
+ if (regStatus == AutoReg::SuccessPixel) {
+ inputChip.TackCube(arS->CubeSample(), arS->CubeLine());
+ inputChip.Load(panCube, 0, 1);
+ inputChip.SetCubePosition(arS->CubeSample(), arS->CubeLine());
+ //continuous dynamic range selection
+ centroid.selectAdaptive(&inputChip, &selectionChip);
+ //elliptical trimming/smoothing
+ if (centroid.elipticalReduction(&selectionChip, 95, play, 2000)) {
+ //center of mass to reduce selection to a single measure
+ centroid.centerOfMass(&selectionChip, &sample, &line);
+ inputChip.SetChipPosition(sample, line);
+ sampleInitial = inputChip.CubeSample();
+ lineInitial = inputChip.CubeLine();
+ foundFirst = true; //once the first fiducial is found stop
+ }
+ }
+ }
+ }
+ if(s>=averageLines+searchCellSize/2.0) {
+ QString msg = "Unable to locate a fiducial mark in the input cube [" + fileName +
+ "]. Check FROM and MICRONS parameters.";
+ throw IException(IException::Io, msg, _FILEINFO_);
+ return;
+ }
+ progress.CheckStatus();
+
+ //record first fiducial measurement in the table
+ recordFid[0] = 0;
+ recordFid[1] = sampleInitial;
+ recordFid[2] = lineInitial;
+ tableFid += recordFid;
+ for (s= sampleInitial, l=lineInitial, fidn=0; s<panS; s+=averageSamples, fidn++) {
+ //corrections for half spacing of center fiducials
+ if (fidn == 22) s -= averageSamples/2.0;
+ if (fidn == 23) s -= averageSamples/2.0;
+
+ //look for the bottom fiducial
+ searchS.TackCube(s,l+averageLines);
+ searchS.Load(panCube, 0, scale);
+ *arS->SearchChip() = searchS;
+ regStatus = arS->Register();
+ if (regStatus == AutoReg::SuccessPixel) {
+ inputChip.TackCube(arS->CubeSample(), arS->CubeLine());
+ inputChip.Load(panCube,0,1);
+ inputChip.SetCubePosition(arS->CubeSample(), arS->CubeLine());
+ }
+ else { //if autoreg is unsuccessful, a larger window will be used
+ inputChip.TackCube(s, l+averageLines);
+ inputChip.Load(panCube, 0, 1);
+ inputChip.SetCubePosition(s, l+averageLines);
+ }
+ centroid.selectAdaptive(&inputChip, &selectionChip); //continuous dynamic range selection
+ //elliptical trimming/smoothing... if this fails move on
+ if (centroid.elipticalReduction(&selectionChip, 95, play, 2000) != 0 ) {
+ //center of mass to reduce selection to a single measure
+ centroid.centerOfMass(&selectionChip, &sample, &line);
+ inputChip.SetChipPosition(sample, line);
+ sample = inputChip.CubeSample();
+ line = inputChip.CubeLine();
+ recordFid[0] = fidn*2+1;
+ recordFid[1] = sample;
+ recordFid[2] = line;
+ tableFid += recordFid;
+ }
+ progress.CheckStatus();
+
+ //look for the top fiducial
+ if (s == sampleInitial) //first time through the loop?
+ continue; //then the top fiducial was already found
+ searchS.TackCube(s, l);
+ searchS.Load(panCube, 0, scale);
+ *arS->SearchChip() = searchS;
+ regStatus = arS->Register();
+ if (regStatus == AutoReg::SuccessPixel) {
+ inputChip.TackCube(arS->CubeSample(), arS->CubeLine());
+ inputChip.Load(panCube, 0, 1);
+ inputChip.SetCubePosition(arS->CubeSample(), arS->CubeLine());
+ }
+ else { //if autoreg is unsuccessful, a larger window will be used
+ inputChip.TackCube(s, l);
+ inputChip.Load(panCube, 0, 1);
+ inputChip.SetCubePosition(s, l);
+ }
+ centroid.selectAdaptive(&inputChip, &selectionChip);//continuous dynamic range selection
+ //inputChip.Write("inputTemp.cub");//debug
+ //selectionChip.Write("selectionTemp.cub");//debug
+ //elliptical trimming/smoothing... if this fails move on
+ if (centroid.elipticalReduction(&selectionChip, 95, play, 2000) !=0) {
+ //center of mass to reduce selection to a single measure
+ centroid.centerOfMass(&selectionChip, &sample, &line);
+ inputChip.SetChipPosition(sample, line);
+ //when finding the top fiducial both s and l are refined for a successful measurement,
+ // this will help follow trends in the scaned image
+ s = inputChip.CubeSample();
+ l = inputChip.CubeLine();
+ recordFid[0] = fidn*2;
+ recordFid[1] = s;
+ recordFid[2] = l;
+ tableFid += recordFid;
+ }
+ progress.CheckStatus();
+ }
+
+ panCube.write(tableFid);
+ //close the new cube
+ panCube.close(false);
+ panCube.open(ui.GetFileName("FROM"),"rw");
+
+ delete spPos;
+ delete spRot;
+
+// Application::Log();
+
+ return;
+}
+
+
+void crossp(double v1[3],double v2[3],double v1cv2[3])
+{
+ //calcuate v1 cross v2
+ v1cv2[0] = v1[1]*v2[2] - v1[2]*v2[1];
+ v1cv2[1] = v1[2]*v2[0] - v1[0]*v2[2];
+ v1cv2[2] = v1[0]*v2[1] - v1[1]*v2[0];
+ return;
+}
+
+void Geographic2GeocentricLunar(double geographic[3], double geocentric[3])
+/*
+ given
+ geographic -> (Lat, Lon, H)
+
+ calc
+ geocentric <- (X, Y, Z)
+
+ Lat and Lon should be in radians
+*/
+{
+ double r,cosl;
+
+ r = R_MOON[0] + geographic[2];
+
+ cosl = cos(geographic[0]);
+
+ geocentric[2] = r*sin(geographic[0]);
+ geocentric[0] = r*cosl*cos(geographic[1]);
+ geocentric[1] = r*cosl*sin(geographic[1]);
+}
+
+void MfromLeftEulers(double M[3][3], double omega, double phi, double kappa)
+{
+ /*given three left handed Euler angles compute M 3x3 orthogonal rotation matrix
+
+ M <- 3x3 rotation matrix
+ omega -> left handed rotation (rad) around the x axis
+ phi -> left handed rotation (rad) around the once rotated y axis
+ kappa -> left handed rotation (rad) around the twice rotated z axis
+ */
+
+ M[0][0] = cos(phi) * cos(kappa);
+ M[0][1] = sin(omega) * sin(phi) * cos(kappa) + cos(omega) * sin(kappa);
+ M[0][2] = -cos(omega) * sin(phi) * cos(kappa) + sin(omega) * sin(kappa);
+ M[1][0] = -cos(phi) * sin(kappa);
+ M[1][1] = -sin(omega) * sin(phi) * sin(kappa) + cos(omega) * cos(kappa);
+ M[1][2] = cos(omega) * sin(phi) * sin(kappa) + sin(omega) * cos(kappa);
+ M[2][0] = sin(phi);
+ M[2][1] = -sin(omega) * cos(phi);
+ M[2][2] = cos(omega) * cos(phi);
+
+}
+
+void MfromVecLeftAngle(double M[3][3], double vec[3], double angle)
+{
+ /*Define a roation matrix from a vector and a left handed angle
+ M <- orthogonal rotation matrix
+ vec -> 3 ellement vector defining the axis of rotation
+ angle -> left handed angle of rotation (rad) around vec
+
+ */
+ double vs[3],l;
+
+ l = sqrt(vec[0]*vec[0] + vec[1]*vec[1] + vec[2]*vec[2]);
+ vs[0] = vec[0] / l;
+ vs[1] = vec[1] / l;
+ vs[2] = vec[2] / l;
+ //change the sign of angle to match subsequent math (written for right handed angles)
+ l = -angle; //this makes this a right handed anlge
+ //calculate rotation matrix
+ M[0][0] = cos(l) + vs[0]*vs[0] * (1 - cos(l));
+ M[0][1] = vs[0] * vs[1] * (1 - cos(l)) - vs[2] * sin(l);
+ M[0][2] = vs[0] * vs[2] * (1 - cos(l)) + vs[1] * sin(l);
+
+ M[1][0] = vs[0] * vs[1] * (1 - cos(l)) + vs[2] * sin(l);
+ M[1][1] = cos(l) + vs[1]*vs[1] * (1 - cos(l));
+ M[1][2] = vs[1] * vs[2] * (1 - cos(l)) - vs[0] * sin(l);
+
+ M[2][0] = vs[0] * vs[2] * (1 - cos(l)) - vs[1] * sin(l);
+ M[2][1] = vs[1] * vs[2] * (1 - cos(l)) + vs[0] * sin(l);
+ M[2][2] = cos(l) + vs[2]*vs[2] * (1 - cos(l));
+}
+
+void M2Q(double M[3][3], double Q[4])
+{
+ /* given a rotation matrix decompose the quarternion
+
+ M -> 3x3 orthogonal rotation matrix
+ Q <- four ellement unit quarternion
+
+ */
+
+ //following the decomposition algorithim given at: http://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation
+
+ int index[3],i;
+ double temp;
+
+ //find the largest diagonal ellement in Md
+ temp = fabs(M[0][0]);
+ index[0] = 0;
+
+ for(i=1; i<2 ; i++)
+ {
+ if( fabs(M[i][i] ) > temp )
+ {
+ temp = fabs(M[i][i]);
+ index[0] = i;
+ }
+ }
+
+ index[1] = index[0] + 1;
+ if( index[1] > 2 )
+ index[1] -= 3;
+
+ index[2] = index[1] + 1;
+ if( index[2] > 2 )
+ index[2] -= 3;
+
+ temp = sqrt(1 + M[index[0]][index[0]] - M[index[1]][index[1]] - M[index[2]][index[2]]);
+
+ if( temp == 0 )
+ {
+ Q[0] = 1;
+ Q[1] = 0;
+ Q[2] = 0;
+ Q[3] = 0;
+ return;
+ }
+
+ Q[0] = ( M[index[2]][index[1]] - M[index[1]][index[2]] ) / (2 * temp);
+ Q[index[1] + 1] = (M[index[0]][index[1]] + M[index[1]][index[0]]) / (2 * temp);
+ Q[index[2] + 1] = (M[index[2]][index[0]] + M[index[0]][index[2]]) / (2 * temp);
+
+ Q[index[0] + 1] = temp / 2;
+}
diff --git a/isis/src/apollo/apps/apollopangenck/apollopangenck.xml b/isis/src/apollo/apps/apollopangenck/apollopangenck.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0ecb51827cdb7fefd063604b764fb64469140226
--- /dev/null
+++ b/isis/src/apollo/apps/apollopangenck/apollopangenck.xml
@@ -0,0 +1,55 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<application name="apollopangenck" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://isis.astrogeology.usgs.gov/Schemas/Application/application.xsd">
+
+ <brief>
+ Generate files to be used as input to NAIF utility msopck.
+ </brief>
+
+ <description>
+ Generate files to be used as input to NAIF utility msopck. Location of Apollo Pan metadata csv
+ is /archive/missions/apollo_pan/AS15/CriticalData/PanData/MetadataCSVVersions/.
+ </description>
+
+ <history>
+ <change name="Ken Edmundson" date="2018-07-06">
+ TODO
+ </change>
+ </history>
+
+ <category>
+ <missionItem>Apollo</missionItem>
+ </category>
+
+ <seeAlso>
+ <applications>
+ <item>isis2std</item>
+ </applications>
+ </seeAlso>
+
+ <groups>
+ <group name="Files">
+ <parameter name="FROM">
+ <type>filename</type>
+ <fileMode>input</fileMode>
+ <brief>
+ Input Apollo Pan metadata csv file.
+ </brief>
+ <description>
+ Use this parameter to select the filename to import.
+ </description>
+ <filter>
+ *.csv
+ </filter>
+ </parameter>
+ </group>
+
+ <group name="Time">
+ <parameter name="GMT">
+ <type>string</type>
+ <brief>GMT format: YYYY-MM-DD HH:MM:SS.SSS</brief>
+ <description>GMT is space deliniated Year Month Day Hour Minute Seconds</description>
+ </parameter>
+ </group>
+ </groups>
+</application>
diff --git a/isis/src/apollo/objs/ApolloPanoramicCamera/ApolloPanoramicCamera.cpp b/isis/src/apollo/objs/ApolloPanoramicCamera/ApolloPanoramicCamera.cpp
index e73055c90e04ea81b95fb0a574a3e49719d59d35..ddbb0fa72a3c5c72c74c71d9a4583fc5a6a7cb83 100644
--- a/isis/src/apollo/objs/ApolloPanoramicCamera/ApolloPanoramicCamera.cpp
+++ b/isis/src/apollo/objs/ApolloPanoramicCamera/ApolloPanoramicCamera.cpp
@@ -1,137 +1,164 @@
+/**
+ * @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.
+ *
+ * This constructor uses the Pvl labels for Apollo Panoramic Camera Images.
*
- * @param lab Pvl label from an Apollo Panoramic image.
+ * @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";
-
+
// Apollo15 Pan naif code = -915230
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);
-
- ikernKey = "INS" + toString((int)naifIkCode()) + "_ADDITIONAL_PREROLL";
- additionalPreroll = getDouble(ikernKey);
-
- ikernKey = "INS" + toString((int)naifIkCode()) + "_ADDITIVE_LINE_ERROR";
- additiveLineTimeError = getDouble(ikernKey);
-
- ikernKey = "INS" + toString((int)naifIkCode()) + "_MULTIPLI_LINE_ERROR";
- multiplicativeLineTimeError = getDouble(ikernKey);
-
- Pvl &lab = *cube.label();
+
+ // 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 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);
+ QString spacecraft = (QString)inst["SpacecraftName"];
+ QString instId = (QString)inst["InstrumentId"];
+
+ // read focal length and pixel pitch from the instrument kernel
+ SetFocalLength();
+ SetPixelPitch();
+
+ ReadSampleRates(lab.fileName());
+
+ SpiceDouble etStart = iTime((QString)inst["StartTime"]).Et();
+ setTime(etStart);
+
+ // Setup fiducial mark affine transformation (in pixels)
+ PvlGroup &fiducials = lab.findGroup("Fiducials", Pvl::Traverse);
+ ApolloPanoramicCameraFiducialMap fid(fiducials, naifIkCode());
+
+ Affine* fiducialMap = fid.CreateTrans();
+
+ // Setup detector map for transform of parent image pixels to "detector" pixels
+ new VariableSampleScanCameraDetectorMap(this, p_sampleRates, fiducialMap);
+
// Setup focal plane map
- PvlGroup &kernel = lab.findGroup("Kernels", Pvl::Traverse);
- CameraFocalPlaneMap *focalMap = new CameraFocalPlaneMap(this, (int) kernel["NaifFrameCode"]);
-
- // 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
-
- focalMap->SetDetectorOrigin(sampleBoreSight, lineBoreSight);
+ 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
diff --git a/isis/src/apollo/objs/ApolloPanoramicCamera/ApolloPanoramicCamera.h b/isis/src/apollo/objs/ApolloPanoramicCamera/ApolloPanoramicCamera.h
index 1a0e5bfceb849699e28ddb93035222fbb418b356..f0cd26a3d752ae12f02e8c29501484b80ab4bdc6 100644
--- a/isis/src/apollo/objs/ApolloPanoramicCamera/ApolloPanoramicCamera.h
+++ b/isis/src/apollo/objs/ApolloPanoramicCamera/ApolloPanoramicCamera.h
@@ -24,7 +24,8 @@
* http://www.usgs.gov/privacy.html.
*/
-#include "LineScanCamera.h"
+#include "SampleScanCamera.h"
+#include "VariableSampleScanCameraDetectorMap.h"
namespace Isis {
class PvlGroup;
@@ -48,9 +49,9 @@ namespace Isis {
* 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.
- */
- class ApolloPanoramicCamera : public LineScanCamera {
+ * @history 2016-09-12 Ken Edmundson - Major changes, deriving now from SampleScanCamera.
+ */
+ class ApolloPanoramicCamera : public SampleScanCamera {
public:
ApolloPanoramicCamera(Cube &lab);
@@ -64,7 +65,7 @@ namespace Isis {
* 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
@@ -82,46 +83,13 @@ namespace Isis {
*/
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;
};
};
diff --git a/isis/src/apollo/objs/ApolloPanoramicCamera/ApolloPanoramicDetectorMap.cpp b/isis/src/apollo/objs/ApolloPanoramicCamera/ApolloPanoramicDetectorMap.cpp
index 66a768b83122e4b4f25f4898e05ef6174c05aeca..f04d28e6ea65fee5cc8b83b36110e05e61cf92d9 100644
--- a/isis/src/apollo/objs/ApolloPanoramicCamera/ApolloPanoramicDetectorMap.cpp
+++ b/isis/src/apollo/objs/ApolloPanoramicCamera/ApolloPanoramicDetectorMap.cpp
@@ -14,9 +14,9 @@ namespace Isis {
* 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)
@@ -28,11 +28,11 @@ namespace Isis {
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;
@@ -43,9 +43,9 @@ namespace Isis {
* 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
@@ -56,7 +56,7 @@ namespace Isis {
//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
@@ -76,14 +76,18 @@ namespace Isis {
/**
* This method uses the ApolloPanIO class to compute transforamtion from cube to image
* (aka fiducial cooraintes)
+ *
+ * @return -1 failure
+ *
+ * @return 1 sucess
*
- * @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."
- *
- * @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;
@@ -104,13 +108,13 @@ namespace Isis {
_FILEINFO_);
return -1;
}
- p_intOri.initialize();
+// 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]);
+// 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 = 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 "
diff --git a/isis/src/apollo/objs/ApolloPanoramicCamera/ApolloPanoramicDetectorMap.h b/isis/src/apollo/objs/ApolloPanoramicCamera/ApolloPanoramicDetectorMap.h
index 314ee440917ee0ea6aee9dca0ee22299ca7e7a72..3d943f19e2e77cfa57ea1adeba3b111ccb5a731c 100644
--- a/isis/src/apollo/objs/ApolloPanoramicCamera/ApolloPanoramicDetectorMap.h
+++ b/isis/src/apollo/objs/ApolloPanoramicCamera/ApolloPanoramicDetectorMap.h
@@ -25,7 +25,7 @@
*/
-#include "ApolloPanIO.h"
+//#include "ApolloPanIO.h"
#include "LineScanCameraDetectorMap.h"
#include "Pvl.h"
#include "PvlGroup.h"
@@ -43,7 +43,6 @@ namespace Isis {
* @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:
@@ -66,7 +65,7 @@ namespace Isis {
}
//! Destroys ApolloPanoramicDetectorMap object
- virtual ~ApolloPanoramicDetectorMap() {};
+// virtual ~ApolloPanoramicDetectorMap() {};
virtual bool SetParent(const double sample, const double line);
@@ -79,52 +78,37 @@ namespace Isis {
*
* @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:
-
- 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
-
- /**
- * Class to preform transformations from cube coordiantes to image coordinates
- */
- ApolloPanIO p_intOri;
+ //! Ephemeris time at the middle line
+ double m_etMiddle;
+
+ //!line exposure duration
+ double m_lineRate;
+
+ //! 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();
};
diff --git a/isis/src/apollo/objs/ApolloPanoramicCamera/Camera.plugin b/isis/src/apollo/objs/ApolloPanoramicCamera/Camera.plugin
index 50182636e0606901e5e2582f7b2d191a906920e0..57628262dc2d70a43e98d556889d29ac7c9304ab 100644
--- a/isis/src/apollo/objs/ApolloPanoramicCamera/Camera.plugin
+++ b/isis/src/apollo/objs/ApolloPanoramicCamera/Camera.plugin
@@ -1,14 +1,14 @@
-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
diff --git a/isis/src/apollo/objs/ApolloPanoramicCameraFiducialMap/ApolloPanoramicCameraFiducialMap.cpp b/isis/src/apollo/objs/ApolloPanoramicCameraFiducialMap/ApolloPanoramicCameraFiducialMap.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..ef7a7d8b4200b1e2a35f91ec265aff2a18fbbd12
--- /dev/null
+++ b/isis/src/apollo/objs/ApolloPanoramicCameraFiducialMap/ApolloPanoramicCameraFiducialMap.cpp
@@ -0,0 +1,92 @@
+#include "ApolloPanoramicCameraFiducialMap.h"
+
+#include "Affine.h"
+#include "CameraGroundMap.h"
+#include "CameraSkyMap.h"
+#include "IString.h"
+
+namespace Isis {
+ /** Constructs mapping between Apollo Panoramic Camera detectors and focal cylinder x/y.
+ * This method sets the x-axis direction to -1 if the NAIF IK code is even
+ * and to 1 if the code is odd.
+ *
+ * @param inst Instrument group from the Pvl labels
+ * @param naifIkCode Naif code of the Apollo Panoramic instrument for reading coefficients
+ *
+ */
+ ApolloPanoramicCameraFiducialMap::ApolloPanoramicCameraFiducialMap(PvlGroup &fiducials,
+ const int naifIkCode) {
+ // Get the Instrument label information needed to define the fiducial map for this frame
+ p_naifIkCode = naifIkCode;
+ ReadFiducials(fiducials);
+
+// // Set the x-axis direction.
+// int xdir;
+// if(naifIkCode % 2 == 0) {
+// xdir = -1;
+// }
+// else {
+// xdir = 1;
+// }
+
+ //TODO Why is this commented out? I commented out the code above so we wouldn't get a compiler
+ //warning. 2018-07-14 mshepherd
+// CreateTrans(xdir);
+ }
+
+
+ /**
+ *
+ * Reads the fiducials from the instrument group of the labels
+ * @param inst Instrument group from the Pvl labels
+ *
+ * @throws IException::User - "Unable to read fiducial mapping from cube
+ * labels - Input cube must be processed in Isis 2 through
+ * lofixlabel and converted to Isis 3 with pds2isis"
+ */
+ void ApolloPanoramicCameraFiducialMap::ReadFiducials(PvlGroup &fiducials) {
+
+ // Try to read the fiducials from the labels
+ try {
+ // Fiducial mapping to define the Focal Plane map
+ PvlKeyword &measuredSamples = fiducials["Sample"];
+ PvlKeyword &measuredLines = fiducials["Line"];
+ PvlKeyword &calibratedLines = fiducials["XCoordinates"];
+ PvlKeyword &calibratedSamples = fiducials["YCoordinates"];
+ for(int i = 0; i < measuredSamples.size(); i++) {
+ m_fidMeasuredSamples.push_back(toDouble(measuredSamples[i]));
+ m_fidMeasuredLines.push_back(toDouble(measuredLines[i]));
+ m_fidCalibratedLines.push_back(toDouble(calibratedLines[i]));
+ m_fidCalibratedSamples.push_back(toDouble(calibratedSamples[i]));
+ }
+ }
+ catch(IException &e) {
+ string msg = "Unable to read fiducial mapping from cube labels";
+ throw IException(e, IException::User, msg, _FILEINFO_);
+ }
+ }
+
+
+ /**
+ * Creates focal plane affine transform.
+ * @param xdir The x-axis direction.
+ *
+ *
+ * @throws IException::User - "Unable to create fiducial map."
+ */
+ Affine* ApolloPanoramicCameraFiducialMap::CreateTrans() {
+ Affine *fptrans = new Affine();
+
+ try {
+ fptrans->Solve(&m_fidMeasuredSamples[0], (double *) &m_fidMeasuredLines[0],
+ (double *) &m_fidCalibratedSamples[0], (double *) &m_fidCalibratedLines[0],
+ m_fidMeasuredSamples.size());
+ }
+ catch(IException &e) {
+ string msg = "Unable to create fiducial map.";
+ throw IException(IException::User, msg, _FILEINFO_);
+ }
+
+ return fptrans;
+ }
+}
diff --git a/isis/src/apollo/objs/ApolloPanoramicCameraFiducialMap/ApolloPanoramicCameraFiducialMap.h b/isis/src/apollo/objs/ApolloPanoramicCameraFiducialMap/ApolloPanoramicCameraFiducialMap.h
new file mode 100644
index 0000000000000000000000000000000000000000..27c0ab8386276749433078ab7b2ee17d4587342c
--- /dev/null
+++ b/isis/src/apollo/objs/ApolloPanoramicCameraFiducialMap/ApolloPanoramicCameraFiducialMap.h
@@ -0,0 +1,70 @@
+#ifndef ApolloPanoramicCameraFiducialMap_h
+#define ApolloPanoramicCameraFiducialMap_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 "PvlGroup.h"
+
+using namespace std;
+
+namespace Isis {
+ class Affine;
+ /**
+ * @brief Computes map from image coordinates to focal plane based on fiducials
+ *
+ * The ApolloPanoramicCameraFiducialMap class allows for the computation of a transformation
+ * from image coordinates (sample,line) to focal cylinder coordinates (x,y) for
+ * the Apollo 15, 16, 17 Panoramic Cameras The
+ * transformation map is an affine transformation defined by values written in
+ * the Isis 3 Instrument group labels.
+ *
+ * This class will load the fiducial sample/line and x/y values from the labels,
+ * compute the coefficients of the affine transformation, and place the
+ * coefficients in to the data pool. Typically these values are read from an
+ * iak, but for Lunar Orbiter they are frame dependent.
+ *
+ * @ingroup SpiceInstrumentsAndCameras
+ * @ingroup ApolloPanoramic
+ *
+ * @author 2016-09-07 Ken Edmundson
+ *
+ * @internal
+ * @history 2016-09-07 Ken Edmundson - Original Version
+ */
+ class ApolloPanoramicCameraFiducialMap {
+ public:
+ ApolloPanoramicCameraFiducialMap(PvlGroup &inst, const int naifIkCode);
+ //! Destroys ApolloPanoramicCameraFiducialMap object.
+ ~ApolloPanoramicCameraFiducialMap() {};
+
+ Affine* CreateTrans();
+
+ private:
+ void ReadFiducials(PvlGroup &inst);
+ std::vector<double> m_fidMeasuredSamples; //!< Image sample positions of fiducial map
+ std::vector<double> m_fidMeasuredLines; //!< Image line positions of fiducial map
+ std::vector<double> m_fidCalibratedSamples; //!< Focal plane X positions of fiducial map
+ std::vector<double> m_fidCalibratedLines; //!< Focal plane Y positions of fiducial map
+
+ int p_naifIkCode; //!< Naif instrument code
+
+ };
+};
+#endif
diff --git a/isis/src/apollo/objs/ApolloPanoramicCameraFiducialMap/ApolloPanoramicCameraFiducialMap.truth b/isis/src/apollo/objs/ApolloPanoramicCameraFiducialMap/ApolloPanoramicCameraFiducialMap.truth
new file mode 100644
index 0000000000000000000000000000000000000000..1845175eb9388f5f3b5006677c97e70c3ade9c8a
--- /dev/null
+++ b/isis/src/apollo/objs/ApolloPanoramicCameraFiducialMap/ApolloPanoramicCameraFiducialMap.truth
@@ -0,0 +1,25 @@
+Unit Test for ApolloPanoramicCameraFiducialMap...
+Testing fiducial fit on full Apollo 15 Panoramic AS15-P-0116 tile 5 (39795 x 25448)
+FileName: AS15-P-0116_0005_TRIM.cub
+CK Frame: -915230
+
+testing four corners...
+
+Upper Left
+ (1 , 1) => (Xfp, Yfp) = (63.0117796745100520 , 148.8404313509815324)
+Upper Left OK
+
+Upper Right
+ (1, 39795) => (Xfp, Yfp) = (62.7868969997623338 , -51.2210664535820328)
+Upper Right OK
+
+Lower Left
+ (1, 1) => (Xfp, Yfp) = (-61.5404808995972417 , 148.8119557628731684)
+Lower Left OK
+
+Lower Right
+ (1, 39795) => (Xfp, Yfp) = (-61.7653635743449598 , -51.2495420416903897)
+Lower Right OK
+
+
+-------------------------------------
diff --git a/isis/src/apollo/objs/ApolloPanoramicCameraFiducialMap/Makefile b/isis/src/apollo/objs/ApolloPanoramicCameraFiducialMap/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..f122bc88227c5c7ebd108dea5d339d1d2e074d82
--- /dev/null
+++ b/isis/src/apollo/objs/ApolloPanoramicCameraFiducialMap/Makefile
@@ -0,0 +1,7 @@
+ifeq ($(ISISROOT), $(BLANK))
+.SILENT:
+error:
+ echo "Please set ISISROOT";
+else
+ include $(ISISROOT)/make/isismake.objs
+endif
\ No newline at end of file
diff --git a/isis/src/apollo/objs/ApolloPanoramicCameraFiducialMap/unitTest.cpp b/isis/src/apollo/objs/ApolloPanoramicCameraFiducialMap/unitTest.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..c690fe4ef93d28e802a11279ae5913a276e36640
--- /dev/null
+++ b/isis/src/apollo/objs/ApolloPanoramicCameraFiducialMap/unitTest.cpp
@@ -0,0 +1,298 @@
+/**
+ * @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 <iomanip>
+#include <iostream>
+
+#include "Camera.h"
+#include "CameraDetectorMap.h"
+#include "CameraDistortionMap.h"
+#include "CameraFactory.h"
+#include "CameraFocalPlaneMap.h"
+#include "FileName.h"
+#include "IException.h"
+#include "iTime.h"
+#include "Preference.h"
+#include "Pvl.h"
+
+using namespace std;
+using namespace Isis;
+
+int main(void) {
+ Preference::Preferences(true);
+
+ cout << "Unit Test for ApolloPanoramicCameraFiducialMap..." << endl;
+
+ try {
+
+ cout << "Testing fiducial fit on full Apollo 15 Panoramic AS15-P-0116 tile 5 (39795 x 25448)" << endl;
+ Cube tile5("/work/projects/progteam/kedmundson/Apollo/PAN/AS15/testCubes/trimmed/AS15-P-0116_0005_TRIM.cub", "r");
+ Camera *cam = CameraFactory::Create(tile5);
+
+ cout << "FileName: " << FileName(tile5.fileName()).name() << endl;
+ cout << "CK Frame: " << cam->instrumentRotation()->Frame() << endl << endl;
+ cout.setf(std::ios::fixed);
+ cout << setprecision(9);
+
+ // Test four corners detector to distorted focal plane
+ cout << "testing four corners detector to distorted focal plane..." << endl << endl;
+
+ // upper left pixel
+ double samp = 1.0;
+ double line = 1.0;
+ double knownUpperLeftX = 63.011779675;
+ double knownUpperLeftY = 148.840431351;
+
+ // convert from detector to distorted focal plane
+ if(cam->FocalPlaneMap()->SetDetector(samp, line)) {
+ double focalPlaneX = cam->FocalPlaneMap()->FocalPlaneX();
+ double focalPlaneY = cam->FocalPlaneMap()->FocalPlaneY();
+
+ cout << "Upper Left" << endl << setprecision(0) << " (" << samp << " , " << line
+ << ") => (Xfp, Yfp) = (" << setprecision(16) << focalPlaneX << " , " << focalPlaneY
+ << ")" << endl;
+
+ if(fabs(focalPlaneX - knownUpperLeftX) < 1E-9 &&
+ fabs(focalPlaneY - knownUpperLeftY) < 1E-9) {
+ cout << "Upper Left OK" << endl << endl;
+ }
+ else {
+ cout << setprecision(16) << "Upper Left X off by: " << focalPlaneX - knownUpperLeftX << endl;
+ cout << setprecision(16) << "Upper Left Y off by: " << focalPlaneY - knownUpperLeftY << endl;
+ }
+ }
+
+ // upper right pixel
+ samp = cam->Samples();
+ double knownUpperRightX = 62.786897000;
+ double knownUpperRightY = -51.221066454;
+
+ // convert from detector to distorted focal plane
+ if(cam->FocalPlaneMap()->SetDetector(samp, line)) {
+ double focalPlaneX = cam->FocalPlaneMap()->FocalPlaneX();
+ double focalPlaneY = cam->FocalPlaneMap()->FocalPlaneY();
+ cout << "Upper Right" << endl << " (1, " << setprecision(0) << samp << ") => (Xfp, Yfp) = (" << setprecision(16) << focalPlaneX << " , " << focalPlaneY << ")" << endl;
+
+ if(fabs(focalPlaneX - knownUpperRightX) < 1E-9 &&
+ fabs(focalPlaneY - knownUpperRightY) < 1E-9) {
+ cout << "Upper Right OK" << endl << endl;
+ }
+ else {
+ cout << setprecision(16) << "Upper Right X off by: " << focalPlaneX - knownUpperRightX << endl;
+ cout << setprecision(16) << "Upper Right Y off by: " << focalPlaneY - knownUpperRightY << endl;
+ }
+ }
+
+ // lower left pixel
+ samp = 1.0;
+ line = cam->Lines();
+ double knownLowerLeftX = -61.5404808995972417;
+ double knownLowerLeftY = 148.8119557628731684;
+
+ // convert from detector to distorted focal plane
+ if(cam->FocalPlaneMap()->SetDetector(samp, line)) {
+ double focalPlaneX = cam->FocalPlaneMap()->FocalPlaneX();
+ double focalPlaneY = cam->FocalPlaneMap()->FocalPlaneY();
+ cout << "Lower Left" << endl << " (1, " << setprecision(0) << samp << ") => (Xfp, Yfp) = (" << setprecision(16) << focalPlaneX << " , " << focalPlaneY << ")" << endl;
+
+ if(fabs(focalPlaneX - knownLowerLeftX) < 1E-9 &&
+ fabs(focalPlaneY - knownLowerLeftY) < 1E-9) {
+ cout << "Lower Left OK" << endl << endl;
+ }
+ else {
+ cout << setprecision(16) << "Lower Left X off by: " << focalPlaneX - knownLowerLeftX << endl;
+ cout << setprecision(16) << "Lower Left Y off by: " << focalPlaneY - knownLowerLeftY << endl;
+ }
+ }
+
+ // lower right pixel
+ samp = cam->Samples();
+ line = cam->Lines();
+ double knownLowerRightX = -61.7653635743449598;
+ double knownLowerRightY = -51.2495420416903897;
+
+ // convert from detector to distorted focal plane
+ if(cam->FocalPlaneMap()->SetDetector(samp, line)) {
+ double focalPlaneX = cam->FocalPlaneMap()->FocalPlaneX();
+ double focalPlaneY = cam->FocalPlaneMap()->FocalPlaneY();
+ cout << "Lower Right" << endl << " (1, " << setprecision(0) << samp << ") => (Xfp, Yfp) = (" << setprecision(16) << focalPlaneX << " , " << focalPlaneY << ")" << endl;
+
+ if(fabs(focalPlaneX - knownLowerRightX) < 1E-9 &&
+ fabs(focalPlaneY - knownLowerRightY) < 1E-9) {
+ cout << "Lower Right OK" << endl << endl;
+ }
+ else {
+ cout << setprecision(16) << "Lower Right X off by: " << focalPlaneX - knownLowerRightX << endl;
+ cout << setprecision(16) << "Lower Right Y off by: " << focalPlaneY - knownLowerRightY << endl;
+ }
+ cout << endl << "-------------------------------------" << endl;
+ }
+
+ // Test four corners distorted focal plane to detector
+ cout << "testing four corners distorted focal plane to detector..." << endl << endl;
+
+ // upper left pixel
+ double distortedFocalPlaneX = 63.011779675;
+ double distortedFocalPlaneY = 148.840431351;
+ double knownUpperLeftSample = 1.0;
+ double knownUpperLeftLine = 1.0;
+
+ // convert from detector to distorted focal plane
+ if(cam->DistortionMap()->SetUndistortedFocalPlane(distortedFocalPlaneX, distortedFocalPlaneY)) {
+ double sample = cam->DetectorMap()->ParentSample();
+ double line = cam->DetectorMap()->ParentLine();
+
+ cout << "Upper Left" << endl << setprecision(16) << " (" << distortedFocalPlaneX << " , "
+ << distortedFocalPlaneY
+ << ") => (sample, line) = (" << setprecision(16) << sample << " , " << line
+ << ")" << endl;
+
+ if(fabs(sample - knownUpperLeftSample) < 1E-9 &&
+ fabs(line - knownUpperLeftLine) < 1E-9) {
+ cout << "Upper Left OK" << endl << endl;
+ }
+ else {
+ cout << setprecision(16) << "Upper Left sample off by: " << sample - knownUpperLeftSample << endl;
+ cout << setprecision(16) << "Upper Left line off by: " << line - knownUpperLeftLine << endl;
+ }
+ }
+
+
+ delete cam;
+ }
+/*
+ cout << "Testing high fiducial fit on a full 34530 x 8750 frame" << endl;
+ Cube ch("$lo/testData/4164H_Full_mirror.cub", "r");
+ Camera *camh = CameraFactory::Create(ch);
+
+ cout << "FileName: " << FileName(ch.fileName()).name() << endl;
+ cout << "CK Frame: " << camh->instrumentRotation()->Frame() << endl << endl;
+ cout.setf(std::ios::fixed);
+ cout << setprecision(9);
+
+ // Test all four corners and center pixel to make sure the conversions are correct
+ // Upper left pixel
+ samp = 1.0;
+ line = 1.0;
+ knownUpperLeftX = 125.8894771096694;
+ knownUpperLeftY = -31.23569821243375;
+
+ // Now Convert from detector to distorted focal plane
+ if(camh->FocalPlaneMap()->SetDetector(samp, line)) {
+ double focalPlaneX = camh->FocalPlaneMap()->FocalPlaneX();
+ double focalPlaneY = camh->FocalPlaneMap()->FocalPlaneY();
+ if(fabs(focalPlaneX - knownUpperLeftX) < 1E-9 &&
+ fabs(focalPlaneY - knownUpperLeftY) < 1E-9) {
+ cout << "Upper left corner OK" << endl;
+ }
+ else {
+ cout << setprecision(16) << "Upper left X off by: " << focalPlaneX - knownUpperLeftX << endl;
+ cout << setprecision(16) << "Upper left Y off by: " << focalPlaneY - knownUpperLeftY << endl;
+ }
+ }
+
+ // Upper right pixel
+ samp = camh->Samples();
+ knownUpperRightX = -114.13710918057000754;
+ knownUpperRightY = -31.21483142132193;
+
+ // Now Convert from detector to distorted focal plane
+ if(camh->FocalPlaneMap()->SetDetector(samp, line)) {
+ double focalPlaneX = camh->FocalPlaneMap()->FocalPlaneX();
+ double focalPlaneY = camh->FocalPlaneMap()->FocalPlaneY();
+
+ if(fabs(focalPlaneX - knownUpperRightX) < 1E-9 &&
+ fabs(focalPlaneY - knownUpperRightY) < 1E-9) {
+ cout << "Upper right corner OK" << endl;
+ }
+ else {
+ cout << setprecision(18) << "Upper right X off by: " << focalPlaneX - knownUpperRightX << endl;
+ cout << setprecision(18) << "Upper right Y off by: " << focalPlaneY - knownUpperRightY << endl;
+ }
+ }
+
+ // Lower left pixel
+ samp = 1.0;
+ line = camh->Lines();
+ knownLowerLeftX = 125.9405233275204;
+ knownLowerLeftY = 29.52307388869981;
+
+ // Now Convert from detector to distorted focal plane
+ if(camh->FocalPlaneMap()->SetDetector(samp, line)) {
+ double focalPlaneX = camh->FocalPlaneMap()->FocalPlaneX();
+ double focalPlaneY = camh->FocalPlaneMap()->FocalPlaneY();
+ if(fabs(focalPlaneX - knownLowerLeftX) < 1E-9 &&
+ fabs(focalPlaneY - knownLowerLeftY) < 1E-9) {
+ cout << "Lower left corner OK" << endl;
+ }
+ else {
+ cout << setprecision(16) << "Lower left X off by: " << focalPlaneX - knownLowerLeftX << endl;
+ cout << setprecision(16) << "Lower left Y off by: " << focalPlaneY - knownLowerLeftY << endl;
+ }
+ }
+
+ // Lower right pixel
+ samp = camh->Samples();
+ line = camh->Lines();
+ knownLowerRightX = -114.0860629627191;
+ knownLowerRightY = 29.54394067981162;
+
+ // Now Convert from detector to distorted focal plane
+ if(camh->FocalPlaneMap()->SetDetector(samp, line)) {
+ double focalPlaneX = camh->FocalPlaneMap()->FocalPlaneX();
+ double focalPlaneY = camh->FocalPlaneMap()->FocalPlaneY();
+ if(fabs(focalPlaneX - knownLowerRightX) < 1E-9 &&
+ fabs(focalPlaneY - knownLowerRightY) < 1E-9) {
+ cout << "Lower right corner OK" << endl;
+ }
+ else {
+ cout << setprecision(16) << "Lower right X off by: " << focalPlaneX - knownLowerRightX << endl;
+ cout << setprecision(16) << "Lower right Y off by: " << focalPlaneY - knownLowerRightY << endl;
+ }
+ }
+
+ // Center pixel
+ samp = camh->Samples() / 2;
+ line = camh->Lines() / 2;
+ double knownCenterX = 5.90517988076963;//119.9912428434887;
+ double knownCenterY = -0.8493513951460194;//-30.39329207495764;
+
+ // Now Convert from detector to distorted focal plane
+ if(camh->FocalPlaneMap()->SetDetector(samp, line)) {
+ double focalPlaneX = camh->FocalPlaneMap()->FocalPlaneX();
+ double focalPlaneY = camh->FocalPlaneMap()->FocalPlaneY();
+ if(fabs(focalPlaneX - knownCenterX) < 1E-9 &&
+ fabs(focalPlaneY - knownCenterY) < 1E-9) {
+ cout << "Center corner OK" << endl;
+ }
+ else {
+ cout << setprecision(16) << "Center X off by: " << focalPlaneX - knownCenterX << endl;
+ cout << setprecision(16) << "Center Y off by: " << focalPlaneY - knownCenterY << endl;
+ }
+ }
+
+ delete camh;
+ }
+*/
+ catch(IException &e) {
+ e.print();
+ }
+}
+
diff --git a/isis/src/base/objs/Camera/Camera.h b/isis/src/base/objs/Camera/Camera.h
index b955731bb2aac6e88a6725ad70e61ad779cd9128..dccdf31037b78a162620e138da1c935d622fce63 100644
--- a/isis/src/base/objs/Camera/Camera.h
+++ b/isis/src/base/objs/Camera/Camera.h
@@ -365,6 +365,7 @@ namespace Isis {
enum CameraType {
Framing, //!< Framing Camera
PushFrame, //!< Push Frame Camera
+ SampleScan, //!< Sample Scan Camera
LineScan, //!< Line Scan Camera
Radar, //!< Radar Camera
Point //!< Point Camera
diff --git a/isis/src/base/objs/CameraFocalPlaneMap/CameraFocalPlaneMap.cpp b/isis/src/base/objs/CameraFocalPlaneMap/CameraFocalPlaneMap.cpp
index f498c9eca0bee1eed45c5d7e7a1f32be7f5eab18..ef07040e8eb3f517911b06709cda27889b1e3ac3 100644
--- a/isis/src/base/objs/CameraFocalPlaneMap/CameraFocalPlaneMap.cpp
+++ b/isis/src/base/objs/CameraFocalPlaneMap/CameraFocalPlaneMap.cpp
@@ -159,7 +159,6 @@ namespace Isis {
bool CameraFocalPlaneMap::SetFocalPlane(const double dx, const double dy) {
p_focalPlaneX = dx;
p_focalPlaneY = dy;
-
p_centeredDetectorSample = p_itranss[0] + (p_itranss[1] * dx) + (p_itranss[2] * dy);
p_centeredDetectorLine = p_itransl[0] + (p_itransl[1] * dx) + (p_itransl[2] * dy);
ComputeUncentered();
@@ -167,7 +166,7 @@ namespace Isis {
}
- /** Compute distorted focal plane coordinate from detector position (sampel,line)
+ /** Compute distorted focal plane coordinate from detector position (sample,line)
*
* This method will compute both the distorted focal plane x/y and centered
* detector position given a detector position
@@ -249,49 +248,37 @@ namespace Isis {
}
- /**
- * @returns The distorted focal plane x
- */
+ //! Return distorted focal plane x
double CameraFocalPlaneMap::FocalPlaneX() const {
return p_focalPlaneX;
}
- /**
- * @returns The distorted focal plane y
- */
+ //! Return distorted focal plane y
double CameraFocalPlaneMap::FocalPlaneY() const {
return p_focalPlaneY;
}
- /**
- * @returns The detector sample
- */
+ //! Return detector sample
double CameraFocalPlaneMap::DetectorSample() const {
return p_detectorSample;
}
- /**
- * @returns The detector line
- */
+ //! Return detector line
double CameraFocalPlaneMap::DetectorLine() const {
return p_detectorLine;
}
- /**
- * @returns The centered detector sample
- */
+ //! Return centered detector sample
double CameraFocalPlaneMap::CenteredDetectorSample() const {
return p_centeredDetectorSample;
}
- /**
- * @returns The centered detector line
- */
+ //! Return centered detector line
double CameraFocalPlaneMap::CenteredDetectorLine() const {
return p_centeredDetectorLine;
}
@@ -312,17 +299,13 @@ namespace Isis {
}
- /**
- * @returns The detector line origin
- */
+ //! Return detector line origin
double CameraFocalPlaneMap::DetectorLineOrigin() const {
return p_detectorLineOrigin;
}
- /**
- * @returns The detector sample origin
- */
+ //! Return detector sample origin
double CameraFocalPlaneMap::DetectorSampleOrigin() const {
return p_detectorSampleOrigin;
}
@@ -344,27 +327,19 @@ namespace Isis {
}
- /**
- * @returns The detector line offset
- */
+ //! Return detector line offset
double CameraFocalPlaneMap::DetectorLineOffset() const {
return p_detectorLineOffset;
}
- /**
- * @returns The detector sample offset
- */
+ //! Return detector sample offset
double CameraFocalPlaneMap::DetectorSampleOffset() const {
return p_detectorSampleOffset;
}
- /**
- * Set the affine coefficients for converting destorted (x,y) to a detector Line
- *
- * @param transL Vector of the affine coefficients
- */
+ //! Set the affine coefficients for converting destorted (x,y) to a detector Line
void CameraFocalPlaneMap::SetTransL(const QVector<double> transL) {
for (int i=0; i<3; ++i) {
p_itransl[i] = transL[i];
@@ -372,11 +347,7 @@ namespace Isis {
}
- /**
- * Set the affine coefficients for converting destorted (x,y) to a detector Sample
- *
- * @param transS Vector of the affine coefficients
- */
+ //! Set the affine coefficients for converting destorted (x,y) to a detector Sample
void CameraFocalPlaneMap::SetTransS(const QVector<double> transS) {
for (int i=0; i<3; ++i) {
p_itranss[i] = transS[i];
@@ -384,11 +355,7 @@ namespace Isis {
}
- /**
- * Set the affine coefficients for converting detector (sample,line) to a distorted X
- *
- * @param transX Vector of the affine coefficients
- */
+ //! Set the affine coefficients for converting detector (sample,line) to a distorted X
void CameraFocalPlaneMap::SetTransX(const QVector<double> transX) {
for (int i=0; i<3; ++i) {
p_transx[i] = transX[i];
@@ -396,11 +363,7 @@ namespace Isis {
}
- /**
- * Set the affine coefficients for converting detector (sample,line) to a distorted Y
- *
- * @param transY Vector of the affine coefficients
- */
+ //! Set the affine coefficients for converting detector (sample,line) to a distorted Y
void CameraFocalPlaneMap::SetTransY(const QVector<double> transY) {
for (int i=0; i<3; ++i) {
p_transy[i] = transY[i];
@@ -408,33 +371,25 @@ namespace Isis {
}
- /**
- * @return The affine coefficients for converting detector (sample,line) to a distorted X
- */
+ //! Return the affine coefficients for converting detector (sample,line) to a distorted X
const double *CameraFocalPlaneMap::TransX() const{
return p_transx;
}
- /**
- * @returns The affine coefficients for converting detector (sample,line) to distorted Y
- */
+ //! Return the affine coefficients for converting detector (sample,line) to distorted Y
const double *CameraFocalPlaneMap::TransY() const{
return p_transy;
}
- /**
- * @returns The affine coefficients for converting distorted (x,y) to a detector Sample
- */
+ //! Return the affine coefficients for converting distorted (x,y) to a detector Sample
const double *CameraFocalPlaneMap::TransS() const{
return p_itranss;
}
- /**
- * @returns The affine coefficients for converting distorted (x,y) to a detector Line
- */
+ //! Return the affine coefficients for converting distorted (x,y) to a detector Line
const double *CameraFocalPlaneMap::TransL() const{
return p_itransl;
}
diff --git a/isis/src/base/objs/LineScanCameraGroundMap/LineScanCameraGroundMap.cpp b/isis/src/base/objs/LineScanCameraGroundMap/LineScanCameraGroundMap.cpp
index 6b7056bbbcedb84f12353591d0a74c4bbf4f1232..ee98483f69f2bf85ef9e1fc64f66a0d3933419ab 100644
--- a/isis/src/base/objs/LineScanCameraGroundMap/LineScanCameraGroundMap.cpp
+++ b/isis/src/base/objs/LineScanCameraGroundMap/LineScanCameraGroundMap.cpp
@@ -62,7 +62,7 @@ class LineOffsetFunctor :
LineOffsetFunctor(Isis::Camera *camera, const Isis::SurfacePoint &surPt) {
m_camera = camera;
- m_surfacePoint = surPt;
+ surfacePoint = surPt;
}
@@ -96,7 +96,7 @@ class LineOffsetFunctor :
m_camera->Sensor::setTime(et);
// Set ground
- if (!m_camera->Sensor::SetGround(m_surfacePoint, false)) {
+ if (!m_camera->Sensor::SetGround(surfacePoint, false)) {
IString msg = "Sensor::SetGround failed for surface point in LineScanCameraGroundMap.cpp"
" LineOffsetFunctor";
throw IException(IException::Programmer, msg, _FILEINFO_);
@@ -112,22 +112,22 @@ class LineOffsetFunctor :
// SetUndistortedFocalPlane was failing a majority of the time, causing most SetGround calls
// to fail. Even when it did succeed, it was producing non-continous return values.
// Set the undistorted focal plane coordinates
- // if (!m_camera->DistortionMap()->SetUndistortedFocalPlane(ux, uy)) {
- // IString msg = "DistortionMap::SetUndistoredFocalPlane failed for surface point in "
- // "LineScanCameraGroundMap.cpp LineOffsetFunctor";
- // throw IException(IException::Programmer, msg, _FILEINFO_);
- // }
+// if (!m_camera->DistortionMap()->SetUndistortedFocalPlane(ux, uy)) {
+// IString msg = "DistortionMap::SetUndistoredFocalPlane failed for surface point in "
+// "LineScanCameraGroundMap.cpp LineOffsetFunctor";
+// throw IException(IException::Programmer, msg, _FILEINFO_);
+// }
// Get the natural (distorted focal plane coordinates)
- // dx = m_camera->DistortionMap()->FocalPlaneX();
- // dy = m_camera->DistortionMap()->FocalPlaneY();
- // std::cout << "use dist" << std::endl;
- //}
+// dx = m_camera->DistortionMap()->FocalPlaneX();
+// dy = m_camera->DistortionMap()->FocalPlaneY();
+// std::cout << "use dist" << std::endl;
+// }
// Try to use SetUndistortedFocalPlane, if that does not work use the distorted x,y
// under the assumption (bad|good) that extrapolating the distortion
- // is causing the distorted x,y to be way off the sensor, and thus not very good anyway.
+ // is causing the distorted x to be way off the sensor, and thus not very good anyway.
if (m_camera->DistortionMap()->SetUndistortedFocalPlane(ux, uy)) {
// Get the natural (distorted focal plane coordinates)
dx = m_camera->DistortionMap()->FocalPlaneX();
@@ -151,7 +151,7 @@ class LineOffsetFunctor :
private:
- SurfacePoint m_surfacePoint;
+ SurfacePoint surfacePoint;
Camera* m_camera;
};
@@ -187,7 +187,7 @@ class SensorSurfacePointDistanceFunctor :
throw IException(IException::Programmer, msg, _FILEINFO_);
}
m_camera->Sensor::setTime(et);
- if (!m_camera->Sensor::SetGround(surfacePoint, false)) {
+ if(!m_camera->Sensor::SetGround(surfacePoint, false)) {
IString msg = "Sensor::SetGround failed for surface point in LineScanCameraGroundMap.cpp"
"SensorSurfacePointDistanceFunctor";
}
@@ -289,8 +289,8 @@ namespace Isis {
//CameraDistortionMap *distortionMap = p_camera->DistortionMap();
//CameraFocalPlaneMap *focalMap = p_camera->FocalPlaneMap();
- double approxTime = 0;
- double approxOffset = 0;
+ double approxTime=0;
+ double approxOffset=0;
double lookC[3] = {0.0, 0.0, 0.0};
double ux = 0.0;
double uy = 0.0;
@@ -306,20 +306,20 @@ namespace Isis {
LineOffsetFunctor offsetFunc(p_camera,surfacePoint);
SensorSurfacePointDistanceFunctor distanceFunc(p_camera,surfacePoint);
- // METHOD #1
- // Use the line given as a start point for the secant method root search.
- if (approxLine >= 0.5) {
-
- // convert the approxLine to an approximate time and offset
- p_camera->DetectorMap()->SetParent(p_camera->ParentSamples() / 2.0, approxLine);
+ /*********************************************************************************************
+ if an approximate point is given use that as a start point for the secant method root search
+ *********************************************************************************************/
+ if (approxLine > 0) {
+ //convert the approxLine to an approximate time and offset
+ p_camera->DetectorMap()->SetParent(p_camera->ParentSamples() / 2, p_camera->ParentLines());
+// p_camera->DetectorMap()->SetParent(p_camera->ParentSamples() / 2, approxLine);
approxTime = p_camera->time().Et();
approxOffset = offsetFunc(approxTime);
- // Check to see if there is no need to improve this root, it's good enough
- if (fabs(approxOffset) < 1e-2) {
+ if (fabs(approxOffset) < 1e-2) { //no need to iteratively improve this root, it's good enough
p_camera->Sensor::setTime(approxTime);
- // check to make sure the point isn't behind the planet
+ //check to make sure the point isn't behind the planet
if (!p_camera->Sensor::SetGround(surfacePoint, true)) {
return Failure;
}
@@ -335,7 +335,7 @@ namespace Isis {
double fl, fh, xl, xh;
- // starting times for the secant method, kept within the domain of the cache
+ //starting times for the secant method, kept within the domain of the cache
xh = approxTime;
if (xh + lineRate < cacheEnd) {
xl = xh + lineRate;
@@ -344,7 +344,7 @@ namespace Isis {
xl = xh - lineRate;
}
- // starting offsets
+ //starting offsets
fh = approxOffset; //the first is already calculated
fl = offsetFunc(xl);
@@ -361,7 +361,7 @@ namespace Isis {
double f = offsetFunc(etGuess);
- // elliminate the node farthest away from the current best guess
+ //elliminate the node farthest away from the current best guess
if (fabs( xl- etGuess) > fabs( xh - etGuess)) {
xl = etGuess;
fl = f;
@@ -371,10 +371,11 @@ namespace Isis {
fh = f;
}
- // See if we converged on the point so set up the undistorted focal plane values and return
+ //See if we converged on the point so set up the undistorted
+ // focal plane values and return
if (fabs(f) < 1e-2) {
- p_camera->Sensor::setTime(approxTime);
- // check to make sure the point isn't behind the planet
+ p_camera->Sensor::setTime(etGuess);
+ //check to make sure the point isn't behind the planet
if (!p_camera->Sensor::SetGround(surfacePoint, true)) {
return Failure;
}
@@ -387,13 +388,14 @@ namespace Isis {
return Success;
}
- } // End itteration using a guess
- // return Failure; // Removed to let the lagrange method try to find the line if secant fails
- } // End use a guess
+ }
+ return Failure;
+ }
- // METHOD #2
- // The guess or middle line did not work so try estimating with a quadratic
+ /**********************************************************************************************
+ no estimate given for the approximate line--quadratic approximation root finding
+ **********************************************************************************************/
// The offsets are typically quadratic, so three points will be used to approximate a quadratic
// as a first order attempt to find the root location(s)
@@ -408,7 +410,7 @@ namespace Isis {
timeNodes[0] = cacheStart;
timeNodes[2] = cacheEnd;
- timeNodes[1] = (cacheStart+cacheEnd) / 2.0; // middle time
+ timeNodes[1] = (cacheStart+cacheEnd) / 2.0; //middle time
double quadPoly[3];
double temp;
@@ -417,7 +419,7 @@ namespace Isis {
offsetNodes[i] = offsetFunc(timeNodes[i]);
}
- // centralize and normalize the data for stability in root finding
+ //centralize and normalize the data for stability in root finding
timeAverage = (timeNodes[0] + timeNodes[1] + timeNodes[2]) / 3.0;
timeNodes[0] -= timeAverage;
timeNodes[1] -= timeAverage;
@@ -459,10 +461,8 @@ namespace Isis {
// Now that we have the coefficients of the quadratic look for roots
// (see Numerical Recipes Third Edition page 227)
temp = quadPoly[1] * quadPoly[1] - 4.0 * quadPoly[0] * quadPoly[2]; //discriminant
-
- // THIS IS A PREMATURE FAILURE RETURN. IT SHOULD TRY THE NEXT METHON BEFORE FAILING
if (temp < 0.0) {
- return Failure; // there are apparently not any real roots on this image
+ return Failure; //there are apparently not any real roots on this image
}
if (quadPoly[1] >= 0.0) {
@@ -480,44 +480,41 @@ namespace Isis {
root.push_back(quadPoly[2]/temp);
}
- // check to see if the roots are in the time interval of the cache
+ //check to see if the roots are in the time interval of the cache
for (int i=root.size()-1; i>=0; i--) {
if ( root[i] < timeNodes[0] || root[i] > timeNodes[2] ) {
root.removeAt(i);
}
}
- // return the calculated roots to the original system
+ //return the calculated roots to the original system
for (int i=0; i<root.size(); i++) {
root[i] = root[i]/scale + timeAverage;
}
- // THIS IS A PREMATURE FAILURE RETURN. IT SHOULD TRY THE NEXT METHON BEFORE FAILING
if (root.size() == 0) {
- return Failure; // there are apparently not any roots on this image
+ return Failure; //there are apparently not any roots on this image
}
// At the time of this writing ISIS made no attempt to support any sensors that were not "1 to 1".
- // Meaning they imaged the same point on the ground in multiple lines of the image
+ // Meaning that imaged the same point on the ground in multiple lines of the image
// therefore we must somehow reduce multiple possible roots to a single one, the legacy
// code (replaced with this code) did this based on distance from the sensor to the target
// the shortest distance being the winner. For legacy consistency I have used the same logic below.
- for (int i=0; i<root.size(); i++) { // Offset/dist calculation loop
+ for (int i=0; i<root.size(); i++) { //Offset/dist calculation loop
dist << distanceFunc(root[i]);
offset << offsetFunc(root[i]);
}
// Save the root with the smallest dist
- {
- int j=0;
- for (int i=1; i<root.size(); i++) {
- if (dist[i] < dist[j]) j=i;
- }
-
- approxTime = root[j]; // Now we have our time
- approxOffset = offset[j]; // The offsets are saved to avoid recalculating it later
- }
+ int j=0;
+ for (int i=1, j=0; i<root.size(); i++) {
+ if (dist[i] < dist[j]) j=i;
+ }
+
+ approxTime = root[j]; // Now we have our time
+ approxOffset = offset[j]; // The offsets are saved to avoid recalculating it later
if (fabs(approxOffset) < 1.0e-2) { // No need to iteratively improve this root, it's good enough
p_camera->Sensor::setTime(approxTime);
@@ -537,9 +534,10 @@ namespace Isis {
return Success;
}
-
- // METHOD #3
- // Estimated line and quadratic approximation insufficient, try Brent's method
+ /**********************************************************************************************
+ no estimate given for the approximate line, quadratic approximation insufficient, use Brent's
+ method
+ **********************************************************************************************/
// The offsets are typically quadratic, so three points will be used to approximate a quadratic
// as a first order attempt to find the root location(s)
@@ -562,14 +560,14 @@ namespace Isis {
pt << offsetNodes[i] / scale;
pts << pt;
}
-
+
for (int i=0; i<root.size(); i++) {
QList <double> pt;
pt << root[i];
pt << offset[i];
pts << pt;
}
-
+
qSort(pts.begin(), pts.end(), ptXLessThan);
root.clear();
@@ -580,6 +578,7 @@ namespace Isis {
if (FunctionTools::brentsRootFinder <LineOffsetFunctor> (offsetFunc, pts[i-1], pts[i],
1.0e-3, 200, temp)) {
root << temp;
+
}
}
}
@@ -607,15 +606,12 @@ namespace Isis {
}
// Save the root with the smallest dist
- {
- int j=0;
- for (int i=1; i<root.size(); i++) {
- if (dist[i] < dist[j]) j=i;
- }
-
- p_camera->Sensor::setTime(root[j]);
+ for (int i=1, j=0; i<root.size(); i++) {
+ if (dist[i] < dist[j]) j=i;
}
+ p_camera->Sensor::setTime(root[j]);
+
// No need to make sure the point isn't behind the planet, it was done above
p_camera->Sensor::LookDirection(lookC);
ux = p_camera->FocalLength() * lookC[0] / lookC[2];
diff --git a/isis/src/base/objs/SampleScanCamera/Makefile b/isis/src/base/objs/SampleScanCamera/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..f122bc88227c5c7ebd108dea5d339d1d2e074d82
--- /dev/null
+++ b/isis/src/base/objs/SampleScanCamera/Makefile
@@ -0,0 +1,7 @@
+ifeq ($(ISISROOT), $(BLANK))
+.SILENT:
+error:
+ echo "Please set ISISROOT";
+else
+ include $(ISISROOT)/make/isismake.objs
+endif
\ No newline at end of file
diff --git a/isis/src/base/objs/SampleScanCamera/SampleScanCamera.cpp b/isis/src/base/objs/SampleScanCamera/SampleScanCamera.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..6b7fa5e90fc1a72b1d5cf0d88609ae1d3cba190f
--- /dev/null
+++ b/isis/src/base/objs/SampleScanCamera/SampleScanCamera.cpp
@@ -0,0 +1,71 @@
+/**
+ * @file
+ * $Revision: 1.1 $
+ * $Date: 2009/08/31 15:11:49 $
+ *
+ * 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 "SampleScanCamera.h"
+
+namespace Isis {
+ /**
+ * Constructs the SampleScanCamera object
+ *
+ * @param cube Cube used to create the parent Camera object
+ */
+ SampleScanCamera::SampleScanCamera(Isis::Cube &cube) : Camera(cube) {
+ }
+
+ /**
+ * Returns the SampleScan type of camera, as enumerated in the Camera
+ * class.
+ * @return CameraType SampleScan camera type.
+ */
+ virtual CameraType GetCameraType() const {
+ return SampleScan;
+ }
+
+ /**
+ * Returns a pointer to the SampleScanCameraGroundMap object
+ *
+ * @return SampleScanCameraGroundMap*
+ */
+ SampleScanCameraGroundMap *GroundMap() {
+ return (SampleScanCameraGroundMap *)Camera::GroundMap();
+ };
+
+ /**
+ * Returns a pointer to the SampleScanCameraSkyMap object
+ *
+ * @return SampleScanCameraSkyMap*
+ */
+ SampleScanCameraSkyMap *SkyMap() {
+ return (SampleScanCameraSkyMap *)Camera::SkyMap();
+ };
+
+ /**
+ * Returns a pointer to the SampleScanCameraDetectorMap object
+ *
+ * @return SampleScanCameraDetectorMap*
+ */
+ SampleScanCameraDetectorMap *DetectorMap() {
+ return (SampleScanCameraDetectorMap *)Camera::DetectorMap();
+ };
+};
+
diff --git a/isis/src/base/objs/SampleScanCamera/SampleScanCamera.h b/isis/src/base/objs/SampleScanCamera/SampleScanCamera.h
new file mode 100644
index 0000000000000000000000000000000000000000..b2fefbfd5b4126e343a22c3935c5e1f253b39b66
--- /dev/null
+++ b/isis/src/base/objs/SampleScanCamera/SampleScanCamera.h
@@ -0,0 +1,63 @@
+#ifndef SAMPLESCANCAMERA_H
+#define SAMPLESCANCAMERA_H
+/**
+ * @file
+ * $Revision: 1.1 $
+ * $Date: 2009/08/31 15:11:49 $
+ *
+ * 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 "Camera.h"
+
+namespace Isis {
+ class SampleScanCameraGroundMap;
+ class SampleScanCameraDetectorMap;
+ class SampleScanCameraSkyMap;
+
+ /**
+ * @brief Generic class for Sample Scan Cameras
+ *
+ * This class is used to abstract out sample scan camera functionality from
+ * children classes.
+ *
+ * @ingroup SpiceInstrumentsAndCameras
+ * @author 2016-09-12 Ken Edmundson
+ *
+ * @internal
+ * @history 2016-09-12 Ken Edmundson - Original version.
+ *
+ * @todo Implement more functionality in this class and abstract away from the children
+ */
+
+ class SampleScanCamera : public Camera {
+ public:
+ SampleScanCamera(Isis::Cube &cube);
+
+ virtual CameraType GetCameraType();
+ SampleScanCameraGroundMap *GroundMap();
+ SampleScanCameraSkyMap *SkyMap();
+ SampleScanCameraDetectorMap *DetectorMap();
+
+ private:
+ SampleScanCamera(const SampleScanCamera &); //!< Copying cameras is not allowed
+ SampleScanCamera &operator=(const SampleScanCamera &); //!< Assigning cameras is not allowed
+ };
+};
+
+#endif
diff --git a/isis/src/base/objs/SampleScanCamera/SampleScanCamera.truth b/isis/src/base/objs/SampleScanCamera/SampleScanCamera.truth
new file mode 100644
index 0000000000000000000000000000000000000000..ed64237ffae45dcdb0e9d297560b7b0f6039583b
--- /dev/null
+++ b/isis/src/base/objs/SampleScanCamera/SampleScanCamera.truth
@@ -0,0 +1,4 @@
+Camera = Framing? 0
+Camera = LineScan? 1
+Camera = PushFrame? 0
+Camera = Radar? 0
diff --git a/isis/src/base/objs/SampleScanCamera/unitTest.cpp b/isis/src/base/objs/SampleScanCamera/unitTest.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..789bf7d2a202f0b752c3c449a7dc1f3583d7b6fe
--- /dev/null
+++ b/isis/src/base/objs/SampleScanCamera/unitTest.cpp
@@ -0,0 +1,67 @@
+/**
+ * @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
+ * $ISISROOT/doc//documents/Disclaimers/Disclaimers.html in a browser or see
+ * the Privacy & Disclaimers page on the Isis website,
+ * http://isis.astrogeology.usgs.gov, and the USGS privacy and disclaimers on
+ * http://www.usgs.gov/privacy.html.
+ */
+
+#include "Cube.h"
+#include "FileName.h"
+#include "IException.h"
+#include "SampleScanCamera.h"
+#include "Preference.h"
+#include "Pvl.h"
+
+using namespace std;
+using namespace Isis;
+
+class MyCamera : public SampleScanCamera {
+ public:
+ MyCamera(Cube &cube) : SampleScanCamera(cube) { }
+
+ virtual int CkFrameId() const {
+ string msg = "CK Frame ID is unqiue to mission-specific cameras";
+ throw IException(IException::Unknown, msg, _FILEINFO_);
+ }
+
+ virtual int CkReferenceId() const {
+ string msg = "CK Reference ID is unique to mission-specific cameras";
+ throw IException(IException::Unknown, msg, _FILEINFO_);
+ }
+
+ virtual int SpkReferenceId() const {
+ string msg = "SPK Reference ID is unique to mission-specific cameras";
+ throw IException(IException::Unknown, msg, _FILEINFO_);
+ }
+
+ // These are pure virtual within Sensor that must be overriden
+ virtual QString instrumentNameLong() const { return QString("Sample Scan"); }
+ virtual QString instrumentNameShort() const { return QString("LS"); }
+ virtual QString spacecraftNameLong() const { return QString("Sample Scan 1"); }
+ virtual QString spacecraftNameShort() const { return QString("LS1"); }
+};
+
+int main() {
+ Preference::Preferences(true);
+ Cube cube("$mgs/testData/ab102401.lev2.cub", "r");
+ MyCamera cam(cube);
+
+ cout << "Camera = Framing? " << (cam.GetCameraType() == Camera::Framing) << endl;
+ cout << "Camera = SampleScan? " << (cam.GetCameraType() == Camera::SampleScan) << endl;
+ cout << "Camera = LineScan? " << (cam.GetCameraType() == Camera::LineScan) << endl;
+ cout << "Camera = PushFrame? " << (cam.GetCameraType() == Camera::PushFrame) << endl;
+ cout << "Camera = Radar? " << (cam.GetCameraType() == Camera::Radar) << endl;
+}
diff --git a/isis/src/base/objs/SampleScanCameraDetectorMap/Makefile b/isis/src/base/objs/SampleScanCameraDetectorMap/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..f122bc88227c5c7ebd108dea5d339d1d2e074d82
--- /dev/null
+++ b/isis/src/base/objs/SampleScanCameraDetectorMap/Makefile
@@ -0,0 +1,7 @@
+ifeq ($(ISISROOT), $(BLANK))
+.SILENT:
+error:
+ echo "Please set ISISROOT";
+else
+ include $(ISISROOT)/make/isismake.objs
+endif
\ No newline at end of file
diff --git a/isis/src/base/objs/SampleScanCameraDetectorMap/SampleScanCameraDetectorMap.cpp b/isis/src/base/objs/SampleScanCameraDetectorMap/SampleScanCameraDetectorMap.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..777b889ab5e0aceb0689566d90e1a7a9ca17ebef
--- /dev/null
+++ b/isis/src/base/objs/SampleScanCameraDetectorMap/SampleScanCameraDetectorMap.cpp
@@ -0,0 +1,137 @@
+/**
+ * @file
+ * $Revision: 1.1.1.1 $
+ * $Date: 2006/10/31 23:18:08 $
+ *
+ * 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 "SampleScanCameraDetectorMap.h"
+
+#include "CameraFocalPlaneMap.h"
+#include "iTime.h"
+
+namespace Isis {
+
+ /** Construct a detector map for sample scan cameras
+ *
+ * @param parent The parent camera model for the detector map
+ * @param etStart starting ephemeris time in seconds
+ * at the left of the first sample
+ * @param sampleRate the time in seconds between samples
+ *
+ */
+ SampleScanCameraDetectorMap(Camera *parent, const double etStart, const double sampleRate) :
+ CameraDetectorMap(parent) {
+ p_etStart = etStart;
+ p_sampleRate = sampleRate;
+ }
+
+
+ //! Destructor
+ virtual ~SampleScanCameraDetectorMap() {};
+
+ /** Reset the starting ephemeris time
+ *
+ * Use this method to reset the starting time of the left edge of
+ * the first sample in the parent image. That is the time, prior
+ * to cropping, scaling, or padding. Usually this will not need
+ * to be done unless the time changes between bands.
+ *
+ * @param etStart starting ephemeris time in seconds
+ *
+ */
+ void SetStartTime(const double etStart) {
+ p_etStart = etStart;
+ };
+
+
+ /** Reset the sample rate
+ *
+ * Use this method to reset the time between samples. Usually this
+ * will not need to be done unless the rate changes between bands.
+ *
+ * @param sampleRate the time in seconds between samples
+ *
+ */
+ void SetSampleRate(const double sampleRate) {
+ p_sampleRate = sampleRate;
+ };
+
+
+ /**
+ * Returns the time in seconds between scan columns
+ *
+ * @return double The time in seconds between scan columns
+ */
+ double SampleRate() const {
+ return p_sampleRate;
+ };
+
+ /** Compute parent position from a detector coordinate
+ *
+ * This method will compute a parent sample given a
+ * detector coordinate. The parent sample will be computed using the
+ * the time in the parent camera
+ *
+ * @param sample Sample number in the detector
+ * @param line Line number in the detector
+ *
+ * @return conversion successful
+ */
+ bool SampleScanCameraDetectorMap::SetDetector(const double sample, const double line) {
+ if (!CameraDetectorMap::SetDetector(sample, line))
+ return false;
+
+ double etDiff = p_camera->time().Et() - p_etStart;
+ p_parentSample = etDiff / p_sampleRate + 0.5;
+ return true;
+ }
+
+ /** Compute detector position from a parent image coordinate
+ *
+ * This method will compute the detector position from the parent
+ * line/sample coordinate. The parent sample will be used to set the
+ * appropriate time in the parent camera.
+ *
+ * @param sample Sample number in the parent image
+ * @param line Line number in the parent image
+ *
+ * @return conversion successful
+ */
+ bool SampleScanCameraDetectorMap::SetParent(const double sample, const double line) {
+ if (!CameraDetectorMap::SetParent(sample, line))
+ return false;
+
+ p_detectorSample = p_camera->FocalPlaneMap()->DetectorSampleOffset();
+
+ double etSample = p_etStart - p_sampleRate * (sample - 0.5);
+ p_camera->setTime(etSample);
+ return true;
+ }
+
+ /**
+ * Returns the starting time at the right edge of the last sample in the parent image
+ *
+ * @return double The starting time at the right edge of the last sample in the parent image
+ */
+ double SampleScanCameraDetectorMap::StartTime() const {
+ return p_etStart;
+ }
+
+}
diff --git a/isis/src/base/objs/SampleScanCameraDetectorMap/SampleScanCameraDetectorMap.h b/isis/src/base/objs/SampleScanCameraDetectorMap/SampleScanCameraDetectorMap.h
new file mode 100644
index 0000000000000000000000000000000000000000..980b828f2dac44dfb596384762d8d373857a0bfa
--- /dev/null
+++ b/isis/src/base/objs/SampleScanCameraDetectorMap/SampleScanCameraDetectorMap.h
@@ -0,0 +1,65 @@
+/**
+ * @file
+ * $Revision: 1.3 $
+ * $Date: 2009/03/07 17:57:27 $
+ *
+ * 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.
+ */
+
+#ifndef SampleScanCameraDetectorMap_h
+#define SampleScanCameraDetectorMap_h
+
+#include "CameraDetectorMap.h"
+
+namespace Isis {
+ /** Convert between parent image coordinates and detector coordinates
+ *
+ * This class is used to convert between parent detector coordinates
+ * (sample/line) and detector coordinates for a sample scan camera.
+ *
+ * @ingroup Camera
+ *
+ * @see Camera
+ *
+ * @author 2016-09-07 Ken Edmundson
+ *
+ * @internal
+ * @history 2016-09-07 Ken Edmundson Original version.
+ *
+ */
+ class SampleScanCameraDetectorMap : public CameraDetectorMap {
+ public:
+
+ SampleScanCameraDetectorMap(Camera *parent, const double etStart, const double sampleRate);
+
+ virtual ~SampleScanCameraDetectorMap() {};
+
+ void SetStartTime(const double etStart);
+ void SetSampleRate(const double sampleRate);
+ double SampleRate() const;
+
+ virtual bool SetParent(const double sample, const double line);
+ virtual bool SetDetector(const double sample, const double line);
+ double StartTime() const;
+
+ private:
+ double p_etStart; //!< Starting time at the left of the 1st parent sample
+ double p_sampleRate; //!< iTime between samples in parent cube
+ };
+};
+#endif
diff --git a/isis/src/base/objs/SampleScanCameraDetectorMap/SampleScanCameraDetectorMap.truth b/isis/src/base/objs/SampleScanCameraDetectorMap/SampleScanCameraDetectorMap.truth
new file mode 100644
index 0000000000000000000000000000000000000000..6347fe6d38f458077e14c2efcd5624b000c19da3
--- /dev/null
+++ b/isis/src/base/objs/SampleScanCameraDetectorMap/SampleScanCameraDetectorMap.truth
@@ -0,0 +1 @@
+This class will be tested by the applications and the individual Camera models.
diff --git a/isis/src/base/objs/SampleScanCameraDetectorMap/unitTest.cpp b/isis/src/base/objs/SampleScanCameraDetectorMap/unitTest.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..d29f6a0a3117f27e7834dbb1f64a8b2014ea3d9d
--- /dev/null
+++ b/isis/src/base/objs/SampleScanCameraDetectorMap/unitTest.cpp
@@ -0,0 +1,8 @@
+#include <iostream>
+#include "Preference.h"
+
+using namespace std;
+int main() {
+ Isis::Preference::Preferences(true);
+ cout << "This class will be tested by the applications and the individual Camera models." << endl;
+}
diff --git a/isis/src/base/objs/SampleScanCameraGroundMap/Makefile b/isis/src/base/objs/SampleScanCameraGroundMap/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..f122bc88227c5c7ebd108dea5d339d1d2e074d82
--- /dev/null
+++ b/isis/src/base/objs/SampleScanCameraGroundMap/Makefile
@@ -0,0 +1,7 @@
+ifeq ($(ISISROOT), $(BLANK))
+.SILENT:
+error:
+ echo "Please set ISISROOT";
+else
+ include $(ISISROOT)/make/isismake.objs
+endif
\ No newline at end of file
diff --git a/isis/src/base/objs/SampleScanCameraGroundMap/SampleScanCameraGroundMap.cpp b/isis/src/base/objs/SampleScanCameraGroundMap/SampleScanCameraGroundMap.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..ab57d2eb3b1c859916f15db58d546e326d41c4f4
--- /dev/null
+++ b/isis/src/base/objs/SampleScanCameraGroundMap/SampleScanCameraGroundMap.cpp
@@ -0,0 +1,398 @@
+/**
+ * @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 "SampleScanCameraGroundMap.h"
+
+#include <iostream>
+#include <iomanip>
+
+#include <QTime>
+#include <QList>
+#include <QFile>
+#include <QTextStream>
+
+#include "IException.h"
+#include "IString.h"
+#include "Camera.h"
+#include "CameraDistortionMap.h"
+#include "CameraFocalPlaneMap.h"
+#include "Distance.h"
+#include "FunctionTools.h"
+#include "iTime.h"
+#include "Latitude.h"
+#include "Longitude.h"
+#include "SampleScanCameraDetectorMap.h"
+#include "Statistics.h"
+#include "SurfacePoint.h"
+
+
+using namespace std;
+using namespace Isis;
+
+
+
+
+namespace Isis {
+
+ /**
+ * Constructor
+ *
+ * @param cam pointer to camera model
+ */
+ SampleScanCameraGroundMap::SampleScanCameraGroundMap(Camera *cam) : CameraGroundMap(cam) {}
+
+
+ /**
+ * Destructor
+ *
+ */
+ SampleScanCameraGroundMap::~SampleScanCameraGroundMap() {}
+
+ /**
+ * Compute undistorted focal plane coordinate from ground position
+ *
+ * @param lat planetocentric latitude in degrees
+ * @param lon planetocentric longitude in degrees
+ *
+ * @return conversion was successful
+ */
+ bool SampleScanCameraGroundMap::SetGround(const Latitude &lat,
+ const Longitude &lon) {
+ Distance radius(p_camera->LocalRadius(lat, lon));
+
+ if (radius.isValid()) {
+ return SetGround(SurfacePoint(lat, lon, radius));
+ }
+ else {
+ return false;
+ }
+ }
+
+
+ /**
+ * Compute undistorted focal plane coordinate from ground position
+ *
+ * @param lat planetocentric latitude in degrees
+ * @param lon planetocentric longitude in degrees
+ * @param radius local radius in meters
+ *
+ * @return conversion was successful
+ */
+ bool SampleScanCameraGroundMap::SetGround(const SurfacePoint &surfacePoint,
+ const int &approxSample) {
+ FindFocalPlaneStatus status = FindFocalPlane(approxSample, surfacePoint);
+ if (status == Success)
+ return true;
+
+ return false;
+ }
+
+
+ /**
+ * Compute undistorted focal plane coordinate from ground position
+ *
+ * @param surfacePoint 3D point on the surface of the planet
+ *
+ * @return conversion was successful
+ */
+ bool SampleScanCameraGroundMap::SetGround(const SurfacePoint &surfacePoint) {
+ FindFocalPlaneStatus status = FindFocalPlane(-1, surfacePoint);
+
+ if (status == Success)
+ return true;
+
+ return false;
+ }
+
+
+ /**
+ * Returns the spacecraft distance
+ *
+ * @param sample The sample of the image
+ * @param &surfacePoint The surface point we want to find the distance from
+ *
+ * @return double The spacecraft distance
+ */
+ double SampleScanCameraGroundMap::FindSpacecraftDistance(int sample,
+ const SurfacePoint &surfacePoint) {
+
+ CameraDetectorMap *detectorMap = p_camera->DetectorMap();
+ detectorMap->SetParent(sample, p_camera->ParentLines() / 2);
+ if (!p_camera->Sensor::SetGround(surfacePoint, false)) {
+ return DBL_MAX;
+ }
+
+ return p_camera->SlantDistance();
+ }
+
+
+ /**
+ * Finds where the surface point hits the image. If successful it sets the forcal plane
+ * corrdinates
+ *
+ * TODO Ken document this
+ *
+ * @param &approxLine
+ * @param &surfacePoint
+ */
+ SampleScanCameraGroundMap::FindFocalPlaneStatus
+ SampleScanCameraGroundMap::FindFocalPlane(const int &approxLine,
+ const SurfacePoint &surfacePoint) {
+ double approxTime=0;
+ double approxOffset=0;
+ double lookC[3] = {0.0, 0.0, 0.0};
+ double ux = 0.0;
+ double uy = 0.0;
+ const double cacheStart = p_camera->Spice::cacheStartTime().Et();
+ const double cacheEnd = p_camera->Spice::cacheEndTime().Et();
+
+ double sampleRate
+ = ((SampleScanCameraDetectorMap *)p_camera->DetectorMap())->SampleRate();
+
+ if (sampleRate == 0.0)
+ return Failure;
+
+ SampleOffsetFunctor offsetFunc(p_camera,surfacePoint);
+
+ // parent center sample, line used as first approximation
+ p_camera->DetectorMap()->SetParent(p_camera->ParentSamples()/2, p_camera->ParentLines()/2);
+ approxTime = p_camera->time().Et();
+
+ approxOffset = offsetFunc(approxTime);
+
+ if (fabs(approxOffset) < 1e-2) { //no need to iteratively improve this root, it's good enough
+ p_camera->Sensor::setTime(approxTime);
+
+ // ensure point isn't behind the planet
+ if (!p_camera->Sensor::SetGround(surfacePoint, true)) {
+ return Failure;
+ }
+ p_camera->Sensor::LookDirection(lookC);
+ ux = p_camera->FocalLength() * lookC[0] / lookC[2];
+ uy = p_camera->FocalLength() * lookC[1] / lookC[2];
+
+ p_focalPlaneX = ux;
+ p_focalPlaneY = uy;
+
+ return Success;
+ }
+
+ double fl, fh, xl, xh;
+
+ //starting times for the secant method, kept within the domain of the cache
+ xh = approxTime;
+ if (xh + sampleRate < cacheEnd) {
+ xl = xh + sampleRate;
+ }
+ else {
+ xl = xh - sampleRate;
+ }
+
+ //starting offsets
+ fh = approxOffset; //the first is already calculated
+ fl = offsetFunc(xl);
+
+ // Iterate to refine the given approximate time that the instrument imaged the ground point
+ for (int j=0; j < 10; j++) {
+ if (fl-fh == 0.0) {
+ return Failure;
+ }
+ double etGuess = xl + (xh - xl) * fl / (fl - fh);
+
+ if (etGuess < cacheStart) etGuess = cacheStart;
+ if (etGuess > cacheEnd) etGuess = cacheEnd;
+
+ double f = offsetFunc(etGuess);
+
+ // eliminate the node farthest away from the current best guess
+ if (fabs( xl- etGuess) > fabs( xh - etGuess)) {
+ xl = etGuess;
+ fl = f;
+ }
+ else {
+ xh = etGuess;
+ fh = f;
+ }
+
+ // if converged on point set focal plane values and return
+ if (fabs(f) < 1e-2) {
+ p_camera->Sensor::setTime(etGuess);
+
+ // ensure point isn't behind the planet
+ if (!p_camera->Sensor::SetGround(surfacePoint, true)) {
+ return Failure;
+ }
+ p_camera->Sensor::LookDirection(lookC);
+ ux = p_camera->FocalLength() * lookC[0] / lookC[2];
+ uy = p_camera->FocalLength() * lookC[1] / lookC[2];
+
+ if (!p_camera->FocalPlaneMap()->SetFocalPlane(ux, uy)) {
+ IString msg = "FocalPlaneMap::SetFocalPlane failed for surface point in "
+ "SampleScanCameraGroundMap.cpp SampleOffsetFunctor";
+ throw IException(IException::Programmer, msg, _FILEINFO_);
+ }
+
+ p_focalPlaneX = ux;
+ p_focalPlaneY = uy;
+
+ return Success;
+ }
+ }
+ return Failure;
+ }
+
+
+ /**
+ * Compute ground position from focal plane coordinate
+ *
+ * This method will compute the ground position given an
+ * undistorted focal plane coordinate. Note that the latitude/longitude
+ * value can be obtained from the camera pointer passed into the constructor.
+ *
+ * @param ux undistorted focal plane x in millimeters
+ * @param uy undistorted focal plane y in millimeters
+ * @param uz undistorted focal plane z in millimeters
+ *
+ * @return @b bool If conversion was successful
+ *
+ * TODO: what is implication of this????????
+ */
+ bool SampleScanCameraGroundMap::SetFocalPlane(const double ux, const double uy, const double uz) {
+ return CameraGroundMap::SetFocalPlane(ux, uy, uz);
+ }
+
+
+ /**
+ * Sample
+ *
+ * @param camera The camera
+ * @param surPoint A pointer to the surface point
+ */
+ SampleScanCameraGroundMap::SampleOffsetFunctor::SampleOffsetFunctor(Isis::Camera *camera,
+ const Isis::SurfacePoint &surPt) {
+ m_camera = camera;
+ m_surfacePoint = surPt;
+ }
+
+
+ /** Compute the number of samples between the current sample (i.e., the sample imaged at the et
+ * as set in the camera model) and the sample number where the argument et would hit the focal
+ * plane.
+ *
+ * @param et The et at the new postion
+ *
+ * @return Sample off (see description)
+ */
+ double SampleScanCameraGroundMap::SampleOffsetFunctor::operator()(double et) {
+ double lookC[3] = {0.0, 0.0, 0.0};
+ double ux = 0.0;
+ double uy = 0.0;
+ double dx = 0.0;
+ double dy = 0.0;
+
+ // Verify the time is with the cache bounds
+ double startTime = m_camera->cacheStartTime().Et();
+ double endTime = m_camera->cacheEndTime().Et();
+ if (et < startTime || et > endTime) {
+ IString msg = "Ephemeris time passed to SampleOffsetFunctor is not within the image "
+ "cache bounds";
+ throw IException(IException::Programmer, msg, _FILEINFO_);
+ }
+
+ m_camera->Sensor::setTime(et);
+
+ // Set ground
+ if (!m_camera->Sensor::SetGround(m_surfacePoint, false)) {
+ IString msg = "Sensor::SetGround failed for surface point in SampleScanCameraGroundMap.cpp"
+ " SampleOffsetFunctor";
+ throw IException(IException::Programmer, msg, _FILEINFO_);
+ }
+
+ // Calculate the undistorted focal plane coordinates
+
+ m_camera->Sensor::LookDirection(lookC);
+ ux = m_camera->FocalLength() * lookC[0] / lookC[2];
+ uy = m_camera->FocalLength() * lookC[1] / lookC[2];
+
+ // Try to use SetUndistortedFocalPlane, if that does not work use the distorted x,y
+ // under the assumption (bad|good) that extrapolating the distortion
+ // is causing the distorted x to be way off the sensor, and thus not very good anyway.
+ if (m_camera->DistortionMap()->SetUndistortedFocalPlane(ux, uy)) {
+ // Get the natural (distorted focal plane coordinates)
+ dx = m_camera->DistortionMap()->FocalPlaneX();
+ dy = m_camera->DistortionMap()->FocalPlaneY();
+ }
+ else {
+ dx = ux;
+ dy = uy;
+ }
+
+ if (!m_camera->FocalPlaneMap()->SetFocalPlane(dx, dy)) {
+ IString msg = "FocalPlaneMap::SetFocalPlane failed for surface point in "
+ "SampleScanCameraGroundMap.cpp SampleOffsetFunctor";
+ throw IException(IException::Programmer, msg, _FILEINFO_);
+ }
+
+ // return sample offset in pixels
+ return m_camera->FocalPlaneMap()->CenteredDetectorSample();
+ }
+
+
+ /**
+ * TODO Ken document this
+ */
+ SampleScanCameraGroundMap::SensorSurfacePointDistanceFunctor::SensorSurfacePointDistanceFunctor
+ (Isis::Camera *camera, const Isis::SurfacePoint &surPt) {
+ m_camera = camera;
+ m_surfacePoint = surPt;
+ }
+
+ /**
+ * TODO Ken document this
+ */
+ double SampleScanCameraGroundMap::SensorSurfacePointDistanceFunctor::operator()(double et) {
+ double s[3], p[3];
+
+ //verify the time is with the cache bounds
+ double startTime = m_camera->cacheStartTime().Et();
+ double endTime = m_camera->cacheEndTime().Et();
+
+ if (et < startTime || et > endTime) {
+ IString msg = "Ephemeris time passed to SensorSurfacePointDistanceFunctor is not within the "
+ "image cache bounds";
+ throw IException(IException::Programmer, msg, _FILEINFO_);
+ }
+ m_camera->Sensor::setTime(et);
+ if(!m_camera->Sensor::SetGround(m_surfacePoint, false)) {
+ IString msg = "Sensor::SetGround failed for surface point in SampleScanCameraGroundMap.cpp"
+ "SensorSurfacePointDistanceFunctor";
+ }
+ m_camera->instrumentPosition(s);
+ m_camera->Coordinate(p);
+ return sqrt((s[0] - p[0]) * (s[0] - p[0]) +
+ (s[1] - p[1]) * (s[1] - p[1]) +
+ (s[2] - p[2]) * (s[2] - p[2]) ); //distance
+ }
+}
+
+
diff --git a/isis/src/base/objs/SampleScanCameraGroundMap/SampleScanCameraGroundMap.h b/isis/src/base/objs/SampleScanCameraGroundMap/SampleScanCameraGroundMap.h
new file mode 100644
index 0000000000000000000000000000000000000000..24f026508b16a986d1e704164e259ebc3c5aa7d2
--- /dev/null
+++ b/isis/src/base/objs/SampleScanCameraGroundMap/SampleScanCameraGroundMap.h
@@ -0,0 +1,116 @@
+/**
+ * @file
+ * $Revision: 1.6 $
+ * $Date: 2010/06/17 18:59:12 $
+ *
+ * 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.
+ */
+
+#ifndef SampleScanCameraGroundMap_h
+#define SampleScanCameraGroundMap_h
+
+#include "CameraGroundMap.h"
+
+namespace Isis {
+ /** Convert between undistorted focal plane and ground coordinates
+ *
+ * This class is used to convert between undistorted focal plane
+ * coordinates (x/y) in millimeters and ground coordinates lat/lon
+ * for sample scan cameras.
+ *
+ * @ingroup Camera
+ *
+ * @see Camera
+ *
+ * @author 2012-09-12 Ken Edmundson
+ *
+ * @internal
+ *
+ * @history 2012-09-12 Ken Edmundson - Original version
+ * @history 2018-07-14 Makayla Shepherd - Updated documentation
+ *
+ */
+ class SampleScanCameraGroundMap : public CameraGroundMap {
+ public:
+
+ //! Constructor
+ SampleScanCameraGroundMap(Camera *cam);
+
+ //! Destructor
+ virtual ~SampleScanCameraGroundMap();
+
+ virtual bool SetGround(const Latitude &lat, const Longitude &lon);
+ virtual bool SetGround(const SurfacePoint &surfacePoint);
+ virtual bool SetGround(const SurfacePoint &surfacePoint, const int &approxSample);
+
+ virtual bool SetFocalPlane(const double ux, const double uy, const double uz);
+
+
+ protected:
+ enum FindFocalPlaneStatus {
+ Success,
+ BoundingProblem,
+ Failure
+ };
+
+ FindFocalPlaneStatus FindFocalPlane(const int &approxSample,
+ const SurfacePoint &surfacePoint);
+ double FindSpacecraftDistance(int sample, const SurfacePoint &surfacePoint);
+
+ private:
+ /**
+ * @author 2012-05-09 Orrin Thomas
+ *
+ * @internal
+ */
+ class SampleOffsetFunctor : public std::unary_function<double, double > {
+ public:
+
+ SampleOffsetFunctor(Isis::Camera *camera, const Isis::SurfacePoint &surPt);
+ ~SampleOffsetFunctor();
+
+ double operator()(double et);
+
+ private:
+ SurfacePoint m_surfacePoint;
+ Camera *m_camera;
+ };
+
+
+ /**
+ * @author 2012-05-09 Orrin Thomas
+ *
+ * @internal
+ */
+ class SensorSurfacePointDistanceFunctor : public std::unary_function<double, double > {
+ public:
+
+ SensorSurfacePointDistanceFunctor(Isis::Camera *camera, const Isis::SurfacePoint &surPt);
+ ~SensorSurfacePointDistanceFunctor();
+
+ double operator()(double et);
+
+ private:
+ SurfacePoint m_surfacePoint;
+ Camera* m_camera;
+ };
+ };
+
+
+};
+#endif
diff --git a/isis/src/base/objs/SampleScanCameraGroundMap/SampleScanCameraGroundMap.truth b/isis/src/base/objs/SampleScanCameraGroundMap/SampleScanCameraGroundMap.truth
new file mode 100644
index 0000000000000000000000000000000000000000..9652a044c607e045ba0320730fed13a1c51df052
--- /dev/null
+++ b/isis/src/base/objs/SampleScanCameraGroundMap/SampleScanCameraGroundMap.truth
@@ -0,0 +1,3 @@
+This class is mostly tested by the applications and the individual Camera models.
+attempting to back project a point behind the planet into the image (this should throw an error)
+**ERROR** Requested position does not project in camera model; no surface intersection.
diff --git a/isis/src/base/objs/SampleScanCameraGroundMap/backup/SampleScanCameraGroundMap.cpp b/isis/src/base/objs/SampleScanCameraGroundMap/backup/SampleScanCameraGroundMap.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..5c1c1a8989b304428c2f7973322a7f93347bdc74
--- /dev/null
+++ b/isis/src/base/objs/SampleScanCameraGroundMap/backup/SampleScanCameraGroundMap.cpp
@@ -0,0 +1,693 @@
+/**
+ * @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 "SampleScanCameraGroundMap.h"
+
+#include <iostream>
+#include <iomanip>
+
+#include <QTime>
+#include <QList>
+#include <QFile>
+#include <QTextStream>
+
+#include "IException.h"
+#include "IString.h"
+#include "Camera.h"
+#include "CameraDistortionMap.h"
+#include "CameraFocalPlaneMap.h"
+#include "Distance.h"
+#include "SampleScanCameraDetectorMap.h"
+#include "iTime.h"
+#include "Latitude.h"
+#include "Longitude.h"
+#include "Statistics.h"
+#include "SurfacePoint.h"
+#include "FunctionTools.h"
+
+
+using namespace std;
+using namespace Isis;
+
+//bool ptXLessThan(const QList<double> l1, const QList<double> l2);
+
+/**
+ * @author 2012-05-09 Orrin Thomas
+ *
+ * @internal
+ */
+class SampleOffsetFunctor :
+ public std::unary_function<double, double > {
+ public:
+
+ SampleOffsetFunctor(Isis::Camera *camera, const Isis::SurfacePoint &surPt) {
+ m_camera = camera;
+ surfacePoint = surPt;
+ }
+
+
+ ~SampleOffsetFunctor() {}
+
+
+ /** Compute the number of samples between the current sample (i.e., the sample imaged at the et
+ * as set in the camera model) and the sample number where the argument et would hit the focal
+ * plane.
+ *
+ * @param et The et at the new postion
+ *
+ * @return Sample off (see description)
+ */
+ double operator()(double et) {
+ double lookC[3] = {0.0, 0.0, 0.0};
+ double ux = 0.0;
+ double uy = 0.0;
+ double dx = 0.0;
+ double dy = 0.0;
+
+ // Verify the time is with the cache bounds
+ double startTime = m_camera->cacheStartTime().Et();
+ double endTime = m_camera->cacheEndTime().Et();
+ if (et < startTime || et > endTime) {
+ IString msg = "Ephemeris time passed to SampleOffsetFunctor is not within the image "
+ "cache bounds";
+ throw IException(IException::Programmer, msg, _FILEINFO_);
+ }
+
+ m_camera->Sensor::setTime(et);
+
+ // Set ground
+ if (!m_camera->Sensor::SetGround(surfacePoint, false)) {
+ IString msg = "Sensor::SetGround failed for surface point in SampleScanCameraGroundMap.cpp"
+ " SampleOffsetFunctor";
+ throw IException(IException::Programmer, msg, _FILEINFO_);
+ }
+
+ // Calculate the undistorted focal plane coordinates
+
+ m_camera->Sensor::LookDirection(lookC);
+ ux = m_camera->FocalLength() * lookC[0] / lookC[2];
+ uy = m_camera->FocalLength() * lookC[1] / lookC[2];
+
+ // Try to use SetUndistortedFocalPlane, if that does not work use the distorted x,y
+ // under the assumption (bad|good) that extrapolating the distortion
+ // is causing the distorted x to be way off the sensor, and thus not very good anyway.
+ if (m_camera->DistortionMap()->SetUndistortedFocalPlane(ux, uy)) {
+ // Get the natural (distorted focal plane coordinates)
+ dx = m_camera->DistortionMap()->FocalPlaneX();
+ dy = m_camera->DistortionMap()->FocalPlaneY();
+ }
+ else {
+ dx = ux;
+ dy = uy;
+ }
+
+// if (!m_camera->FocalPlaneMap()->SetFocalPlane(dx, dy)) {
+// IString msg = "FocalPlaneMap::SetFocalPlane failed for surface point in "
+// "SampleScanCameraGroundMap.cpp SampleOffsetFunctor";
+// throw IException(IException::Programmer, msg, _FILEINFO_);
+// }
+
+ // return sample offset in pixels
+ return (dx/0.005);
+ }
+
+/*
+ double operator()(double et) {
+ double lookC[3] = {0.0, 0.0, 0.0};
+ double ux = 0.0;
+ double uy = 0.0;
+ double dx = 0.0;
+ double dy = 0.0;
+
+ // Verify the time is with the cache bounds
+ double startTime = m_camera->cacheStartTime().Et();
+ double endTime = m_camera->cacheEndTime().Et();
+ if (et < startTime || et > endTime) {
+ IString msg = "Ephemeris time passed to SampleOffsetFunctor is not within the image "
+ "cache bounds";
+ throw IException(IException::Programmer, msg, _FILEINFO_);
+ }
+
+ m_camera->Sensor::setTime(et);
+
+ // Set ground
+ if (!m_camera->Sensor::SetGround(surfacePoint, false)) {
+ IString msg = "Sensor::SetGround failed for surface point in SampleScanCameraGroundMap.cpp"
+ " SampleOffsetFunctor";
+ throw IException(IException::Programmer, msg, _FILEINFO_);
+ }
+
+ // Calculate the undistorted focal plane coordinates
+
+ m_camera->Sensor::LookDirection(lookC);
+ ux = m_camera->FocalLength() * lookC[0] / lookC[2];
+ uy = m_camera->FocalLength() * lookC[1] / lookC[2];
+
+ // Try to use SetUndistortedFocalPlane, if that does not work use the distorted x,y
+ // under the assumption (bad|good) that extrapolating the distortion
+ // is causing the distorted x to be way off the sensor, and thus not very good anyway.
+ if (m_camera->DistortionMap()->SetUndistortedFocalPlane(ux, uy)) {
+ // Get the natural (distorted focal plane coordinates)
+ dx = m_camera->DistortionMap()->FocalPlaneX();
+ dy = m_camera->DistortionMap()->FocalPlaneY();
+ }
+ else {
+ dx = ux;
+ dy = uy;
+ }
+
+ if (!m_camera->FocalPlaneMap()->SetFocalPlane(dx, dy)) {
+ IString msg = "FocalPlaneMap::SetFocalPlane failed for surface point in "
+ "SampleScanCameraGroundMap.cpp SampleOffsetFunctor";
+ throw IException(IException::Programmer, msg, _FILEINFO_);
+ }
+
+ // Return the offset
+// return (m_camera->FocalPlaneMap()->DetectorSampleOffset() -
+// m_camera->FocalPlaneMap()->DetectorSample());
+ return (m_camera->FocalPlaneMap()->DetectorSampleOffset() -
+ m_camera->FocalPlaneMap()->DetectorSample());
+ }
+*/
+ private:
+ SurfacePoint surfacePoint;
+ Camera* m_camera;
+};
+
+
+/**
+ * @author 2012-05-09 Orrin Thomas
+ *
+ * @internal
+ */
+class SensorSurfacePointDistanceFunctor :
+ public std::unary_function<double, double > {
+
+ public:
+ SensorSurfacePointDistanceFunctor(Isis::Camera *camera, const Isis::SurfacePoint &surPt) {
+ m_camera = camera;
+ surfacePoint = surPt;
+ }
+
+
+ ~SensorSurfacePointDistanceFunctor() {}
+
+
+ double operator()(double et) {
+ double s[3], p[3];
+
+ //verify the time is with the cache bounds
+ double startTime = m_camera->cacheStartTime().Et();
+ double endTime = m_camera->cacheEndTime().Et();
+
+ if (et < startTime || et > endTime) {
+ IString msg = "Ephemeris time passed to SensorSurfacePointDistanceFunctor is not within the image "
+ "cache bounds";
+ throw IException(IException::Programmer, msg, _FILEINFO_);
+ }
+ m_camera->Sensor::setTime(et);
+ if(!m_camera->Sensor::SetGround(surfacePoint, false)) {
+ IString msg = "Sensor::SetGround failed for surface point in SampleScanCameraGroundMap.cpp"
+ "SensorSurfacePointDistanceFunctor";
+ }
+ m_camera->instrumentPosition(s);
+ m_camera->Coordinate(p);
+ return sqrt((s[0] - p[0]) * (s[0] - p[0]) +
+ (s[1] - p[1]) * (s[1] - p[1]) +
+ (s[2] - p[2]) * (s[2] - p[2]) ); //distance
+ }
+
+ private:
+ SurfacePoint surfacePoint;
+ Camera* m_camera;
+};
+
+
+namespace Isis {
+
+ /** Constructor
+ *
+ * @param cam pointer to camera model
+ */
+ SampleScanCameraGroundMap::SampleScanCameraGroundMap(Camera *cam) : CameraGroundMap(cam) {}
+
+
+ /** Destructor
+ *
+ */
+ SampleScanCameraGroundMap::~SampleScanCameraGroundMap() {}
+
+ /** Compute undistorted focal plane coordinate from ground position
+ *
+ * @param lat planetocentric latitude in degrees
+ * @param lon planetocentric longitude in degrees
+ *
+ * @return conversion was successful
+ */
+ bool SampleScanCameraGroundMap::SetGround(const Latitude &lat,
+ const Longitude &lon) {
+ Distance radius(p_camera->LocalRadius(lat, lon));
+
+ if (radius.isValid()) {
+ return SetGround(SurfacePoint(lat, lon, radius));
+ }
+ else {
+ return false;
+ }
+ }
+
+
+ /** Compute undistorted focal plane coordinate from ground position
+ *
+ * @param lat planetocentric latitude in degrees
+ * @param lon planetocentric longitude in degrees
+ * @param radius local radius in meters
+ *
+ * @return conversion was successful
+ */
+ bool SampleScanCameraGroundMap::SetGround(const SurfacePoint &surfacePoint,
+ const int &approxSample) {
+ FindFocalPlaneStatus status = FindFocalPlane(approxSample, surfacePoint);
+ if (status == Success)
+ return true;
+
+ return false;
+ }
+
+
+ /** Compute undistorted focal plane coordinate from ground position
+ *
+ * @param surfacePoint 3D point on the surface of the planet
+ *
+ * @return conversion was successful
+ */
+ bool SampleScanCameraGroundMap::SetGround(const SurfacePoint &surfacePoint) {
+ FindFocalPlaneStatus status = FindFocalPlane(-1, surfacePoint);
+
+ if (status == Success)
+ return true;
+
+ return false;
+ }
+
+
+ double SampleScanCameraGroundMap::FindSpacecraftDistance(int sample,
+ const SurfacePoint &surfacePoint) {
+
+ CameraDetectorMap *detectorMap = p_camera->DetectorMap();
+ detectorMap->SetParent(sample, p_camera->ParentLines() / 2);
+ if (!p_camera->Sensor::SetGround(surfacePoint, false)) {
+ return DBL_MAX;
+ }
+
+ return p_camera->SlantDistance();
+ }
+
+
+ SampleScanCameraGroundMap::FindFocalPlaneStatus
+ SampleScanCameraGroundMap::FindFocalPlane(const int &approxSample,
+ const SurfacePoint &surfacePoint) {
+
+ double approxTime=0;
+ double approxOffset=0;
+ double lookC[3] = {0.0, 0.0, 0.0};
+ double ux = 0.0;
+ double uy = 0.0;
+ const double cacheStart = p_camera->Spice::cacheStartTime().Et();
+ const double cacheEnd = p_camera->Spice::cacheEndTime().Et();
+
+ double sampleRate = ((SampleScanCameraDetectorMap *)p_camera->DetectorMap())->SampleRate();
+
+ if (sampleRate == 0.0)
+ return Failure;
+
+ SampleOffsetFunctor offsetFunc(p_camera,surfacePoint);
+ SensorSurfacePointDistanceFunctor distanceFunc(p_camera,surfacePoint);
+
+ // #1 try use secant method using midsample as start point
+
+ // if an approximate point is given use that as a start point for the secant method root search
+ //if (approxSample > 0) {
+ //convert the approxSample to an approximate time and offset
+ double midSample = p_camera->ParentSamples()/2.0;
+ double midLine = p_camera->ParentLines()/2.0;
+ p_camera->DetectorMap()->SetParent(midSample, midLine);
+ approxTime = p_camera->time().Et();
+
+ approxOffset = offsetFunc(approxTime);
+
+ if (fabs(approxOffset) < 1e-2) { //no need to iteratively improve this root, it's good enough
+ p_camera->Sensor::setTime(approxTime);
+ //check to make sure the point isn't behind the planet
+ if (!p_camera->Sensor::SetGround(surfacePoint, true)) {
+ return Failure;
+ }
+ p_camera->Sensor::LookDirection(lookC);
+ ux = p_camera->FocalLength() * lookC[0] / lookC[2];
+ uy = p_camera->FocalLength() * lookC[1] / lookC[2];
+
+ p_focalPlaneX = ux;
+ p_focalPlaneY = uy;
+
+ return Success;
+ }
+
+ double fl, fh, xl, xh;
+
+ //starting times for the secant method, kept within the domain of the cache
+ xh = approxTime;
+ if (xh + sampleRate < cacheEnd) {
+ xl = xh + sampleRate;
+ }
+ else {
+ xl = xh - sampleRate;
+ }
+double etGuess;
+ //starting offsets
+ fh = approxOffset; //the first is already calculated
+ fl = offsetFunc(xl);
+ double fprevious = approxOffset;
+
+ // Iterate to refine the given approximate time that the instrument imaged the ground point
+ for (int j=0; j < 10; j++) {
+ if (fl-fh == 0.0)
+ break;
+
+ etGuess = xl + (xh - xl) * fl / (fl - fh);
+
+ if (etGuess < cacheStart)
+ etGuess = cacheStart;
+
+ if (etGuess > cacheEnd)
+ etGuess = cacheEnd;
+
+ double f = offsetFunc(etGuess);
+
+ // if f is not changing anymore, we stop iterating
+ double convergedcheck;
+ if (f != 0.0)
+ convergedcheck = fabs(f-fprevious)/fabs(f);
+ else
+ convergedcheck = fabs(f-fprevious);
+// if (fabs(convergedcheck) < 1e-5) {
+ if (fabs(convergedcheck) < 1e-3) {
+ // now, if f is less than our tolerance, we're done
+ // if f is not less than our tolerance, we jump down to the next step, determining the
+ // coefficients of a quadratic with a "reasonable" interval, which we have hopefully
+ // narrowed down in the secant method
+// if (fabs(f) < 1e-2) {
+ if (fabs(f) < 1.0) {
+ p_camera->Sensor::setTime(etGuess);
+
+ // check to make sure the point isn't behind the planet
+ if (!p_camera->Sensor::SetGround(surfacePoint, true))
+ break;
+
+ p_camera->Sensor::LookDirection(lookC);
+ ux = p_camera->FocalLength() * lookC[0] / lookC[2];
+ uy = p_camera->FocalLength() * lookC[1] / lookC[2];
+
+ p_focalPlaneX = ux;
+ p_focalPlaneY = uy;
+
+ return Success;
+ }
+ else
+ break;
+ }
+
+ // eliminate node farthest away from current best guess and continue
+ if (fabs( xl- etGuess) > fabs( xh - etGuess)) {
+ xl = etGuess;
+ fl = f;
+ }
+ else {
+ xh = etGuess;
+ fh = f;
+ }
+ fprevious = f;
+ }
+
+ return Failure;
+ }
+
+
+ /* KLE 2016-09-12 below is the rest of the code from LineScanCameraGroundMap, hoping secant method
+ * is initially good enough for pan
+ //
+ // no estimate given for the approximate line--quadratic approximation root finding
+ //
+ // The offsets are typically quadratic, so three points will be used to approximate a quadratic
+ // as a first order attempt to find the root location(s)
+
+ // The three nodes to be used to approximate the quadratic
+ double offsetNodes[3];
+ double timeNodes[3];
+ double timeAverage;
+ double scale;
+ QList<double> root;
+ QList<double> offset;
+ QList<double> dist;
+
+ timeNodes[0] = cacheStart;
+ timeNodes[2] = cacheEnd;
+ timeNodes[1] = (cacheStart+cacheEnd) / 2.0; //middle time
+
+ double quadPoly[3];
+ double temp;
+
+ for (int i=0; i<3; i++) {
+ offsetNodes[i] = offsetFunc(timeNodes[i]);
+ }
+
+ //centralize and normalize the data for stability in root finding
+ timeAverage = (timeNodes[0] + timeNodes[1] + timeNodes[2]) / 3.0;
+ timeNodes[0] -= timeAverage;
+ timeNodes[1] -= timeAverage;
+ timeNodes[2] -= timeAverage;
+
+ scale = 1.0 / sqrt((timeNodes[0] - timeNodes[2]) *
+ (timeNodes[0] - timeNodes[2]) +
+ (offsetNodes[0] - offsetNodes[2]) *
+ (offsetNodes[0] - offsetNodes[2]));
+
+ timeNodes[0] *= scale;
+ timeNodes[1] *= scale;
+ timeNodes[2] *= scale;
+
+ offsetNodes[0] *= scale;
+ offsetNodes[1] *= scale;
+ offsetNodes[2] *= scale;
+
+ // Use lagrange interpolating polynomials to find the coefficients of the quadratic,
+ // there are many ways to do this; I chose to do it this way because it is pretty straight
+ // forward and cheap
+ quadPoly[0] = quadPoly[1] = quadPoly[2] = 0.0;
+
+ temp = offsetNodes[0] / ((timeNodes[0] - timeNodes[1]) * (timeNodes[0] - timeNodes[2]));
+ quadPoly[0] += temp;
+ quadPoly[1] += temp * (-timeNodes[1] - timeNodes[2]);
+ quadPoly[2] += temp * timeNodes[1] * timeNodes[2];
+
+ temp = offsetNodes[1] / ((timeNodes[1] - timeNodes[0]) * (timeNodes[1] - timeNodes[2]));
+ quadPoly[0] += temp;
+ quadPoly[1] += temp * (-timeNodes[0] - timeNodes[2]);
+ quadPoly[2] += temp * timeNodes[0] * timeNodes[2];
+
+ temp = offsetNodes[2] / ((timeNodes[2] - timeNodes[0]) * (timeNodes[2] - timeNodes[1]));
+ quadPoly[0] += temp;
+ quadPoly[1] += temp * (-timeNodes[0] - timeNodes[1]);
+ quadPoly[2] += temp * timeNodes[0] * timeNodes[1];
+
+ // Now that we have the coefficients of the quadratic look for roots
+ // (see Numerical Recipes Third Edition page 227)
+ temp = quadPoly[1] * quadPoly[1] - 4.0 * quadPoly[0] * quadPoly[2]; //discriminant
+ if (temp < 0.0) {
+ return Failure; //there are apparently not any real roots on this image
+ }
+
+ if (quadPoly[1] >= 0.0) {
+ temp = -0.5 * (quadPoly[1] + sqrt(temp));
+ }
+ else {
+ temp = -0.5 * (quadPoly[1] - sqrt(temp));
+ }
+
+ if (quadPoly[0] != 0.0) {
+ root.push_back(temp/quadPoly[0]);
+ }
+
+ if (quadPoly[2] != 0.0) {
+ root.push_back(quadPoly[2]/temp);
+ }
+
+ //check to see if the roots are in the time interval of the cache
+ for (int i=root.size()-1; i>=0; i--) {
+ if ( root[i] < timeNodes[0] || root[i] > timeNodes[2] ) {
+ root.removeAt(i);
+ }
+ }
+
+ //return the calculated roots to the original system
+ for (int i=0; i<root.size(); i++) {
+ root[i] = root[i]/scale + timeAverage;
+ }
+
+ if (root.size() == 0) {
+ return Failure; //there are apparently not any roots on this image
+ }
+
+ // At the time of this writing ISIS made no attempt to support any sensors that were not "1 to 1".
+ // Meaning that imaged the same point on the ground in multiple lines of the image
+ // therefore we must somehow reduce multiple possible roots to a single one, the legacy
+ // code (replaced with this code) did this based on distance from the sensor to the target
+ // the shortest distance being the winner. For legacy consistency I have used the same logic below.
+
+ for (int i=0; i<root.size(); i++) { //Offset/dist calculation loop
+ dist << distanceFunc(root[i]);
+ offset << offsetFunc(root[i]);
+ }
+
+ // Save the root with the smallest dist
+ int j=0;
+ for (int i=1, j=0; i<root.size(); i++) {
+ if (dist[i] < dist[j]) j=i;
+ }
+
+ approxTime = root[j]; // Now we have our time
+ approxOffset = offset[j]; // The offsets are saved to avoid recalculating it later
+
+ if (fabs(approxOffset) < 1.0e-2) { // No need to iteratively improve this root, it's good enough
+ p_camera->Sensor::setTime(approxTime);
+
+ // Check to make sure the point isn't behind the planet
+ if (!p_camera->Sensor::SetGround(surfacePoint, true)) {
+ return Failure;
+ }
+
+ p_camera->Sensor::LookDirection(lookC);
+ ux = p_camera->FocalLength() * lookC[0] / lookC[2];
+ uy = p_camera->FocalLength() * lookC[1] / lookC[2];
+
+ p_focalPlaneX = ux;
+ p_focalPlaneY = uy;
+
+ return Success;
+ }
+
+ //
+ // no estimate given for the approximate line, quadratic approximation insufficient, use Brent's
+ // method
+ //
+ // The offsets are typically quadratic, so three points will be used to approximate a quadratic
+ // as a first order attempt to find the root location(s)
+
+ // The above sections are sufficient for finding the correct times for the vast majority of
+ // back projection solutions. The following section exists for those few particularly
+ // stuborn problems. They are typically characterised by being significantly non-quadratic.
+ // Examples mostly include images with very long exposure times.
+ //
+ // Further, while the preceeding sections is intended to be fast, this section is intended to be
+ // thurough. Brents method (Numerical Recipies 454 - 456) will be used to find all the roots,
+ // that are bracketed by the five points defined in the quadratic solution method above.
+ // The root with the shortest distance to the camera will be returned
+
+ // Get everything ordered for iteration combine and sort the five already defined points
+ QList <QList <double> > pts;
+
+ for (int i=0; i<3; i++) {
+ QList <double> pt;
+ pt << timeNodes[i] / scale + timeAverage;
+ pt << offsetNodes[i] / scale;
+ pts << pt;
+ }
+
+ for (int i=0; i<root.size(); i++) {
+ QList <double> pt;
+ pt << root[i];
+ pt << offset[i];
+ pts << pt;
+ }
+
+ qSort(pts.begin(), pts.end(), ptXLessThan);
+
+ root.clear();
+ for (int i=1; i<pts.size(); i++) {
+ // If the signs of the two offsets are not the same they bracket at least one root
+ if ( (pts[i-1][1] > 0) - (pts[i-1][1] < 0) != (pts[i][1] > 0) - (pts[i][1] < 0) ) {
+ double temp;
+ if (FunctionTools::brentsRootFinder <LineOffsetFunctor> (offsetFunc, pts[i-1], pts[i],
+ 1.0e-3, 200, temp)) {
+ root << temp;
+
+ }
+ }
+ }
+
+ // Discard any roots that are looking through the planet
+ for (int i = root.size()-1; i>=0; i--) {
+ p_camera->Sensor::setTime(root[i]);
+ //check to make sure the point isn't behind the planet
+ if (!p_camera->Sensor::SetGround(surfacePoint, true)) {
+ root.removeAt(i);
+ }
+ }
+
+ // If none of the roots remain...
+ if (root.size() == 0) {
+ return Failure;
+ }
+
+ // Choose from the remaining roots, the solution with the smallest distance to target
+ dist.clear();
+ offset.clear();
+ for (int i=0; i<root.size(); i++) { // Offset/dist calculation loop
+ dist << distanceFunc(root[i]);
+ offset << offsetFunc(root[i]);
+ }
+
+ // Save the root with the smallest dist
+ for (int i=1, j=0; i<root.size(); i++) {
+ if (dist[i] < dist[j]) j=i;
+ }
+
+ p_camera->Sensor::setTime(root[j]);
+
+ // No need to make sure the point isn't behind the planet, it was done above
+ p_camera->Sensor::LookDirection(lookC);
+ ux = p_camera->FocalLength() * lookC[0] / lookC[2];
+ uy = p_camera->FocalLength() * lookC[1] / lookC[2];
+
+ p_focalPlaneX = ux;
+ p_focalPlaneY = uy;
+
+ return Success;
+ }
+*/
+}
+
+
+//bool ptXLessThan(const QList<double> l1, const QList<double> l2) {
+// return l1[0] < l2[0];
+//}
+
diff --git a/isis/src/base/objs/SampleScanCameraGroundMap/backup/SampleScanCameraGroundMap.h b/isis/src/base/objs/SampleScanCameraGroundMap/backup/SampleScanCameraGroundMap.h
new file mode 100644
index 0000000000000000000000000000000000000000..5f134d22944e1141ba68e6ce5703a9d57bf67fe3
--- /dev/null
+++ b/isis/src/base/objs/SampleScanCameraGroundMap/backup/SampleScanCameraGroundMap.h
@@ -0,0 +1,73 @@
+/**
+ * @file
+ * $Revision: 1.6 $
+ * $Date: 2010/06/17 18:59:12 $
+ *
+ * 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.
+ */
+
+#ifndef SampleScanCameraGroundMap_h
+#define SampleScanCameraGroundMap_h
+
+#include "CameraGroundMap.h"
+
+namespace Isis {
+ /** Convert between undistorted focal plane and ground coordinates
+ *
+ * This class is used to convert between undistorted focal plane
+ * coordinates (x/y) in millimeters and ground coordinates lat/lon
+ * for sample scan cameras.
+ *
+ * @ingroup Camera
+ *
+ * @see Camera
+ *
+ * @author 2012-09-12 Ken Edmundson
+ *
+ * @internal
+ *
+ * @history 2012-09-12 Ken Edmundson - Original version
+ *
+ */
+ class SampleScanCameraGroundMap : public CameraGroundMap {
+ public:
+
+ //! Constructor
+ SampleScanCameraGroundMap(Camera *cam);
+
+ //! Destructor
+ virtual ~SampleScanCameraGroundMap();
+
+ virtual bool SetGround(const Latitude &lat, const Longitude &lon);
+ virtual bool SetGround(const SurfacePoint &surfacePoint);
+ virtual bool SetGround(const SurfacePoint &surfacePoint, const int &approxSample);
+
+ protected:
+ enum FindFocalPlaneStatus {
+ Success,
+ BoundingProblem,
+ Failure
+ };
+
+ FindFocalPlaneStatus FindFocalPlane(const int &approxSample,
+ const SurfacePoint &surfacePoint);
+ double FindSpacecraftDistance(int sample, const SurfacePoint &surfacePoint);
+
+ };
+};
+#endif
diff --git a/isis/src/base/objs/SampleScanCameraGroundMap/unitTest.cpp b/isis/src/base/objs/SampleScanCameraGroundMap/unitTest.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e46e87e23a65958e4295a715cfb1b39a3fbade87
--- /dev/null
+++ b/isis/src/base/objs/SampleScanCameraGroundMap/unitTest.cpp
@@ -0,0 +1,26 @@
+#include "Preference.h"
+#include <iostream>
+#include "Preference.h"
+#include "IException.h"
+#include "CameraPointInfo.h"
+
+
+using namespace std;
+using namespace Isis;
+int main() {
+ Isis::Preference::Preferences(true);
+ cerr << "This class is mostly tested by the applications and the individual Camera models." << endl;
+
+ //create a camera for the test cube
+ QString inputFile = "$base/testData/LRONAC_M139722912RE_cropped.cub";
+ CameraPointInfo campt;
+ campt.SetCube(inputFile);
+
+ cerr << "attempting to back project a point behind the planet into the image (this should throw an error)\n";
+ try {
+ campt.SetGround(90.0, 0.0, true);
+
+ }catch (IException &e) {
+ e.print();
+ }
+}
diff --git a/isis/src/base/objs/SampleScanCameraSkyMap/Makefile b/isis/src/base/objs/SampleScanCameraSkyMap/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..f122bc88227c5c7ebd108dea5d339d1d2e074d82
--- /dev/null
+++ b/isis/src/base/objs/SampleScanCameraSkyMap/Makefile
@@ -0,0 +1,7 @@
+ifeq ($(ISISROOT), $(BLANK))
+.SILENT:
+error:
+ echo "Please set ISISROOT";
+else
+ include $(ISISROOT)/make/isismake.objs
+endif
\ No newline at end of file
diff --git a/isis/src/base/objs/SampleScanCameraSkyMap/SampleScanCameraSkyMap.cpp b/isis/src/base/objs/SampleScanCameraSkyMap/SampleScanCameraSkyMap.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..db25f5b672aa1417496c2b37285c0759069d0428
--- /dev/null
+++ b/isis/src/base/objs/SampleScanCameraSkyMap/SampleScanCameraSkyMap.cpp
@@ -0,0 +1,153 @@
+/**
+ * @file
+ * $Revision: 1.1.1.1 $
+ * $Date: 2006/10/31 23:18:08 $
+ *
+ * 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 "SampleScanCameraSkyMap.h"
+#include "CameraFocalPlaneMap.h"
+#include "CameraDistortionMap.h"
+#include "iTime.h"
+#include "SampleScanCameraDetectorMap.h"
+
+namespace Isis {
+
+ /**
+ * Constructor
+ *
+ * @param parent The parent camera
+ */
+ SampleScanCameraSkyMap(Camera *parent) : CameraSkyMap(parent) {};
+
+ /**
+ * Destructor
+ */
+ ~SampleScanCameraSkyMap() {};
+
+ /** Compute undistorted focal plane coordinate from ra/dec
+ *
+ * @param ra right ascension in degrees
+ * @param dec declination in degrees
+ *
+ * @return conversion was successful
+ * @todo what happens if we are looking behind the focal plane?????
+ * @todo what happens if we are looking parallel to the focal plane??
+ * @todo can lookC[2] == zero imply parallel
+ * @todo can this all be solved by restricting the physical size of
+ * the focal plane?
+ */
+ bool SampleScanCameraSkyMap::SetSky(const double ra, const double dec) {
+ // Get beginning bounding time and offset for iterative loop
+ p_camera->Sensor::setTime(p_camera->Spice::cacheStartTime());
+ p_camera->Sensor::SetRightAscensionDeclination(ra, dec);
+
+ double lookC[3];
+ p_camera->Sensor::LookDirection(lookC);
+ double ux = p_camera->FocalLength() * lookC[0] / lookC[2];
+ double uy = p_camera->FocalLength() * lookC[1] / lookC[2];
+
+ CameraDistortionMap *distortionMap = p_camera->DistortionMap();
+ if(!distortionMap->SetUndistortedFocalPlane(ux, uy)) return false;
+ double dx = distortionMap->FocalPlaneX();
+ double dy = distortionMap->FocalPlaneY();
+
+ CameraFocalPlaneMap *focalMap = p_camera->FocalPlaneMap();
+ if(!focalMap->SetFocalPlane(dx, dy)) return false;
+ double startOffset = focalMap->DetectorSampleOffset() -
+ focalMap->DetectorSample();
+
+ // Get ending bounding time and offset for iterative loop
+ p_camera->Sensor::setTime(p_camera->Spice::cacheEndTime());
+ p_camera->Sensor::SetRightAscensionDeclination(ra, dec);
+
+ p_camera->Sensor::LookDirection(lookC);
+ ux = p_camera->FocalLength() * lookC[0] / lookC[2];
+ uy = p_camera->FocalLength() * lookC[1] / lookC[2];
+
+ if(!distortionMap->SetUndistortedFocalPlane(ux, uy)) return false;
+ dx = distortionMap->FocalPlaneX();
+ dy = distortionMap->FocalPlaneY();
+
+ if(!focalMap->SetFocalPlane(dx, dy)) return false;
+ double endOffset = focalMap->DetectorSampleOffset() -
+ focalMap->DetectorSample();
+
+ // Make sure we are in the image
+ if((startOffset < 0.0) && (endOffset < 0.0)) return false;
+ if((startOffset > 0.0) && (endOffset > 0.0)) return false;
+
+ // Get everything ordered for iteration
+ double fl, fh, xl, xh;
+ if(startOffset < endOffset) {
+ fl = startOffset;
+ fh = endOffset;
+ xl = p_camera->Spice::cacheStartTime().Et();
+ xh = p_camera->Spice::cacheEndTime().Et();
+ }
+ else {
+ fl = endOffset;
+ fh = startOffset;
+ xl = p_camera->Spice::cacheEndTime().Et();
+ xh = p_camera->Spice::cacheStartTime().Et();
+ }
+
+ // Iterate to find the time at which the instrument imaged the ground point
+ SampleScanCameraDetectorMap *detectorMap =
+ (SampleScanCameraDetectorMap *) p_camera->DetectorMap();
+ double timeTol = detectorMap->SampleRate() / 10.0;
+ for(int j = 0; j < 30; j++) {
+ double etGuess = xl + (xh - xl) * fl / (fl - fh);
+ p_camera->Sensor::setTime(etGuess);
+ p_camera->Sensor::SetRightAscensionDeclination(ra, dec);
+ p_camera->Sensor::LookDirection(lookC);
+ ux = p_camera->FocalLength() * lookC[0] / lookC[2];
+ uy = p_camera->FocalLength() * lookC[1] / lookC[2];
+
+ if(!distortionMap->SetUndistortedFocalPlane(ux, uy)) return false;
+ dx = distortionMap->FocalPlaneX();
+ dy = distortionMap->FocalPlaneY();
+
+ if(!focalMap->SetFocalPlane(dx, dy)) return false;
+ double f = focalMap->DetectorSampleOffset() -
+ focalMap->DetectorSample();
+
+ double delTime;
+ if(f < 0.0) {
+ delTime = xl - etGuess;
+ xl = etGuess;
+ fl = f;
+ }
+ else {
+ delTime = xh - etGuess;
+ xh = etGuess;
+ fh = f;
+ }
+
+ // See if we converged on the point so set up the undistorted
+ // focal plane values and return
+ if(fabs(delTime) < timeTol || f == 0.0) {
+ p_focalPlaneX = ux;
+ p_focalPlaneY = uy;
+ return true;
+ }
+ }
+ return false;
+ }
+}
diff --git a/isis/src/base/objs/SampleScanCameraSkyMap/SampleScanCameraSkyMap.h b/isis/src/base/objs/SampleScanCameraSkyMap/SampleScanCameraSkyMap.h
new file mode 100644
index 0000000000000000000000000000000000000000..64e1e158ce33c4e856e2d5e3e5e4fb73345d511e
--- /dev/null
+++ b/isis/src/base/objs/SampleScanCameraSkyMap/SampleScanCameraSkyMap.h
@@ -0,0 +1,56 @@
+/**
+ * @file
+ * $Revision: 1.1.1.1 $
+ * $Date: 2006/10/31 23:18:08 $
+ *
+ * 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.
+ */
+
+#ifndef SampleScanCameraSkyMap_h
+#define SampleScanCameraSkyMap_h
+
+#include "CameraSkyMap.h"
+
+namespace Isis {
+ /** Convert between undistorted focal plane and ra/dec coordinates
+ *
+ * This class is used to convert between undistorted focal plane
+ * coordinates (x/y) in millimeters and sky (ra/dec). This
+ * class handles the case of sample scan cameras.
+ *
+ * @ingroup Camera
+ *
+ * @see Camera
+ *
+ * @author 2012-09-12 Ken Edmundson
+ *
+ * @internal
+ * @history 2012-09-12 Ken Edmundson - Original version.
+ *
+ */
+ class SampleScanCameraSkyMap : public CameraSkyMap {
+ public:
+
+ SampleScanCameraSkyMap(Camera *parent) : CameraSkyMap(parent);
+
+ virtual ~SampleScanCameraSkyMap();
+
+ virtual bool SetSky(const double ra, const double dec);
+ };
+};
+#endif
diff --git a/isis/src/base/objs/SampleScanCameraSkyMap/SampleScanCameraSkyMap.truth b/isis/src/base/objs/SampleScanCameraSkyMap/SampleScanCameraSkyMap.truth
new file mode 100644
index 0000000000000000000000000000000000000000..6347fe6d38f458077e14c2efcd5624b000c19da3
--- /dev/null
+++ b/isis/src/base/objs/SampleScanCameraSkyMap/SampleScanCameraSkyMap.truth
@@ -0,0 +1 @@
+This class will be tested by the applications and the individual Camera models.
diff --git a/isis/src/base/objs/SampleScanCameraSkyMap/unitTest.cpp b/isis/src/base/objs/SampleScanCameraSkyMap/unitTest.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..eddcf72b5c1d9bf5af9385cff2ee61cac3e8428d
--- /dev/null
+++ b/isis/src/base/objs/SampleScanCameraSkyMap/unitTest.cpp
@@ -0,0 +1,8 @@
+#include "Preference.h"
+#include <iostream>
+
+using namespace std;
+int main() {
+ Isis::Preference::Preferences(true);
+ cout << "This class will be tested by the applications and the individual Camera models." << endl;
+}
diff --git a/isis/src/base/objs/VariableLineScanCameraDetectorMap/VariableLineScanCameraDetectorMap.cpp b/isis/src/base/objs/VariableLineScanCameraDetectorMap/VariableLineScanCameraDetectorMap.cpp
index 93a0bc2538343ff0e54aeeeeaf76b931b9b617c3..0961f633b2416578d941d8719284822c761ad5b2 100644
--- a/isis/src/base/objs/VariableLineScanCameraDetectorMap/VariableLineScanCameraDetectorMap.cpp
+++ b/isis/src/base/objs/VariableLineScanCameraDetectorMap/VariableLineScanCameraDetectorMap.cpp
@@ -75,7 +75,7 @@ namespace Isis {
double currEt = p_camera->time().Et();
int rateIndex = p_lineRates.size() - 1;
- while (rateIndex >= 0 && currEt < p_lineRates[rateIndex].GetStartEt() - 0.5) {
+ while (rateIndex > 0 && currEt < p_lineRates[rateIndex].GetStartEt()) {
rateIndex --;
}
diff --git a/isis/src/base/objs/VariableLineScanCameraDetectorMap/VariableLineScanCameraDetectorMap.h b/isis/src/base/objs/VariableLineScanCameraDetectorMap/VariableLineScanCameraDetectorMap.h
index fa70680cab253f7ccd84a0b85275549be534f863..f18edad377b99ce5fe0b0c06e75d5b67f36dcdc0 100644
--- a/isis/src/base/objs/VariableLineScanCameraDetectorMap/VariableLineScanCameraDetectorMap.h
+++ b/isis/src/base/objs/VariableLineScanCameraDetectorMap/VariableLineScanCameraDetectorMap.h
@@ -61,6 +61,11 @@ namespace Isis {
* #4476.
* @history 2016-10-27 Jeannie Backer - Moved constructor documentation and destructor to
* cpp file. References #4476.
+ * @history 2017-01-09 Ken Edmundson - In SetDetector method, in loop over line rates, 0.5 lines was
+ * being subtracted from the line rate starting ephemeris time. This is wrong
+ * and was probably copy/pasted from the SetParent method below. Supposedly
+ * this had been addressed by #4435 which was closed, but the correction was
+ * not in the code. References #4435.
*
*/
class VariableLineScanCameraDetectorMap : public LineScanCameraDetectorMap {
diff --git a/isis/src/base/objs/VariableSampleScanCameraDetectorMap/Makefile b/isis/src/base/objs/VariableSampleScanCameraDetectorMap/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..f122bc88227c5c7ebd108dea5d339d1d2e074d82
--- /dev/null
+++ b/isis/src/base/objs/VariableSampleScanCameraDetectorMap/Makefile
@@ -0,0 +1,7 @@
+ifeq ($(ISISROOT), $(BLANK))
+.SILENT:
+error:
+ echo "Please set ISISROOT";
+else
+ include $(ISISROOT)/make/isismake.objs
+endif
\ No newline at end of file
diff --git a/isis/src/base/objs/VariableSampleScanCameraDetectorMap/VariableSampleScanCameraDetectorMap.cpp b/isis/src/base/objs/VariableSampleScanCameraDetectorMap/VariableSampleScanCameraDetectorMap.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..2d12a49cf44e59bdc358084eac48406b20e1d701
--- /dev/null
+++ b/isis/src/base/objs/VariableSampleScanCameraDetectorMap/VariableSampleScanCameraDetectorMap.cpp
@@ -0,0 +1,169 @@
+/**
+ * @file
+ * $Revision: 1.2 $
+ * $Date: 2008/08/08 22:02:36 $
+ *
+ * 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 "VariableSampleScanCameraDetectorMap.h"
+#include "Affine.h"
+#include "CameraFocalPlaneMap.h"
+#include "iTime.h"
+
+namespace Isis {
+ VariableSampleScanCameraDetectorMap::VariableSampleScanCameraDetectorMap(Camera *parent,
+ std::vector< SampleRateChange > &sampleRates, Affine *fiducialMap) :
+ SampleScanCameraDetectorMap(parent, sampleRates[0].GetStartEt(),
+ sampleRates[0].GetSampleScanRate()),
+ p_sampleRates(sampleRates) {
+
+ // transx, transy are affine coefficients transforming from parent (Sp,Lp) to fiducial coordinate
+ // system (Sf, Lf)
+ // get coefficients of forward transform
+ m_transx = fiducialMap->Coefficients(1);
+ m_transy = fiducialMap->Coefficients(2);
+
+ // Correct the Affine order - move the constant to the front
+ m_transx.insert(m_transx.begin(), m_transx[2]);
+ m_transx.pop_back();
+ m_transy.insert(m_transy.begin(), m_transy[2]);
+ m_transy.pop_back();
+
+ // transs, transl are affine coefficients transforming from detector (FSC) (S,L) to parent (S,L)
+ // get coefficients of inverse transform
+ m_transs = fiducialMap->InverseCoefficients(1);
+ m_transl = fiducialMap->InverseCoefficients(2);
+
+ // Correct the Affine order - move the constant to the front
+ m_transs.insert(m_transs.begin(), m_transs[2]);
+ m_transs.pop_back();
+ m_transl.insert(m_transl.begin(), m_transl[2]);
+ m_transl.pop_back();
+ };
+
+
+ /** Compute parent image sample/line from a detector sample/line
+ *
+ * This method computes parent sample/line from detector sample/line.
+ *
+ * TODO: modify/remove this comment - This method will compute a parent sample given a
+ * detector coordinate. The parent sample will be computed using the
+ * the time in the parent camera
+ *
+ * @param sample detector sample
+ * @param line detector line
+ *
+ * @return conversion successful
+ *
+ * NOTE: Calling base classes results in unnecessary computations. Just set detector sample/line
+ * directly.
+ */
+ bool VariableSampleScanCameraDetectorMap::SetDetector(const double sample, const double line) {
+
+ p_detectorSample = sample;
+ p_detectorLine = line;
+
+ // currentEt is our known ephemeris time
+ double currentEt = p_camera->time().Et();
+ int rateIndex = p_sampleRates.size() - 1;
+
+ while(rateIndex >= 0 && currentEt > p_sampleRates[rateIndex].GetStartEt()) {
+ rateIndex --;
+ }
+
+ if(rateIndex < 0) {
+ return false;
+ }
+
+ int rateStartSample = p_sampleRates[rateIndex].GetStartSample();
+ double rateStartEt = p_sampleRates[rateIndex].GetStartEt();
+ double rate = p_sampleRates[rateIndex].GetSampleScanRate();
+
+ double etDiff = -(currentEt - rateStartEt);
+
+ double fiducialSample = etDiff / rate + rateStartSample;
+
+ // affine transformation from detector S/L to parent S/L
+ // detector is fiducial coordinate system in pixels
+ p_parentSample = m_transs[0] + fiducialSample * m_transs[1] + line * m_transs[2];
+ p_parentLine = m_transl[0] + fiducialSample * m_transl[1] + line * m_transl[2];
+
+ SetSampleRate(rate);
+
+ return true;
+ }
+
+ /** Compute detector sample/line from a parent image sample/line
+ *
+ * This method computes detector sample/line from parent sample/line. The detector sample is used
+ * to retrieve time from the samplescantimes table stored in cube.
+ *
+ * TODO: samplescantimes table in cube needs to change to contain detector
+ * samples in fiducial coordinate system (FCS) instead of parent image samples
+ *
+ * @param sample parent image sample
+ * @param line parent image line
+ *
+ * @return conversion successful
+ *
+ * NOTE: Calling base classes results in unnecessary computations. Just set parent sample/line
+ * directly, then determine time.
+ */
+ bool VariableSampleScanCameraDetectorMap::SetParent(const double sample, const double line) {
+
+ p_parentSample = sample;
+ p_parentLine = line;
+
+ // affine transformation from parent S/L to detector S/L
+ // detector is fiducial coordinate system in pixels
+ p_detectorSample = m_transx[0] + sample * m_transx[1] + line * m_transx[2];
+ p_detectorLine = m_transy[0] + sample * m_transy[1] + line * m_transy[2];
+
+ int rateIndex = p_sampleRates.size() - 1;
+
+// while (rateIndex >= 0 && sample < p_sampleRates[rateIndex].GetStartSample() - 0.5) {
+// rateIndex --;
+// }
+ while (rateIndex >= 0 && p_detectorSample < p_sampleRates[rateIndex].GetStartSample() - 0.5) {
+ rateIndex --;
+ }
+
+ if (rateIndex < 0) {
+ return false;
+ }
+
+ int rateStartSample = p_sampleRates[rateIndex].GetStartSample();
+ double rateStartEt = p_sampleRates[rateIndex].GetStartEt();
+ double rate = p_sampleRates[rateIndex].GetSampleScanRate();
+
+ // TODO: confirm calculation of et, questions about application of 1/2 pixel here.
+ // double et = rateStartEt - (sample - rateStartSample + 0.5) * rate;
+// double et = rateStartEt - (sample - rateStartSample) * rate;
+ double et = rateStartEt - (p_detectorSample - rateStartSample) * rate;
+
+ // TODO: see Orrin's comment in ApolloPanoramicDetectorMap::SetParent()
+ p_detectorSample = 0.0;
+
+ SetSampleRate(rate);
+
+ p_camera->setTime(et);
+
+ return true;
+ }
+}
diff --git a/isis/src/base/objs/VariableSampleScanCameraDetectorMap/VariableSampleScanCameraDetectorMap.h b/isis/src/base/objs/VariableSampleScanCameraDetectorMap/VariableSampleScanCameraDetectorMap.h
new file mode 100644
index 0000000000000000000000000000000000000000..c3c50db9863114e7c086c49249f9947e56d05f19
--- /dev/null
+++ b/isis/src/base/objs/VariableSampleScanCameraDetectorMap/VariableSampleScanCameraDetectorMap.h
@@ -0,0 +1,114 @@
+/**
+ * @file
+ * $Revision: 1.3 $
+ * $Date: 2009/03/07 18:02:33 $
+ *
+ * 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.
+ */
+
+#ifndef VariableSampleScanCameraDetectorMap_h
+#define VariableSampleScanCameraDetectorMap_h
+
+#include "SampleScanCameraDetectorMap.h"
+
+using namespace std;
+
+namespace Isis {
+ class Affine;
+ class SampleRateChange;
+
+ /** Convert between parent image coordinates and detector coordinates
+ *
+ * This class is used to convert between parent detector coordinates
+ * (sample/line) and detector coordinates for a sample scan camera.
+ *
+ * @author 2016-09-07 Ken Edmundson
+ *
+ * @ingroup Camera
+ * @see Camera
+ *
+ * @internal
+ * @history 2008-08-08 Ken Edmundson Original version
+ *
+ */
+ class VariableSampleScanCameraDetectorMap : public SampleScanCameraDetectorMap {
+ public:
+ /**
+ * Constructs a VariableSampleScanCameraDetectorMap.
+ *
+ * @param parent The camera
+ * @param p_sampleRates This should be a vector with an entry for every
+ * scan rate change in it. The pair consists of the sample number and
+ * ET of the changed time; the first entry should be sample 1 and the last
+ * entry should be one line past the end of the image. See
+ * HrscCamera for an example of a VariableLineScanCamera and Apollo Panoramic
+ * for an example of a VariableSampleScanCamera.
+ */
+ VariableSampleScanCameraDetectorMap(Camera *parent,
+ std::vector< SampleRateChange > &sampleRates,
+ Affine *fiducialMap);
+
+ //! Destructor
+ virtual ~VariableSampleScanCameraDetectorMap() {};
+
+ virtual bool SetParent(const double sample, const double line);
+
+ virtual bool SetDetector(const double sample, const double line);
+
+ private:
+ std::vector< SampleRateChange > &p_sampleRates;
+
+ vector<double> m_transx; /**< affine transformation from parent S/L to detector S/L */
+ vector<double> m_transy; /**< detector is fiducial coordinate system in pixels */
+
+ vector<double> m_transs; /**< affine transformation from detector S/L to parent S/L */
+ vector<double> m_transl;
+ };
+
+
+ /**
+ *
+ * @author ????-??-?? Unknown
+ *
+ * @internal
+ */
+ class SampleRateChange {
+ public:
+ SampleRateChange(int sample, double stime, double rate) {
+ p_sample = sample;
+ p_stime = stime;
+ p_rate = rate;
+ };
+
+ int GetStartSample() {
+ return p_sample;
+ }
+ double GetStartEt() {
+ return p_stime;
+ }
+ double GetSampleScanRate() {
+ return p_rate;
+ }
+
+ private:
+ int p_sample;
+ double p_stime;
+ double p_rate;
+ };
+};
+#endif
diff --git a/isis/src/base/objs/VariableSampleScanCameraDetectorMap/VariableSampleScanCameraDetectorMap.truth b/isis/src/base/objs/VariableSampleScanCameraDetectorMap/VariableSampleScanCameraDetectorMap.truth
new file mode 100644
index 0000000000000000000000000000000000000000..6347fe6d38f458077e14c2efcd5624b000c19da3
--- /dev/null
+++ b/isis/src/base/objs/VariableSampleScanCameraDetectorMap/VariableSampleScanCameraDetectorMap.truth
@@ -0,0 +1 @@
+This class will be tested by the applications and the individual Camera models.
diff --git a/isis/src/base/objs/VariableSampleScanCameraDetectorMap/unitTest.cpp b/isis/src/base/objs/VariableSampleScanCameraDetectorMap/unitTest.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..d29f6a0a3117f27e7834dbb1f64a8b2014ea3d9d
--- /dev/null
+++ b/isis/src/base/objs/VariableSampleScanCameraDetectorMap/unitTest.cpp
@@ -0,0 +1,8 @@
+#include <iostream>
+#include "Preference.h"
+
+using namespace std;
+int main() {
+ Isis::Preference::Preferences(true);
+ cout << "This class will be tested by the applications and the individual Camera models." << endl;
+}
diff --git a/isis/src/qisis/objs/TrackTool/TrackTool.cpp b/isis/src/qisis/objs/TrackTool/TrackTool.cpp
index 1a7a0cb148065f8588b483e5b3c695e16be55317..11d08c9c28c78dfb4e19f0d67ed5cababefcd074 100644
--- a/isis/src/qisis/objs/TrackTool/TrackTool.cpp
+++ b/isis/src/qisis/objs/TrackTool/TrackTool.cpp
@@ -6,6 +6,7 @@
#include "Camera.h"
#include "Distance.h"
+#include "CameraFocalPlaneMap.h"
#include "MdiCubeViewport.h"
#include "Projection.h"
#include "RingPlaneProjection.h"
@@ -26,6 +27,18 @@ namespace Isis {
TrackTool::TrackTool(QStatusBar *parent) : Tool(parent) {
p_sbar = parent;
+ p_xLabel = new QLabel(p_sbar);
+ p_xLabel->setText("W 999999");
+ p_xLabel->setMinimumSize(p_xLabel->sizeHint());
+ p_xLabel->setToolTip("x Image Coordinate");
+ p_sbar->addPermanentWidget(p_xLabel);
+
+ p_yLabel = new QLabel(p_sbar);
+ p_yLabel->setText("W 999999");
+ p_yLabel->setMinimumSize(p_yLabel->sizeHint());
+ p_yLabel->setToolTip("y Image Coordinate");
+ p_sbar->addPermanentWidget(p_yLabel);
+
p_sampLabel = new QLabel(p_sbar);
p_sampLabel->setText("W 999999");
p_sampLabel->setMinimumSize(p_sampLabel->sizeHint());
@@ -208,6 +221,10 @@ namespace Isis {
double lon = cvp->camera()->UniversalLongitude();
p_latLabel->setText(QString("Lat %1").arg(lat));
p_lonLabel->setText(QString("Lon %1").arg(lon));
+ double x = cvp->camera()->FocalPlaneMap()->FocalPlaneX();
+ double y = cvp->camera()->FocalPlaneMap()->FocalPlaneY();;
+ p_xLabel->setText(QString("x %1").arg(x));
+ p_yLabel->setText(QString("y %1").arg(y));
}
else {
double rad = cvp->camera()->LocalRadius().meters();
@@ -215,6 +232,8 @@ namespace Isis {
//??? p_latLabel->setToolTip("Radius Position");
p_latLabel->setText(QString("Rad %1").arg(rad));
p_lonLabel->setText(QString("Lon %1").arg(lon));
+ p_xLabel->setText("x n/a");
+ p_yLabel->setText("y n/a");
}
}
else {
@@ -331,6 +350,8 @@ namespace Isis {
p_redLabel->setText("R N/A");
p_grnLabel->setText("G N/A");
p_bluLabel->setText("B N/A");
+ p_xLabel->setText("x n/a");
+ p_yLabel->setText("y n/a");
}
diff --git a/isis/src/qisis/objs/TrackTool/TrackTool.h b/isis/src/qisis/objs/TrackTool/TrackTool.h
index 3df567b71f42255be63df1b4fdaad159eab3fabc..911e08bf7ebd0dd819a979db35e61de092616d9a 100644
--- a/isis/src/qisis/objs/TrackTool/TrackTool.h
+++ b/isis/src/qisis/objs/TrackTool/TrackTool.h
@@ -72,6 +72,8 @@ namespace Isis {
QLabel *p_redLabel; //!< Red label
QLabel *p_grnLabel; //!< Green label
QLabel *p_bluLabel; //!< Blue label
+ QLabel *p_xLabel; //!< x image coordinate label
+ QLabel *p_yLabel; //!< y image coordinate label
WarningWidget *mWarningWidget; //!< Warning Widget
};
};
diff --git a/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/Makefile b/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..7578f0b21d038db6a5042c095cda9b34b6bb2570
--- /dev/null
+++ b/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/Makefile
@@ -0,0 +1,7 @@
+ifeq ($(ISISROOT), $(BLANK))
+.SILENT:
+error:
+ echo "Please set ISISROOT";
+else
+ include $(ISISROOT)/make/isismake.apps
+endif
\ No newline at end of file
diff --git a/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/socetlinescankeywords_noExtrapolation.cpp b/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/socetlinescankeywords_noExtrapolation.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..63453a5699a8f31d5618179233ac46b1c9bd154a
--- /dev/null
+++ b/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/socetlinescankeywords_noExtrapolation.cpp
@@ -0,0 +1,886 @@
+#include "Isis.h"
+
+#include <fstream>
+#include <iomanip>
+#include <iostream>
+#include <math.h>
+#include <sstream>
+#include <stdlib.h>
+#include <string>
+
+#include "Camera.h"
+#include "CameraDetectorMap.h"
+#include "CameraDistortionMap.h"
+#include "CameraFocalPlaneMap.h"
+#include "CameraGroundMap.h"
+#include "Constants.h"
+#include "Distance.h"
+#include "FileName.h"
+#include "IException.h"
+#include "IString.h"
+#include "iTime.h"
+#include "LineScanCameraDetectorMap.h"
+#include "NaifStatus.h"
+#include "Process.h"
+#include "TProjection.h"
+#include "Pvl.h"
+#include "Spice.h"
+#include "Table.h"
+#include "VariableLineScanCameraDetectorMap.h"
+
+using namespace std;
+using namespace Isis;
+
+double GetHRSCLineRates(Cube *cube, vector<LineRateChange> &lineRates, double &HRSCNadirCenterTime);
+
+void IsisMain() {
+
+ // Use a regular Process
+ Process p;
+
+ // Get user parameters and error check
+ UserInterface &ui = Application::GetUserInterface();
+ QString from = ui.GetFileName("FROM");
+ QString to = FileName(ui.GetFileName("TO")).expanded();
+ double HRSCNadirCenterTime = ui.GetDouble("HRSC_NADIRCENTERTIME");
+
+ // Open input cube and Make sure this is a lev1 image (ie, not map projected)
+ Cube cube;
+ cube.open(from);
+
+ if (cube.isProjected()) {
+ QString msg = "Input images is a map projected cube ... not a level 1 image";
+ throw IException(IException::User, msg, _FILEINFO_);
+ }
+
+ // Initialize the camera
+ Cube *input = p.SetInputCube("FROM");
+ Pvl *cubeHeader = input->label();
+ Camera *cam = input->camera();
+ CameraDetectorMap *detectorMap = cam->DetectorMap();
+ CameraFocalPlaneMap *focalMap = cam->FocalPlaneMap();
+ CameraDistortionMap *distortionMap = cam->DistortionMap();
+ CameraGroundMap *groundMap = cam->GroundMap();
+
+ // Make sure the image contains the InstrumentPointing (aka CK) blob/table
+ PvlGroup test = cube.label()->findGroup("Kernels", Pvl::Traverse);
+ QString InstrumentPointing = (QString) test["InstrumentPointing"];
+ if (InstrumentPointing != "Table") {
+ QString msg = "Input image does not contain needed SPICE blobs...run spiceinit with attach=yes.";
+ throw IException(IException::User, msg, _FILEINFO_);
+ }
+
+ // Open output line scanner keyword file
+ ofstream toStrm;
+ toStrm.open(to.toLatin1().data(), ios::trunc);
+ if (toStrm.bad()) {
+ QString msg = "Unable to open output TO file";
+ throw IException(IException::User, msg, _FILEINFO_);
+ }
+
+ // Get required keywords from instrument and band groups
+ PvlGroup inst = cube.label()->findGroup("Instrument", Pvl::Traverse);
+ QString instrumentId = (QString) inst["InstrumentId"];
+
+ bool isMocNA = false;
+//TO DO: UNCOMMENT THIS LINES ONCE MOC IS WORKING IN SS
+// bool isMocWARed = false;
+ bool isHiRise = false;
+ bool isCTX = false;
+ bool isLroNACL = false;
+ bool isLroNACR = false;
+ bool isHRSC = false;
+//TO DO: UNCOMMENT THESE LINE ONCE MOC IS WORKING IN SS
+// if (instrumentId == "MOC") {
+// PvlGroup band = cube.label()->findGroup("BandBin", Pvl::Traverse);
+// QString filter = (QString) band["FilterName"];
+//
+// if (strcmp(filter.toAscii().data(), "BROAD_BAND") == 0)
+// isMocNA = true;
+// else if (strcmp(filter.toAscii().data(), "RED") == 0)
+// isMocWARed = true;
+// else if (strcmp(filter.toAscii().data(), "BLUE") == 0) {
+// QString msg = "MOC WA Blue filter images not supported for Socet Set mapping";
+// throw IException(IException::User, msg, _FILEINFO_);
+// }
+// }
+// else if (instrumentId == "IdealCamera") {
+//TO DO: DELETE THIS LINE ONCE MOC IS WORKING IN SS
+ if (instrumentId == "IdealCamera") {
+ PvlGroup orig = cube.label()->findGroup("OriginalInstrument", Pvl::Traverse);
+ QString origInstrumentId = (QString) orig["InstrumentId"];
+ if (origInstrumentId == "HIRISE") {
+ isHiRise = true;
+ }
+ else {
+ QString msg = "Unsupported instrument: " + origInstrumentId;
+ throw IException(IException::User, msg, _FILEINFO_);
+ }
+ }
+ else if (instrumentId == "HIRISE") {
+ isHiRise = true;
+ }
+ else if (instrumentId == "CTX") {
+ isCTX = true;
+ }
+ else if (instrumentId == "NACL") {
+ isLroNACL = true;
+ }
+ else if (instrumentId == "NACR") {
+ isLroNACR = true;
+ }
+ else if (instrumentId == "HRSC") {
+ isHRSC = true;
+ }
+ else {
+ QString msg = "Unsupported instrument: " + instrumentId;
+ throw IException(IException::User, msg, _FILEINFO_);
+ }
+
+ int ikCode = cam->naifIkCode();
+
+ // Get Focal Length.
+ // NOTE:
+ // For MOC Wide Angle, cam->focal_length returns the focal length
+ // in pixels, so we must convert from pixels to mm using the PIXEL_SIZE
+ // of 0.007 mm gotten from $ISIS3DATA/mgs/kernels/ik/moc20.ti. (The
+ // PIXEL_PITCH value gotten from cam->PixelPitch is 1.0 since the
+ // focal length used by ISIS in this case is in pixels)
+ // For reference: the MOC WA blue filter pixel size needs an adjustment
+ // of 1.000452 (see p_scale in MocWideAngleDistortionMap.cpp), so that
+ // the final blue filter pixel size = (0.007 / 1.000452)
+ //
+ // For all other cameras, cam->focal_length returns the focal
+ // length in mm, as needed by Socet Set
+
+ double focal = cam->FocalLength(); // focal length returned in mm
+
+//NOTE: UNCOMMENT CODE BELOW WHEN MOC IS WORKING IN SS
+// if (isMocWARed)
+// focal = focal * 0.007; // pixel to mm conversion
+
+ // Get instrument summing modes
+ int csum = (int) detectorMap->SampleScaleFactor();
+ int dsum = (int) detectorMap->LineScaleFactor();
+
+ if (isLroNACL || isLroNACR || isHRSC) {
+ dsum = csum;
+ }
+
+ // Calculate location of boresight in image space, these are zero-based values
+ //
+ // Note: For MOC NA, the boresight is at the image center
+ // For MOC WA, MRO HiRISE, MRO CTX, LRO_NACL, LRO_NACR and HRSC the
+ // boresight is not at the detector center, but the boresight is at the
+ // center of a NOPROJ'ED MRO HIRISE image
+
+ // Get line/samp of boresight pixel in detector space (summing == 1)
+ focalMap->SetFocalPlane(0.0, 0.0);
+ double detectorBoresightSample = focalMap->DetectorSample();
+ double detectorBoresightLine = focalMap->DetectorLine();
+
+ // Convert sample of boresight pixel in detector into image space
+ // (summing, etc., is accounted for.)
+ detectorMap->SetDetector(detectorBoresightSample, detectorBoresightLine);
+ double boresightSample = detectorMap->ParentSample();
+
+ // Set Atmospheric correction coefficients to 0
+ double atmco[4] = {0.0, 0.0, 0.0, 0.0};
+
+ // Get totalLines, totalSamples and account for summed images
+ int totalLines = cube.lineCount();
+ int totalSamples = cube.sampleCount();
+
+ // Get the Interval Time in seconds and calculate
+ // scan duration in seconds
+ double scanDuration = 0.0;
+ double intTime = 0.0;
+
+ int numIntTimes = 0.0;
+ vector<LineRateChange> lineRates;
+ if (isHRSC) {
+ scanDuration = GetHRSCLineRates(&cube, lineRates, HRSCNadirCenterTime);
+
+ numIntTimes = lineRates.size();
+
+ if (numIntTimes == 1) {
+ intTime = lineRates.at(0).GetLineScanRate();
+ }
+ if (numIntTimes <= 0) {
+ QString msg = "HRSC: Invalid number of scan times";
+ throw IException(IException::Programmer, msg, _FILEINFO_);
+ }
+ }
+ else {
+ intTime = detectorMap->LineRate(); //LineRate is in seconds
+ scanDuration = intTime * totalLines;
+ }
+
+ // For reference, this is the code if calculating interval time
+ // via LineExposureDuration keyword off image labels:
+ //
+ // if (isMocNA || isMocWARed)
+ // intTime = exposureDuration * (double) dsum / 1000.0;
+ // else if (isHiRise)
+ // intTime = exposureDuration * (double) dsum / 1000000.0;
+
+ // Get along and cross scan pixel size for NA and WA sensors.
+ // NOTE:
+ // 1) The MOC WA pixel size is gotten from moc20.ti and is 7 microns
+ // HRSC pixel size is from the Instrument Addendum file
+ // 2) For others, cam->PixelPitch() returns the pixel pitch (size) in mm.
+ double alongScanPxSize = 0.0;
+ double crossScanPxSize = 0.0;
+//TO DO: UNCOMMENT THESE LINES ONCE MOC IS WORKING IN SS
+// if (isMocWARed || isHRSC) {
+ if (isHRSC) {
+ alongScanPxSize = csum * 0.007;
+ crossScanPxSize = dsum * 0.007;
+ }
+ else {
+ crossScanPxSize = dsum * cam->PixelPitch();
+
+ // Get the ephemeris time, ground position and undistorted focal plane X
+ // coordinate at the center line/samp of image
+ cam->SetImage(cube.sampleCount() / 2.0, cube.lineCount() / 2.0);
+
+ double tMid = cam->time().Et();
+
+ const double latCenter = cam->UniversalLatitude();
+ const double lonCenter = cam->UniversalLongitude();
+ const double radiusCenter = cam->LocalRadius().meters();
+
+ double uXCenter = distortionMap->UndistortedFocalPlaneX();
+
+ // from the ground position at the image center, increment the ephemeris
+ // time by the line rate and map the ground position into the sensor in
+ // undistorted focal plane coordinates
+
+ cam->setTime(iTime(tMid + intTime));
+ double uX, uY;
+ groundMap->GetXY(latCenter, lonCenter, radiusCenter, &uX, &uY);
+
+ // the along scan pixel size is the difference in focal plane X coordinates
+ alongScanPxSize = abs(uXCenter - uX);
+ }
+
+ // Now that we have totalLines, totalSamples, alongScanPxSize and
+ // crossScanPxSize, fill the Interior Orientation Coefficient arrays
+ double ioCoefLine[10];
+ double ioCoefSample[10];
+ for (int i = 0; i <= 9; i++) {
+ ioCoefLine[i] = 0.0;
+ ioCoefSample[i] = 0.0;
+ }
+
+ ioCoefLine[0] = totalLines / 2.0;
+ ioCoefLine[1] = 1.0 / alongScanPxSize;
+
+ ioCoefSample[0] = totalSamples / 2.0;
+ ioCoefSample[2] = 1.0 / crossScanPxSize;
+
+ // Update the Rectification Terms found in the base sensor class
+ double rectificationTerms[6];
+ rectificationTerms[0] = totalLines / 2.0;
+ rectificationTerms[1] = 0.0;
+ rectificationTerms[2] = 1.0;
+ rectificationTerms[3] = totalSamples / 2.0;
+ rectificationTerms[4] = 1.0;
+ rectificationTerms[5] = 0.0;
+
+ // Fill the triangulation parameters array
+ double triParams[18];
+ for (int i = 0; i <= 17; i++)
+ triParams[i] = 0.0;
+
+ triParams[15] = focal;
+
+ // Set the Center Ground Point at the SOCET Set image, in radians
+ double centerGp[3];
+ double radii[3] = {0.0, 0.0, 0.0};
+ Distance Dradii[3];
+
+ cam->radii(Dradii);
+ radii[0] = Dradii[0].kilometers();
+ radii[1] = Dradii[1].kilometers();
+ radii[2] = Dradii[2].kilometers();
+
+ cam->SetImage(boresightSample, totalLines / 2.0);
+
+ centerGp[0] = DEG2RAD *
+ TProjection::ToPlanetographic(cam->UniversalLatitude(), radii[0], radii[2]);
+ centerGp[1] = DEG2RAD * TProjection::To180Domain(cam->UniversalLongitude());
+ centerGp[2] = 0.0;
+ //**** NOTE: in the import_pushbroom SOCET SET program, centerGp[2] will be set to the SS
+ //**** project's gp_origin_z
+
+ // Now get keyword values that depend on ephemeris data.
+
+ // First get the ephemeris time and camera Lat Lon at image center line, boresight sample.
+ double centerLine = double(totalLines) / 2.0;
+
+ cam->SetImage(boresightSample, centerLine); //set to boresight of image
+ double etCenter = cam->time().Et();
+
+ // Get the sensor position at the image center in ographic lat,
+ // +E lon domain 180 coordinates, radians, height in meters
+ double sensorPosition[3] = {0.0, 0.0, 0.0};
+ double ocentricLat, e360Lon;
+ cam->subSpacecraftPoint(ocentricLat, e360Lon);
+ sensorPosition[0] = DEG2RAD * TProjection::ToPlanetographic(ocentricLat, radii[0], radii[2]);
+ sensorPosition[1] = DEG2RAD * TProjection::To180Domain(e360Lon);
+ sensorPosition[2] = cam->SpacecraftAltitude() * 1000.0;
+
+ // Build the ephem data. If the image label contains the InstrumentPosition
+ // table, use it as a guide for number and spacing of Ephem points.
+ // Otherwise (i.e, for dejittered HiRISE images), the number and spacing of
+ // ephem points based on hardcoded dtEphem value
+
+ // Using the InstrumentPosition table as a guide build the ephem data
+ QList< QList<double> > ephemPts;
+ QList< QList<double> > ephemRates;
+
+ PvlGroup kernels = cube.label()->findGroup("Kernels", Pvl::Traverse);
+ QString InstrumentPosition = (QString) kernels["InstrumentPosition"];
+
+ int numEphem = 0; // number of ephemeris points
+ double dtEphem = 0.0; // delta time of ephemeris points, seconds
+ if (InstrumentPosition == "Table") {
+ printf("InstrumentPosition is from Table\n");
+ // Labels contain SPK blob
+ // set up Ephem pts/rates number and spacing
+ Table tablePosition("InstrumentPosition", cubeHeader->fileName());
+ numEphem = tablePosition.Records();
+
+ // increase the number of ephem nodes by 20%. This is somewhat random but
+ // generally intended to compensate for having equally time spaced nodes
+ // instead of of the potentially more efficient placement used by spiceinit
+ numEphem = int(double(numEphem) * 1.2);
+
+ // if numEphem calculated from SPICE blobs is too sparse for SOCET Set,
+ // multiply it by a factor of 30
+ // (30X was settled upon empirically. In the future, make this an input parameter)
+ if (numEphem <= 10) {
+ numEphem = tablePosition.Records() * 30;
+ }
+
+ // make the number of nodes odd
+ numEphem = (numEphem % 2) == 1 ? numEphem : numEphem + 1;
+
+ // SOCET has a max number of ephem pts of 10000, and we're going to add twenty...
+ if (numEphem > 10000 - 20) {
+ numEphem = 9979;
+ }
+
+ dtEphem = scanDuration / double(numEphem);
+
+//WORKAROUND TO NOT EXTRAPOLATE (must increase numEphem after dtEphem established):
+//ALSO: Pad by 22 so that we can get an ultimate pad of 20 points for pos AND vel
+//because we must 'manually' compute velocities for now.
+ numEphem = numEphem + 22;
+
+ // build tables of ephemeris points and velocities
+ double et = etCenter - (((numEphem - 1) / 2) * dtEphem);
+ for (int i = 0; i < numEphem; i++) {
+ cam->setTime(iTime(et));
+ SpiceRotation *bodyRot = cam->bodyRotation();
+ vector<double> pos = bodyRot->ReferenceVector(cam->instrumentPosition()->Coordinate());
+//TO DO: UNCOMMENT THE FOLLOWING LINE WHEN VELOCITY BLOBS ARE CORRECT IN ISIS
+ //vector<double> vel = bodyRot->ReferenceVector(cam->instrumentPosition()->Velocity());
+
+ //Add the ephemeris position and velocity to their respective lists, in meters and meters/sec
+ QList<double> ephemPt;
+ QList<double> ephemRate;
+ ephemPts.append(ephemPt << pos[0] * 1000 << pos[1] * 1000 << pos[2] * 1000);
+//TO DO: UNCOMMENT THE FOLLOWING LINE WHEN VELOCITY BLOBS ARE CORRECT IN ISIS
+ //ephemRates.append(ephemRate << vel[0] * 1000 << vel[1] * 1000 << vel[2] * 1000);
+
+ et += dtEphem;
+ }
+
+// WORK AROUND TO NOT EXTRAPOLATE - comment out the following:
+////TO DO: WHEN VELOCITY BLOBS ARE CORRECT IN ISIS, linearly interpolate 10 nodes rather than 11
+//// (need 11 now for computation of velocity at first and last ephemeris point)
+// // linearly interpolate 11 additional nodes before line 1 (SOCET requires this)
+// for (int i = 0; i < 11; i++) {
+// double vec[3] = {0.0, 0.0, 0.0};
+// vec[0] = ephemPts[0][0] + (ephemPts[0][0] - ephemPts[1][0]);
+// vec[1] = ephemPts[0][1] + (ephemPts[0][1] - ephemPts[1][1]);
+// vec[2] = ephemPts[0][2] + (ephemPts[0][2] - ephemPts[1][2]);
+// QList<double> ephemPt;
+// ephemPts.prepend (ephemPt << vec[0] << vec[1] << vec[2]);
+//
+////TO DO: UNCOMMENT THE FOLLOWING LINES WHEN VELOCITY BLOBS ARE CORRECT IN ISIS
+// //vec[0] = ephemRates[0][0] + (ephemRates[0][0] - ephemRates[1][0]);
+// //vec[1] = ephemRates[0][1] + (ephemRates[0][1] - ephemRates[1][1]);
+// //vec[2] = ephemRates[0][2] + (ephemRates[0][2] - ephemRates[1][2]);
+// //QList<double> ephemRate;
+// //ephemRates.prepend (ephemRate << vec[0] << vec[1] << vec[2]);
+// }
+//
+////TO DO: WHEN VELOCITY BLOBS ARE CORRECT IN ISIS, linearly interpolate 10 nodes rather than 11
+//// (need 11 now for computation of velocity at first and last ephemeris point)
+// // linearly interpolate 11 additional nodes after the last line (SOCET requires this)
+// for (int i = 0; i < 11; i++) {
+// double vec[3] = {0.0, 0.0, 0.0};
+// int index = ephemPts.size() - 1;
+// vec[0] = ephemPts[index][0] + (ephemPts[index][0] - ephemPts[index - 1][0]);
+// vec[1] = ephemPts[index][1] + (ephemPts[index][1] - ephemPts[index - 1][1]);
+// vec[2] = ephemPts[index][2] + (ephemPts[index][2] - ephemPts[index - 1][2]);
+// QList<double> ephemPt;
+// ephemPts.append(ephemPt << vec[0] << vec[1] << vec[2]);
+//
+////TO DO: UNCOMMENT THE FOLLOWING LINES WHEN VELOCITY BLOBS ARE CORRECT IN ISIS
+// //vec[0] = ephemRates[index][0] + (ephemRates[index][0] - ephemRates[index - 1][0]);
+// //vec[1] = ephemRates[index][1] + (ephemRates[index][1] - ephemRates[index - 1][1]);
+// //vec[2] = ephemRates[index][2] + (ephemRates[index][2] - ephemRates[index - 1][2]);
+// //QList<double> ephemRate;
+// //ephemRates.append(ephemRate << vec[0] << vec[1] << vec[2]);
+// }
+//
+// numEphem += 20;
+//
+//TO DO: DELETE THE FOLLOWING LINES WHEN VELOCITY BLOBS ARE CORRECT IN ISIS
+ // Compute the spacecraft velocity at each ephemeris point
+ double deltaTime = 2.0 * dtEphem;
+ //WORKAROUND TO NOT EXTRAPOLATE (remove count of extra points to the position QList)):
+ numEphem = numEphem - 2;
+ for (int i = 0; i < numEphem; i++) {
+ double vec[3] = {0.0, 0.0, 0.0};
+ vec[0] = (ephemPts[i+2][0] - ephemPts[i][0]) / deltaTime;
+ vec[1] = (ephemPts[i+2][1] - ephemPts[i][1]) / deltaTime;
+ vec[2] = (ephemPts[i+2][2] - ephemPts[i][2]) / deltaTime;
+ QList<double> ephemRate;
+ ephemRates.append(ephemRate << vec[0] << vec[1] << vec[2]);
+ }
+
+ }
+ else {
+ printf("Instrument Position is NOT from Table\n");
+ // Calculate the number of ephemeris points that are needed, based on the
+ // value of dtEphem (Delta-Time-Ephemeris). SOCET SET needs the ephemeris
+ // points to exceed the image range for interpolation. For now, attempt a
+ // padding of 10 ephemeris points on either side of the image.
+
+ if (isMocNA || isHiRise || isCTX || isLroNACL || isLroNACR || isHRSC) {
+ // Try increment of every 300 image lines
+ dtEphem = 300 * intTime; // Make this a user definable increment?
+ }
+ else { // Set increment for WA images to one second
+ dtEphem = 1.0;
+ }
+
+ // Pad by 10 ephem pts on each side of the image
+ numEphem = (int)(scanDuration / dtEphem) + 20;
+
+ // if numEphem is even, make it odd so that the number of ephemeris points
+ // is equal on either side of T_CENTER
+ if ((numEphem % 2) == 0) {
+ numEphem++;
+ }
+
+//TO DO: DELETE THE FOLLOWING LINE WHEN VELOCITY BLOBS ARE CORRECT IN ISIS
+ numEphem = numEphem + 2; // Add two for calculation of velocity vectors...
+
+ // Find the ephemeris time for the first ephemeris point, and from that, get
+ // to_ephem needed by SOCET (to_ephem is relative to etCenter)
+ double et = etCenter - (((numEphem - 1) / 2) * dtEphem);
+ for (int i = 0; i < numEphem; i++) {
+ cam->setTime(iTime(et));
+ SpiceRotation *bodyRot = cam->bodyRotation();
+ vector<double> pos = bodyRot->ReferenceVector(cam->instrumentPosition()->Coordinate());
+//TO DO: UNCOMMENT THE FOLLOWING LINE WHEN VELOCITY BLOBS ARE CORRECT IN ISIS
+ //vector<double> vel = bodyRot->ReferenceVector(cam->instrumentPosition()->Velocity());
+
+ //Add the ephemeris position and velocity to their respective lists, in meters and meters/sec
+ QList<double> ephemPt;
+ QList<double> ephemRate;
+ ephemPts.append(ephemPt << pos[0] * 1000 << pos[1] * 1000 << pos[2] * 1000);
+//TO DO: UNCOMMENT THE FOLLOWING LINE WHEN VELOCITY BLOBS ARE CORRECT IN ISIS
+ //ephemRates.append(ephemRate << vel[0] * 1000 << vel[1] * 1000 << vel[2] * 1000);
+
+ et += dtEphem;
+ }
+//TO DO: DELETE THE FOLLOWING LINES WHEN VELOCITY BLOBS ARE CORRECT IN ISIS
+ // Compute the spacecraft velocity at each ephemeris point
+ // (We must do this when blobs are not attached because the Spice Class
+ // stores in memory the same data that would be in a blob...even when reading NAIF kernels)
+ double deltaTime = 2.0 * dtEphem;
+ numEphem = numEphem - 2; // set numEphem back to the number we need output
+ for (int i = 0; i < numEphem; i++) {
+ double vec[3] = {0.0, 0.0, 0.0};
+ vec[0] = (ephemPts[i+2][0] - ephemPts[i][0]) / deltaTime;
+ vec[1] = (ephemPts[i+2][1] - ephemPts[i][1]) / deltaTime;
+ vec[2] = (ephemPts[i+2][2] - ephemPts[i][2]) / deltaTime;
+ QList<double> ephemRate;
+ ephemRates.append(ephemRate << vec[0] << vec[1] << vec[2]);
+ }
+ }
+
+ //update ephem stats
+ double etFirstEphem = etCenter - (((numEphem - 1) / 2) * dtEphem);
+ double t0Ephem = etFirstEphem - etCenter;
+
+ // Using the intrumentPointing table as a guide build the quarternions
+ // for simplicity sake we'll leave the mountingAngles as identity
+ // and store the complete rotation from body fixed to camera in the
+ // quarternions
+
+ //set up quaternions number and spacing
+ Table tablePointing("InstrumentPointing", cubeHeader->fileName());
+
+ //number of quaternions
+ int numQuaternions = tablePointing.Records();
+
+ // increase the number of quaternions nodes by 20%. This is somewhat random but
+ // generally intended to compensate for having equally time spaced nodes
+ // instead of of the potentially more efficient placement used by spiceinit
+ numQuaternions = (int)(numQuaternions * 1.2);
+
+ // if numQuaternions calculated from SPICE blobs is too sparse for SOCET Set,
+ // mulitiply it by a factor of 30
+ // (30X was settled upon emperically. In the future, make this an input parameter)
+ if (numQuaternions <= 10) {
+ numQuaternions = tablePointing.Records() * 30;
+ }
+
+ //make the number of nodes odd
+ numQuaternions = (numQuaternions % 2) == 1 ? numQuaternions : numQuaternions + 1;
+
+ // SOCET has a max number of quaternions of 20000, and we're going to add twenty...
+ if (numQuaternions > 20000 - 20) {
+ numQuaternions = 19180;
+ }
+
+ double dtQuat = scanDuration / double(numQuaternions);
+
+//WORKAROUND TO NOT EXTRAPOLATE (must increase numQuaterions after dtQtat established):
+ numQuaternions = numQuaternions + 20;
+
+ // build the tables of values
+ QList< QList<double> > quaternions;
+ double et = etCenter - (((numQuaternions - 1) / 2) * dtQuat);
+
+ for (int i = 0; i < numQuaternions; i++) {
+ cam->setTime(iTime(et));
+ vector<double> j2000ToBodyFixedMatrixVector = cam->bodyRotation()->Matrix();
+ vector<double> j2000ToCameraMatrixVector = cam->instrumentRotation()->Matrix();
+ double quaternion[4] = {0.0, 0.0, 0.0, 0.0};
+
+ double j2000ToBodyFixedRotationMatrix[3][3], //rotation from J2000 to target (aka body, planet)
+ j2000ToCameraRotationMatrix[3][3], //rotation from J2000 to spacecraft
+ cameraToBodyFixedRotationMatrix[3][3]; //rotation from camera to target
+
+ // reformat vectors to 3x3 rotation matricies
+ for (int j = 0; j < 3; j++) {
+ for (int k = 0; k < 3; k++) {
+ j2000ToBodyFixedRotationMatrix[j][k] = j2000ToBodyFixedMatrixVector[3 * j + k];
+ j2000ToCameraRotationMatrix[j][k] = j2000ToCameraMatrixVector[3 * j + k];
+ }
+ }
+
+ // get the quaternion
+ mxmt_c(j2000ToBodyFixedRotationMatrix, j2000ToCameraRotationMatrix,
+ cameraToBodyFixedRotationMatrix);
+ m2q_c(cameraToBodyFixedRotationMatrix, quaternion);
+
+ // add the quaternion to the list of quaternions
+ QList<double> quat;
+ quaternions.append(quat << quaternion[1] << quaternion[2] << quaternion[3] <<
+ quaternion[0]);
+ //note also that the order is changed to match socet
+
+ et += dtQuat;
+ }
+
+// WORK AROUND TO NOT EXTRAPOLATE - comment out the following:
+// // linearly interpolate 10 additional nodes before the first quaternion (SOCET requires this)
+// for (int i = 0; i < 10; i++) {
+// double vec[4] = {0.0, 0.0, 0.0, 0.0};
+// vec[0] = quaternions[0][0] + (quaternions[0][0] - quaternions[1][0]);
+// vec[1] = quaternions[0][1] + (quaternions[0][1] - quaternions[1][1]);
+// vec[2] = quaternions[0][2] + (quaternions[0][2] - quaternions[1][2]);
+// vec[3] = quaternions[0][3] + (quaternions[0][3] - quaternions[1][3]);
+// QList<double> quat;
+// quaternions.prepend (quat << vec[0] << vec[1] << vec[2] << vec[3]);
+// }
+//
+// // linearly interpolate 10 additional nodes after the last quaternion (SOCET requires this)
+// for (int i = 0; i < 10; i++) {
+// double vec[4] = {0.0, 0.0, 0.0, 0.0};
+// int index = quaternions.size() - 1;
+// vec[0] = quaternions[index][0] + (quaternions[index][0] - quaternions[index - 1][0]);
+// vec[1] = quaternions[index][1] + (quaternions[index][1] - quaternions[index - 1][1]);
+// vec[2] = quaternions[index][2] + (quaternions[index][2] - quaternions[index - 1][2]);
+// vec[3] = quaternions[index][3] + (quaternions[index][3] - quaternions[index - 1][3]);
+// QList<double> quat;
+// quaternions.append(quat << vec[0] << vec[1] << vec[2] << vec[3]);
+// }
+//
+// //update quaternions stats
+// numQuaternions += 20;
+
+ //ephemeris time of the first quarternion
+ double et0Quat = etCenter - (((numQuaternions - 1) / 2) * dtQuat);
+
+ //quadratic time of the first quarternion
+ double qt0Quat = et0Quat - etCenter;
+
+ //query remaining transformation parameters from Camera Classes
+ //transformation to distortionless focal plane
+ double zDirection = distortionMap->ZDirection();
+
+ //transformation from DistortionlessFocalPlane to FocalPlane
+ vector<double> opticalDistCoefs = distortionMap->OpticalDistortionCoefficients();
+
+ // For instruments with less than 3 distortion coefficients, set the
+ // unused ones to 0.0
+ opticalDistCoefs.resize(3, 0);
+
+ //transformation from focal plane to detector
+ const double *iTransS = focalMap->TransS();
+ const double *iTransL = focalMap->TransL();
+ double detectorSampleOrigin = focalMap->DetectorSampleOrigin();
+ double detectorLineOrigin = focalMap->DetectorLineOrigin();
+
+ //transformation from detector to cube
+ double startingSample = detectorMap->AdjustedStartingSample();
+ double startingLine = detectorMap->AdjustedStartingLine();
+ double sampleSumming = detectorMap->SampleScaleFactor();
+ double etStart = ((LineScanCameraDetectorMap *)detectorMap)->StartTime();
+ double lineOffset = focalMap->DetectorLineOffset();
+
+ // We are done with computing keyword values, so output the Line Scanner
+ // Keyword file.
+
+ // This is the SOCET SET base sensor class keywords portion of support file:
+ toStrm.setf(ios::scientific);
+ toStrm << "RECTIFICATION_TERMS" << endl;
+ toStrm << " " << setprecision(14) << rectificationTerms[0] << " " <<
+ rectificationTerms[1] << " " << rectificationTerms[2] << endl;
+ toStrm << " " << rectificationTerms[3] << " " << rectificationTerms[4] <<
+ " " << rectificationTerms[5] << endl;
+
+ toStrm << "GROUND_ZERO ";
+ toStrm << centerGp[0] << " " << centerGp[1] << " " << centerGp[2] << endl;
+
+ toStrm << "LOAD_PT ";
+ toStrm << centerGp[0] << " " << centerGp[1] << " " << centerGp[2] << endl;
+
+ toStrm << "COORD_SYSTEM 1" << endl;
+
+ toStrm << "IMAGE_MOTION 0" << endl;
+
+ // This is the line scanner sensor model portion of support file:
+ toStrm << "SENSOR_TYPE USGSAstroLineScannerKLEv" << endl;
+ toStrm << "SENSOR_MODE UNKNOWN" << endl;
+
+ toStrm << "FOCAL " << focal << endl;
+
+ toStrm << "ATMCO";
+ for (int i = 0; i < 4; i++) {
+ toStrm << " " << atmco[i];
+ }
+ toStrm << endl;
+
+ toStrm << "IOCOEF_LINE";
+ for (int i = 0; i < 10; i++) {
+ toStrm << " " << ioCoefLine[i];
+ }
+ toStrm << endl;
+
+ toStrm << "IOCOEF_SAMPLE";
+ for (int i = 0; i < 10; i++) {
+ toStrm << " " << ioCoefSample[i];
+ }
+ toStrm << endl;
+
+ toStrm << "ABERR 0" << endl;
+ toStrm << "ATMREF 0" << endl;
+ toStrm << "PLATFORM 1" << endl;
+ toStrm << "SOURCE_FLAG 1" << endl;
+ toStrm << "SINGLE_EPHEMERIDE 0" << endl;
+
+ //Note, for TRI_PARAMETERS, we print the first element separate from the rest so that the array
+ //starts in the first column. Otherwise, SOCET Set will treat the array as a comment
+ toStrm << "TRI_PARAMETERS" << endl;
+ toStrm << triParams[0];
+ for (int i = 1; i < 18; i++) {
+ toStrm << " " << triParams[i];
+ }
+ toStrm << endl;
+
+ toStrm << setprecision(25) << "T_CENTER ";
+ double tCenter = 0.0;
+ if (isHRSC) {
+ tCenter = etCenter - HRSCNadirCenterTime;
+ toStrm << tCenter << endl;
+ }
+ else {
+ toStrm << tCenter << endl;
+ }
+
+ toStrm << "DT_EPHEM " << dtEphem << endl;
+
+ toStrm << "T0_EPHEM ";
+ if (isHRSC) {
+ double t = tCenter + t0Ephem;
+ toStrm << t << endl;
+ }
+ else {
+ toStrm << t0Ephem << endl;
+ }
+
+ toStrm << "NUMBER_OF_EPHEM " << numEphem << endl;
+
+ toStrm << "EPHEM_PTS" << endl;
+//TO DO: DELETE THE FOLLOWING LINE WHEN VELOCITY BLOBS ARE CORRECT IN ISIS
+ for (int i = 1; i <= numEphem; i++) {
+//TO DO: UNCOMMENT THE FOLLOWING LINE WHEN VELOCITY BLOBS ARE CORRECT IN ISIS
+ //for (int i = 0; i < numEphem; i++) {
+ toStrm << " " << ephemPts[i][0];
+ toStrm << " " << ephemPts[i][1];
+ toStrm << " " << ephemPts[i][2] << endl;
+ }
+
+ toStrm << "\n\nEPHEM_RATES" << endl;
+ for (int i = 0; i < numEphem; i++) {
+ toStrm << " " << ephemRates[i][0];
+ toStrm << " " << ephemRates[i][1];
+ toStrm << " " << ephemRates[i][2] << endl;
+ }
+
+ toStrm << "\n\nDT_QUAT " << dtQuat << endl;
+
+ toStrm << "T0_QUAT ";
+
+ if (isHRSC) {
+ double t = tCenter + qt0Quat;
+ toStrm << t << endl;
+ }
+ else {
+ toStrm << qt0Quat << endl;
+ }
+
+ toStrm << "NUMBER_OF_QUATERNIONS " << numQuaternions << endl;
+ toStrm << "QUATERNIONS" << endl;
+ for (int i = 0; i < numQuaternions; i++) {
+ toStrm << " " << quaternions[i][0];
+ toStrm << " " << quaternions[i][1];
+ toStrm << " " << quaternions[i][2];
+ toStrm << " " << quaternions[i][3] << endl;
+ }
+
+ toStrm << "\n\nSCAN_DURATION " << scanDuration << endl;
+
+ if (isHRSC && numIntTimes > 1) {
+ toStrm << "\nNUMBER_OF_INT_TIMES " << numIntTimes << endl;
+ toStrm << "INT_TIMES" << endl;
+ for (int i = 0; i < numIntTimes; i++) {
+ LineRateChange lr = lineRates.at(i);
+ toStrm << " " << lr.GetStartLine();
+ //toStrm << " " << lr.GetStartEt() - tCenter;
+ toStrm << " " << lr.GetStartEt();
+ toStrm << " " << lr.GetLineScanRate() << endl;
+ }
+ }
+ else {
+ toStrm << "INT_TIME " << intTime << endl;
+ }
+
+ toStrm << "\nALONG_SCAN_PIXEL_SIZE " << alongScanPxSize << endl;
+ toStrm << "CROSS_SCAN_PIXEL_SIZE " << crossScanPxSize << endl;
+
+ toStrm << "\nCENTER_GP";
+ for (int i = 0; i < 3; i++) {
+ toStrm << " " << centerGp[i];
+ }
+ toStrm << endl;
+
+ toStrm << "SENSOR_POSITION";
+ for (int i = 0; i < 3; i++) {
+ toStrm << " " << sensorPosition[i];
+ }
+ toStrm << endl;
+
+ toStrm << "MOUNTING_ANGLES";
+ double mountingAngles[3] = {0.0, 0.0, 0.0};
+ for (int i = 0; i < 3; i++) {
+ toStrm << " " << mountingAngles[i];
+ }
+ toStrm << endl;
+
+ toStrm << "\nTOTAL_LINES " << totalLines << endl;
+ toStrm << "TOTAL_SAMPLES " << totalSamples << endl;
+ toStrm << "\n\n\n" << endl;
+
+ toStrm << "IKCODE " << ikCode << endl;
+ toStrm << "ISIS_Z_DIRECTION " << zDirection << endl;
+
+ toStrm << "OPTICAL_DIST_COEF";
+ for (int i = 0; i < 3; i++) {
+ toStrm << " " << opticalDistCoefs[i];
+ }
+ toStrm << endl;
+
+ toStrm << "ITRANSS";
+ for (int i = 0; i < 3; i++) {
+ toStrm << " " << iTransS[i];
+ }
+ toStrm << endl;
+
+ toStrm << "ITRANSL";
+ for (int i = 0; i < 3; i++) {
+ toStrm << " " << iTransL[i];
+ }
+ toStrm << endl;
+
+ toStrm << "DETECTOR_SAMPLE_ORIGIN " << detectorSampleOrigin << endl;
+ toStrm << "DETECTOR_LINE_ORIGIN " << detectorLineOrigin << endl;
+ toStrm << "DETECTOR_LINE_OFFSET " << lineOffset << endl;
+ toStrm << "DETECTOR_SAMPLE_SUMMING " << sampleSumming << endl;
+
+ toStrm << "STARTING_SAMPLE " << startingSample << endl;
+ toStrm << "STARTING_LINE " << startingLine << endl;
+
+ // if cube has been cropped, recompute etStart
+ if (cube.hasGroup("AlphaCube")) {
+ cube.camera()->SetImage(1, 0.5);
+ etStart = cube.camera()->time().Et();
+ }
+
+ toStrm << "STARTING_EPHEMERIS_TIME " << setprecision(25) << etStart + tCenter << endl;
+ toStrm << "CENTER_EPHEMERIS_TIME " << etCenter + tCenter << endl;
+} // end main
+
+// method to retrieve line exposure rates from hrsc cube
+double GetHRSCLineRates(Cube *cube, vector<LineRateChange> &lineRates,
+ double &HRSCNadirCenterTime) {
+
+ Camera *cam = cube->camera();
+
+ double scanDuration = 0.0;
+ double lineRate;
+ double currentLineRate = -1.0;
+
+ // loop over image lines
+ int nLines = cam->Lines();
+ for (int i = 1; i <= nLines; i++) {
+ cam->SetImage(1, i);
+
+ lineRate = cam->DetectorMap()->LineRate();
+
+ scanDuration += lineRate;
+
+ if (lineRate == currentLineRate) {
+ continue;
+ }
+
+ currentLineRate = lineRate;
+
+ lineRates.push_back(LineRateChange(i, cam->time().Et()-HRSCNadirCenterTime, currentLineRate));
+ }
+
+ return scanDuration;
+} // end GetHRSCLineRates
+
diff --git a/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/socetlinescankeywords_noExtrapolation.xml b/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/socetlinescankeywords_noExtrapolation.xml
new file mode 100644
index 0000000000000000000000000000000000000000..270d5ab9ddef6a6508905492867a7c2d22804bec
--- /dev/null
+++ b/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/socetlinescankeywords_noExtrapolation.xml
@@ -0,0 +1,127 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<application name="socetlinescankeywords_noExtrapolation" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://isis.astrogeology.usgs.gov/Schemas/Application/application.xsd">
+ <brief>
+ Create the Line Scanner Sensor section of a SOCET Set Line Scanner support file
+ </brief>
+
+ <description>
+ This is an ISIS to SOCET Set (trademark BAE Systems) translation program for Line Scanner
+ images. It calculates keyword values specific to SOCET Set's USGSAstro Line Scanner sensor
+ model and generates the USGSAstro Line Scanner section of a SOCET Set Support file for input
+ to the USGSAstro SOCET Set program 'import_pushbroom.' <br/>
+ <br/>
+ <i>With the exception of HiRISE jitter corrected images, the input cube must be a "level 1"
+ image <b>with SPICE data attached to the label</b> (see spiceinit).</i> HiRISE jitter
+ corrected images (see hijitter) do not have Spacecraft Position Kernel (SPK) data attached
+ to the label, so these are handled as a special case in the program.<br/>
+ <br/>
+ The following are supported instruments and derived products:
+ <pre>
+ MRO-HiRISE
+ MRO-HiRISE IDEAL (i.e., noproj'ed images)
+ MRO-HiRISE IDEAL Jitter Corrected (i.e., hijitter'ed images)
+ MRO-CTX
+ LRO-NACL
+ LRO-NACR
+ MEX-HRSC
+<!--
+ MGS-MOC
+-->
+ </pre>
+ </description>
+
+ <category>
+ <categoryItem>SOCET Set Translation</categoryItem>
+ </category>
+
+ <seeAlso>
+ <applications>
+ <item>spiceinit</item>
+ <item>hijitter</item>
+ </applications>
+ </seeAlso>
+
+ <history>
+ <change name="E. Howington-Kraus" date="2008-10-23">
+ Original version
+ </change>
+ <change name="K. Edmundson" date="2011-05-13">
+ Added NADIR_CENTER_TIME parameter
+ </change>
+ <change name="E. Howington-Kraus" date="2011-08-04">
+ Changed default NADIR_CENTER_TIME from None to 0.0
+ </change>
+ <change name="E. Howington-Kraus" date="2012-04-26">
+ Added MOUNT_ANG_TBL option
+ </change>
+ <change name="O. Thomas" date="2012-08-23">
+ Renamed program from calc_pushbroom_keywords to socetlinescankeywords, added quaternions, made
+ changes from SOCET Set Generic Pushbroom sensor model to the USGSAsro Line Scanner sensor
+ model, and removed the MOUNT_ANG_TBL option. Started modifications to meet ISIS coding
+ standards.
+ </change>
+ <change name="E. Howington-Kraus" date="2013-02-20">
+ Completed modifications to meet ISIS coding standards for formal installation into ISIS3.
+ Added support for HiRISE jitter-corrected images created at U of A. Added check for needed
+ SPICE data (blobs) attached to the cube label. Renamed parameter PUSHKEY to TO. Temporarily
+ removed support for MEX-HSRC and MGS-MOC sensors until they are tested and working under the
+ SOCET Set USGSAstro Line Scanner sensor model. References #1490.
+ </change>
+ <change name="E. Howington-Kraus" date="2013-06-21">
+ Modified to (1) generate ephemeris points and quaternions at a closer time interval if the
+ spacing of the attached SPICE data are too sparse for the SOCET Set USGSAstro Line Scanner
+ sensor model; (2) increase the precision of the output SOCET Set keyword values; (3) redefine
+ the pixel-location of the input image's center ephemeris time, and (4) compute spacecraft
+ velocity values instead of using SPICE velocity data blobs. Fixes #1672.
+ </change>
+ <change name="K. Edmundson" date="2017-01-09">
+ Hopefully final updates to handle HRSC images with both constant and variable line exposure rates.
+ Also brought up to ISIS3 coding standards. References #5278.
+ </change>
+ </history>
+
+ <groups>
+ <group name="Files">
+ <parameter name="FROM">
+ <type>cube</type>
+ <fileMode>input</fileMode>
+ <brief>
+ Filename of a cube
+ </brief>
+ <description>
+ Level 1 Input Line Scanner cube with SPICE data attached. Supported instruments and
+ derived products are MRO-HiRISE, MRO-HiRISE IDEAL, MRO-HiRISE IDEAL Jitter Corrected,
+ MRO-CTX, LRO-NACL, and LRO-NACR.
+ </description>
+ <filter>
+ *.cub
+ </filter>
+ </parameter>
+
+ <parameter name="TO">
+ <type>filename</type>
+ <fileMode>output</fileMode>
+ <brief>SOCET Set Support file keywords</brief>
+ <internalDefault>None</internalDefault>
+ <description>
+ Output text file of the SOCET Set USGSAstro Line Scaner section of a SOCET Set support
+ file. This output file is one of the input files to USGSAstro SOCET Set program
+ 'import_pushbroom.'
+ </description>
+ </parameter>
+
+ <parameter name="HRSC_NADIRCENTERTIME">
+ <brief>Ephemeris time at center of HRSC nadir image
+ </brief>
+ <description>
+ Ephemeris time at center of HRSC nadir image. This is
+ used so that the SOCET Set keyword T0_CENTER value references
+ the same absolute ephemeris time in an HRSC image set.
+ </description>
+ <type>double</type>
+ <default><item>0.0</item></default>
+ </parameter>
+ </group>
+ </groups>
+</application>
diff --git a/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/Makefile b/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..46d84c74c297304e943452a44e06b111f179a92b
--- /dev/null
+++ b/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/Makefile
@@ -0,0 +1,4 @@
+BLANKS = "%-6s"
+LENGTH = "%-40s"
+
+include $(ISISROOT)/make/isismake.tststree
diff --git a/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/hirise/Makefile b/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/hirise/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..9c0e3d5b6c1c9809e26d15e30d11639e6a5d74b9
--- /dev/null
+++ b/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/hirise/Makefile
@@ -0,0 +1,30 @@
+APPNAME = socetlinescankeywords
+
+include $(ISISROOT)/make/isismake.tsts
+
+#Use sed to lower output precision to 5 decimal places in output txt files
+
+commands:
+#Test HiRISE noproj'ed (Ideal Camera) cube
+ $(APPNAME) from=$(INPUT)/ESP_028449_1700_REDmos_hijitreged.balance.noproj.8bit.cub \
+ to=$(OUTPUT)/ESP_028449_1700_REDmos_hijitreged_keywords.txt > /dev/null;
+ cat $(OUTPUT)/ESP_028449_1700_REDmos_hijitreged_keywords.txt | \
+ sed 's/\([0-9]\.[0-9][0-9][0-9][0-9][0-9]\)\([0-9]*\)/\1/g' > \
+ $(OUTPUT)/sed_ESP_028449_1700_REDmos_hijitreged_keywords.txt
+ $(RM) $(OUTPUT)/ESP_028449_1700_REDmos_hijitreged_keywords.txt
+
+#Test HiRISE hijitter'ed (Ideal Camera) cube
+ $(APPNAME) from=$(INPUT)/ESP_026339_1700_RED_DEJITTERED.8bit.cub \
+ to=$(OUTPUT)/ESP_026339_1700_RED_DEJITTERED_keywords.txt > /dev/null;
+ cat $(OUTPUT)/ESP_026339_1700_RED_DEJITTERED_keywords.txt | \
+ sed 's/\([0-9]\.[0-9][0-9][0-9][0-9][0-9]\)\([0-9]*\)/\1/g' > \
+ $(OUTPUT)/sed_ESP_026339_1700_RED_DEJITTERED_keywords.txt
+ $(RM) $(OUTPUT)/ESP_026339_1700_RED_DEJITTERED_keywords.txt
+
+#Test HiRISE CCD (HiRISE Camera) cube
+ $(APPNAME) from=$(INPUT)/ESP_028449_1700_RED5.balance.cub \
+ to=$(OUTPUT)/ESP_028449_1700_RED5_keywords.txt > /dev/null;
+ cat $(OUTPUT)/ESP_028449_1700_RED5_keywords.txt | \
+ sed 's/\([0-9]\.[0-9][0-9][0-9][0-9][0-9]\)\([0-9]*\)/\1/g' > \
+ $(OUTPUT)/sed_ESP_028449_1700_RED5_keywords.txt
+ $(RM) $(OUTPUT)/ESP_028449_1700_RED5_keywords.txt
diff --git a/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/hirise/truth/sed_ESP_026339_1700_RED_DEJITTERED_keywords.txt b/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/hirise/truth/sed_ESP_026339_1700_RED_DEJITTERED_keywords.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d07d0cf1368eef391e920166aacfb08c2f18f18d
--- /dev/null
+++ b/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/hirise/truth/sed_ESP_026339_1700_RED_DEJITTERED_keywords.txt
@@ -0,0 +1,648 @@
+RECTIFICATION_TERMS
+ 3.00000e+04 0.00000e+00 1.00000e+00
+ 1.00000e+04 1.00000e+00 0.00000e+00
+GROUND_ZERO -1.74024e-01 -1.60194e+00 0.00000e+00
+LOAD_PT -1.74024e-01 -1.60194e+00 0.00000e+00
+COORD_SYSTEM 1
+IMAGE_MOTION 0
+SENSOR_TYPE USGSAstroLineScanner
+SENSOR_MODE UNKNOWN
+FOCAL 1.19949e+04
+ATMCO 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00
+IOCOEF_LINE 3.00000e+04 8.34013e+01 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00
+IOCOEF_SAMPLE 1.00000e+04 0.00000e+00 8.33333e+01 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00
+ABERR 0
+ATMREF 0
+PLATFORM 1
+SOURCE_FLAG 1
+SINGLE_EPHEMERIDE 0
+TRI_PARAMETERS
+0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 1.19949e+04 0.00000e+00 0.00000e+00
+T_CENTER 0.00000e+00
+DT_EPHEM 2.43749e-02
+T0_EPHEM -2.68124e+00
+NUMBER_OF_EPHEM 221
+EPHEM_PTS
+ -6.90396e+04 -3.60169e+06 -6.30370e+05
+ -6.90501e+04 -3.60171e+06 -6.30288e+05
+ -6.90606e+04 -3.60172e+06 -6.30206e+05
+ -6.90711e+04 -3.60174e+06 -6.30124e+05
+ -6.90816e+04 -3.60175e+06 -6.30042e+05
+ -6.90921e+04 -3.60177e+06 -6.29960e+05
+ -6.91027e+04 -3.60178e+06 -6.29878e+05
+ -6.91132e+04 -3.60179e+06 -6.29796e+05
+ -6.91237e+04 -3.60181e+06 -6.29714e+05
+ -6.91342e+04 -3.60182e+06 -6.29632e+05
+ -6.91447e+04 -3.60184e+06 -6.29550e+05
+ -6.91552e+04 -3.60185e+06 -6.29468e+05
+ -6.91657e+04 -3.60187e+06 -6.29386e+05
+ -6.91762e+04 -3.60188e+06 -6.29304e+05
+ -6.91867e+04 -3.60190e+06 -6.29222e+05
+ -6.91973e+04 -3.60191e+06 -6.29139e+05
+ -6.92078e+04 -3.60193e+06 -6.29057e+05
+ -6.92183e+04 -3.60194e+06 -6.28975e+05
+ -6.92288e+04 -3.60196e+06 -6.28893e+05
+ -6.92393e+04 -3.60197e+06 -6.28811e+05
+ -6.92498e+04 -3.60199e+06 -6.28729e+05
+ -6.92603e+04 -3.60200e+06 -6.28647e+05
+ -6.92708e+04 -3.60202e+06 -6.28565e+05
+ -6.92813e+04 -3.60203e+06 -6.28483e+05
+ -6.92919e+04 -3.60205e+06 -6.28401e+05
+ -6.93024e+04 -3.60206e+06 -6.28319e+05
+ -6.93129e+04 -3.60208e+06 -6.28237e+05
+ -6.93234e+04 -3.60209e+06 -6.28155e+05
+ -6.93339e+04 -3.60211e+06 -6.28073e+05
+ -6.93444e+04 -3.60212e+06 -6.27991e+05
+ -6.93549e+04 -3.60214e+06 -6.27908e+05
+ -6.93654e+04 -3.60215e+06 -6.27826e+05
+ -6.93759e+04 -3.60217e+06 -6.27744e+05
+ -6.93865e+04 -3.60218e+06 -6.27662e+05
+ -6.93970e+04 -3.60220e+06 -6.27580e+05
+ -6.94075e+04 -3.60221e+06 -6.27498e+05
+ -6.94180e+04 -3.60223e+06 -6.27416e+05
+ -6.94285e+04 -3.60224e+06 -6.27334e+05
+ -6.94390e+04 -3.60226e+06 -6.27252e+05
+ -6.94495e+04 -3.60227e+06 -6.27170e+05
+ -6.94600e+04 -3.60229e+06 -6.27088e+05
+ -6.94706e+04 -3.60230e+06 -6.27006e+05
+ -6.94811e+04 -3.60232e+06 -6.26924e+05
+ -6.94916e+04 -3.60233e+06 -6.26842e+05
+ -6.95021e+04 -3.60234e+06 -6.26759e+05
+ -6.95126e+04 -3.60236e+06 -6.26677e+05
+ -6.95231e+04 -3.60237e+06 -6.26595e+05
+ -6.95336e+04 -3.60239e+06 -6.26513e+05
+ -6.95441e+04 -3.60240e+06 -6.26431e+05
+ -6.95547e+04 -3.60242e+06 -6.26349e+05
+ -6.95652e+04 -3.60243e+06 -6.26267e+05
+ -6.95757e+04 -3.60245e+06 -6.26185e+05
+ -6.95862e+04 -3.60246e+06 -6.26103e+05
+ -6.95967e+04 -3.60248e+06 -6.26021e+05
+ -6.96072e+04 -3.60249e+06 -6.25939e+05
+ -6.96177e+04 -3.60251e+06 -6.25857e+05
+ -6.96282e+04 -3.60252e+06 -6.25775e+05
+ -6.96387e+04 -3.60254e+06 -6.25692e+05
+ -6.96493e+04 -3.60255e+06 -6.25610e+05
+ -6.96598e+04 -3.60257e+06 -6.25528e+05
+ -6.96703e+04 -3.60258e+06 -6.25446e+05
+ -6.96808e+04 -3.60260e+06 -6.25364e+05
+ -6.96913e+04 -3.60261e+06 -6.25282e+05
+ -6.97018e+04 -3.60263e+06 -6.25200e+05
+ -6.97123e+04 -3.60264e+06 -6.25118e+05
+ -6.97228e+04 -3.60266e+06 -6.25036e+05
+ -6.97334e+04 -3.60267e+06 -6.24954e+05
+ -6.97439e+04 -3.60269e+06 -6.24872e+05
+ -6.97544e+04 -3.60270e+06 -6.24790e+05
+ -6.97649e+04 -3.60271e+06 -6.24707e+05
+ -6.97754e+04 -3.60273e+06 -6.24625e+05
+ -6.97859e+04 -3.60274e+06 -6.24543e+05
+ -6.97964e+04 -3.60276e+06 -6.24461e+05
+ -6.98069e+04 -3.60277e+06 -6.24379e+05
+ -6.98175e+04 -3.60279e+06 -6.24297e+05
+ -6.98280e+04 -3.60280e+06 -6.24215e+05
+ -6.98385e+04 -3.60282e+06 -6.24133e+05
+ -6.98490e+04 -3.60283e+06 -6.24051e+05
+ -6.98595e+04 -3.60285e+06 -6.23969e+05
+ -6.98700e+04 -3.60286e+06 -6.23887e+05
+ -6.98805e+04 -3.60288e+06 -6.23805e+05
+ -6.98910e+04 -3.60289e+06 -6.23722e+05
+ -6.99016e+04 -3.60291e+06 -6.23640e+05
+ -6.99121e+04 -3.60292e+06 -6.23558e+05
+ -6.99226e+04 -3.60294e+06 -6.23476e+05
+ -6.99331e+04 -3.60295e+06 -6.23394e+05
+ -6.99436e+04 -3.60297e+06 -6.23312e+05
+ -6.99541e+04 -3.60298e+06 -6.23230e+05
+ -6.99646e+04 -3.60300e+06 -6.23148e+05
+ -6.99751e+04 -3.60301e+06 -6.23066e+05
+ -6.99857e+04 -3.60302e+06 -6.22984e+05
+ -6.99962e+04 -3.60304e+06 -6.22902e+05
+ -7.00067e+04 -3.60305e+06 -6.22819e+05
+ -7.00172e+04 -3.60307e+06 -6.22737e+05
+ -7.00277e+04 -3.60308e+06 -6.22655e+05
+ -7.00382e+04 -3.60310e+06 -6.22573e+05
+ -7.00487e+04 -3.60311e+06 -6.22491e+05
+ -7.00592e+04 -3.60313e+06 -6.22409e+05
+ -7.00698e+04 -3.60314e+06 -6.22327e+05
+ -7.00803e+04 -3.60316e+06 -6.22245e+05
+ -7.00908e+04 -3.60317e+06 -6.22163e+05
+ -7.01013e+04 -3.60319e+06 -6.22081e+05
+ -7.01118e+04 -3.60320e+06 -6.21999e+05
+ -7.01223e+04 -3.60322e+06 -6.21916e+05
+ -7.01328e+04 -3.60323e+06 -6.21834e+05
+ -7.01433e+04 -3.60325e+06 -6.21752e+05
+ -7.01539e+04 -3.60326e+06 -6.21670e+05
+ -7.01644e+04 -3.60328e+06 -6.21588e+05
+ -7.01749e+04 -3.60329e+06 -6.21506e+05
+ -7.01854e+04 -3.60330e+06 -6.21424e+05
+ -7.01959e+04 -3.60332e+06 -6.21342e+05
+ -7.02064e+04 -3.60333e+06 -6.21260e+05
+ -7.02169e+04 -3.60335e+06 -6.21178e+05
+ -7.02274e+04 -3.60336e+06 -6.21095e+05
+ -7.02380e+04 -3.60338e+06 -6.21013e+05
+ -7.02485e+04 -3.60339e+06 -6.20931e+05
+ -7.02590e+04 -3.60341e+06 -6.20849e+05
+ -7.02695e+04 -3.60342e+06 -6.20767e+05
+ -7.02800e+04 -3.60344e+06 -6.20685e+05
+ -7.02905e+04 -3.60345e+06 -6.20603e+05
+ -7.03010e+04 -3.60347e+06 -6.20521e+05
+ -7.03116e+04 -3.60348e+06 -6.20439e+05
+ -7.03221e+04 -3.60350e+06 -6.20357e+05
+ -7.03326e+04 -3.60351e+06 -6.20274e+05
+ -7.03431e+04 -3.60352e+06 -6.20192e+05
+ -7.03536e+04 -3.60354e+06 -6.20110e+05
+ -7.03641e+04 -3.60355e+06 -6.20028e+05
+ -7.03746e+04 -3.60357e+06 -6.19946e+05
+ -7.03851e+04 -3.60358e+06 -6.19864e+05
+ -7.03957e+04 -3.60360e+06 -6.19782e+05
+ -7.04062e+04 -3.60361e+06 -6.19700e+05
+ -7.04167e+04 -3.60363e+06 -6.19618e+05
+ -7.04272e+04 -3.60364e+06 -6.19536e+05
+ -7.04377e+04 -3.60366e+06 -6.19453e+05
+ -7.04482e+04 -3.60367e+06 -6.19371e+05
+ -7.04587e+04 -3.60369e+06 -6.19289e+05
+ -7.04692e+04 -3.60370e+06 -6.19207e+05
+ -7.04798e+04 -3.60372e+06 -6.19125e+05
+ -7.04903e+04 -3.60373e+06 -6.19043e+05
+ -7.05008e+04 -3.60374e+06 -6.18961e+05
+ -7.05113e+04 -3.60376e+06 -6.18879e+05
+ -7.05218e+04 -3.60377e+06 -6.18797e+05
+ -7.05323e+04 -3.60379e+06 -6.18714e+05
+ -7.05428e+04 -3.60380e+06 -6.18632e+05
+ -7.05534e+04 -3.60382e+06 -6.18550e+05
+ -7.05639e+04 -3.60383e+06 -6.18468e+05
+ -7.05744e+04 -3.60385e+06 -6.18386e+05
+ -7.05849e+04 -3.60386e+06 -6.18304e+05
+ -7.05954e+04 -3.60388e+06 -6.18222e+05
+ -7.06059e+04 -3.60389e+06 -6.18140e+05
+ -7.06164e+04 -3.60391e+06 -6.18058e+05
+ -7.06269e+04 -3.60392e+06 -6.17976e+05
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diff --git a/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/hirise/truth/sed_ESP_028449_1700_RED5_keywords.txt b/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/hirise/truth/sed_ESP_028449_1700_RED5_keywords.txt
new file mode 100644
index 0000000000000000000000000000000000000000..26b9255867c85e23e073f60ad8ab38f326b9862c
--- /dev/null
+++ b/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/hirise/truth/sed_ESP_028449_1700_RED5_keywords.txt
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diff --git a/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/hirise/truth/sed_ESP_028449_1700_REDmos_hijitreged_keywords.txt b/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/hirise/truth/sed_ESP_028449_1700_REDmos_hijitreged_keywords.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d09ecf6714e4617b3f65ea0763571e1c18fe7722
--- /dev/null
+++ b/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/hirise/truth/sed_ESP_028449_1700_REDmos_hijitreged_keywords.txt
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+ -3.97536e-01 -5.12271e-01 -5.47918e-01 5.28513e-01
+ -3.97550e-01 -5.12282e-01 -5.47908e-01 5.28503e-01
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+ -3.97577e-01 -5.12303e-01 -5.47889e-01 5.28482e-01
+ -3.97591e-01 -5.12313e-01 -5.47879e-01 5.28472e-01
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+ -3.97618e-01 -5.12335e-01 -5.47860e-01 5.28451e-01
+ -3.97632e-01 -5.12345e-01 -5.47850e-01 5.28441e-01
+ -3.97645e-01 -5.12356e-01 -5.47840e-01 5.28431e-01
+ -3.97659e-01 -5.12366e-01 -5.47831e-01 5.28420e-01
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+ -3.97686e-01 -5.12387e-01 -5.47811e-01 5.28400e-01
+
+
+SCAN_DURATION 5.67437e+00
+INT_TIME 1.62124e-04
+
+ALONG_SCAN_PIXEL_SIZE 2.39677e-02
+CROSS_SCAN_PIXEL_SIZE 2.40000e-02
+
+CENTER_GP -1.73953e-01 -1.60673e+00 0.00000e+00
+SENSOR_POSITION -1.72826e-01 -1.59660e+00 2.57395e+05
+MOUNTING_ANGLES 0.00000e+00 0.00000e+00 0.00000e+00
+
+TOTAL_LINES 35000
+TOTAL_SAMPLES 10000
+
+
+
+
+IKCODE -74699
+ISIS_Z_DIRECTION 1.00000e+00
+OPTICAL_DIST_COEF 0.00000e+00 0.00000e+00 0.00000e+00
+ITRANSS 0.00000e+00 0.00000e+00 -4.16666e+01
+ITRANSL 3.87491e+03 4.16666e+01 0.00000e+00
+DETECTOR_SAMPLE_ORIGIN 5.00050e+03
+DETECTOR_LINE_ORIGIN 0.00000e+00
+DETECTOR_LINE_OFFSET 0.00000e+00
+DETECTOR_SAMPLE_SUMMING 1.00000e+00
+STARTING_SAMPLE 1.00000e+00
+STARTING_LINE 1.00000e+00
+STARTING_EPHEMERIS_TIME 3.98801e+08
+CENTER_EPHEMERIS_TIME 3.98801e+08
diff --git a/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/hrsc/Makefile b/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/hrsc/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..be54e104e73e0292e063f9fbd906a71775fba417
--- /dev/null
+++ b/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/hrsc/Makefile
@@ -0,0 +1,33 @@
+APPNAME = socetlinescankeywords_noExtrapolation
+
+include $(ISISROOT)/make/isismake.tsts
+
+#Use sed to lower output precision to 5 decimal places in output txt files
+
+commands:
+#Test HRSC image with constant exposure rate. H1235 nd2, Vallis Marineris.
+ $(APPNAME) from=$(INPUT)/h1235_0001_nd2_crop.8bit.cub \
+ to=$(OUTPUT)/h1235_0001_nd2_crop_keywords.txt \
+ hrsc_nadircentertime=158030857.34364 > /dev/null;
+ cat $(OUTPUT)/h1235_0001_nd2_crop_keywords.txt | \
+ sed 's/\([0-9]\.[0-9][0-9][0-9][0-9][0-9]\)\([0-9]*\)/\1/g' > \
+ $(OUTPUT)/sed_h1235_0001_nd2_crop_keywords.txt
+ $(RM) $(OUTPUT)/h1235_0001_nd2_crop_keywords.txt
+
+#Test HRSC image with variable exposure rate. H0894 nd2, Nanedi Vallis.
+ $(APPNAME) from=$(INPUT)/h0894_0000_nd2_crop.8bit.cub \
+ to=$(OUTPUT)/h0894_0000_nd2_crop_keywords.txt \
+ hrsc_nadircentertime=149781543.44398 > /dev/null;
+ cat $(OUTPUT)/h0894_0000_nd2_crop_keywords.txt | \
+ sed 's/\([0-9]\.[0-9][0-9][0-9][0-9][0-9]\)\([0-9]*\)/\1/g' > \
+ $(OUTPUT)/sed_h0894_0000_nd2_crop_keywords.txt
+ $(RM) $(OUTPUT)/h0894_0000_nd2_crop_keywords.txt
+
+#Test HRSC image with exactly two exposure rates throughout image. H4235 s22, Gale Crater.
+ $(APPNAME) from=$(INPUT)/h4235_0001_s22_crop.8bit.cub \
+ to=$(OUTPUT)/h4235_0001_s22_crop_keywords.txt \
+ hrsc_nadircentertime=230605329.82915 > /dev/null;
+ cat $(OUTPUT)/h4235_0001_s22_crop_keywords.txt | \
+ sed 's/\([0-9]\.[0-9][0-9][0-9][0-9][0-9]\)\([0-9]*\)/\1/g' > \
+ $(OUTPUT)/sed_h4235_0001_s22_crop_keywords.txt
+ $(RM) $(OUTPUT)/h4235_0001_s22_crop_keywords.txt
diff --git a/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/hrsc/truth/sed_h0894_0000_nd2_crop_keywords.txt b/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/hrsc/truth/sed_h0894_0000_nd2_crop_keywords.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a6ff37553b52e02ea1c9755ba3c1af79ee772e65
--- /dev/null
+++ b/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/hrsc/truth/sed_h0894_0000_nd2_crop_keywords.txt
@@ -0,0 +1,713 @@
+RECTIFICATION_TERMS
+ 1.09695e+04 0.00000e+00 1.00000e+00
+ 2.58800e+03 1.00000e+00 0.00000e+00
+GROUND_ZERO 8.90145e-02 -8.17809e-01 0.00000e+00
+LOAD_PT 8.90145e-02 -8.17809e-01 0.00000e+00
+COORD_SYSTEM 1
+IMAGE_MOTION 0
+SENSOR_TYPE USGSAstroLineScannerKLEv
+SENSOR_MODE UNKNOWN
+FOCAL 1.75010e+02
+ATMCO 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00
+IOCOEF_LINE 1.09695e+04 1.42857e+02 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00
+IOCOEF_SAMPLE 2.58800e+03 0.00000e+00 1.42857e+02 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00
+ABERR 0
+ATMREF 0
+PLATFORM 1
+SOURCE_FLAG 1
+SINGLE_EPHEMERIDE 0
+TRI_PARAMETERS
+0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 1.75010e+02 0.00000e+00 0.00000e+00
+T_CENTER 2.23648e-03
+DT_EPHEM 1.93639e+00
+T0_EPHEM -6.77716e+01
+NUMBER_OF_EPHEM 71
+EPHEM_PTS
+ 2.62450e+06 -2.82068e+06 6.15448e+05
+ 2.62415e+06 -2.82039e+06 6.07492e+05
+ 2.62380e+06 -2.82009e+06 5.99535e+05
+ 2.62344e+06 -2.81979e+06 5.91577e+05
+ 2.62308e+06 -2.81948e+06 5.83616e+05
+ 2.62271e+06 -2.81916e+06 5.75654e+05
+ 2.62233e+06 -2.81883e+06 5.67691e+05
+ 2.62194e+06 -2.81849e+06 5.59726e+05
+ 2.62155e+06 -2.81815e+06 5.51759e+05
+ 2.62115e+06 -2.81780e+06 5.43791e+05
+ 2.62074e+06 -2.81744e+06 5.35822e+05
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+ 2.61769e+06 -2.81470e+06 4.79995e+05
+ 2.61723e+06 -2.81428e+06 4.72014e+05
+ 2.61676e+06 -2.81385e+06 4.64032e+05
+ 2.61628e+06 -2.81342e+06 4.56048e+05
+ 2.61579e+06 -2.81297e+06 4.48064e+05
+ 2.61530e+06 -2.81252e+06 4.40078e+05
+ 2.61480e+06 -2.81206e+06 4.32090e+05
+ 2.61430e+06 -2.81159e+06 4.24102e+05
+ 2.61378e+06 -2.81111e+06 4.16113e+05
+ 2.61326e+06 -2.81062e+06 4.08122e+05
+ 2.61273e+06 -2.81013e+06 4.00130e+05
+ 2.61220e+06 -2.80963e+06 3.92137e+05
+ 2.61166e+06 -2.80912e+06 3.84143e+05
+ 2.61111e+06 -2.80860e+06 3.76148e+05
+ 2.61055e+06 -2.80808e+06 3.68151e+05
+ 2.60999e+06 -2.80755e+06 3.60154e+05
+ 2.60942e+06 -2.80700e+06 3.52156e+05
+ 2.60884e+06 -2.80646e+06 3.44156e+05
+ 2.60825e+06 -2.80590e+06 3.36156e+05
+ 2.60766e+06 -2.80533e+06 3.28155e+05
+ 2.60706e+06 -2.80476e+06 3.20153e+05
+ 2.60646e+06 -2.80418e+06 3.12149e+05
+ 2.60584e+06 -2.80359e+06 3.04145e+05
+ 2.60522e+06 -2.80299e+06 2.96141e+05
+ 2.60459e+06 -2.80239e+06 2.88135e+05
+ 2.60396e+06 -2.80177e+06 2.80128e+05
+ 2.60331e+06 -2.80115e+06 2.72121e+05
+ 2.60266e+06 -2.80052e+06 2.64113e+05
+ 2.60201e+06 -2.79988e+06 2.56104e+05
+ 2.60134e+06 -2.79924e+06 2.48094e+05
+ 2.60067e+06 -2.79858e+06 2.40084e+05
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+ 2.59649e+06 -2.79448e+06 1.92008e+05
+ 2.59577e+06 -2.79377e+06 1.83993e+05
+ 2.59504e+06 -2.79305e+06 1.75978e+05
+ 2.59430e+06 -2.79232e+06 1.67962e+05
+ 2.59356e+06 -2.79159e+06 1.59946e+05
+ 2.59281e+06 -2.79084e+06 1.51930e+05
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+ 2.59051e+06 -2.78856e+06 1.27877e+05
+ 2.58973e+06 -2.78778e+06 1.19858e+05
+ 2.58894e+06 -2.78700e+06 1.11840e+05
+ 2.58814e+06 -2.78620e+06 1.03821e+05
+ 2.58734e+06 -2.78540e+06 9.58018e+04
+ 2.58653e+06 -2.78459e+06 8.77822e+04
+ 2.58572e+06 -2.78377e+06 7.97624e+04
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+ 2.58406e+06 -2.78211e+06 6.37219e+04
+ 2.58322e+06 -2.78126e+06 5.57014e+04
+
+
+EPHEM_RATES
+ -1.75944e+02 1.47590e+02 -4.10790e+03
+ -1.79552e+02 1.51558e+02 -4.10876e+03
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diff --git a/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/hrsc/truth/sed_h1235_0001_nd2_crop_keywords.txt b/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/hrsc/truth/sed_h1235_0001_nd2_crop_keywords.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1009eeebebd0aa9810b4f89e32dd626dcc405aec
--- /dev/null
+++ b/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/hrsc/truth/sed_h1235_0001_nd2_crop_keywords.txt
@@ -0,0 +1,822 @@
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diff --git a/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/hrsc/truth/sed_h4235_0001_s22_crop_keywords.txt b/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/hrsc/truth/sed_h4235_0001_s22_crop_keywords.txt
new file mode 100644
index 0000000000000000000000000000000000000000..36544f85291c0ca894abc59d327217ae887c72a4
--- /dev/null
+++ b/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/hrsc/truth/sed_h4235_0001_s22_crop_keywords.txt
@@ -0,0 +1,662 @@
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+QUATERNIONS
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+ -2.49932e-01 6.20366e-01 -6.89830e-01 2.77150e-01
+
+
+SCAN_DURATION 3.01221e+01
+INT_TIME 3.94681e-03
+
+ALONG_SCAN_PIXEL_SIZE 7.00000e-03
+CROSS_SCAN_PIXEL_SIZE 7.00000e-03
+
+CENTER_GP -7.94589e-02 2.39466e+00 0.00000e+00
+SENSOR_POSITION -1.20006e-01 2.38871e+00 3.85312e+05
+MOUNTING_ANGLES 0.00000e+00 0.00000e+00 0.00000e+00
+
+TOTAL_LINES 7632
+TOTAL_SAMPLES 5176
+
+
+
+
+IKCODE -41211
+ISIS_Z_DIRECTION 1.00000e+00
+OPTICAL_DIST_COEF 0.00000e+00 0.00000e+00 0.00000e+00
+ITRANSS -2.79413e+00 -1.42857e+02 1.57079e-02
+ITRANSL 8.57038e+03 1.57079e-02 1.42857e+02
+DETECTOR_SAMPLE_ORIGIN 2.59250e+03
+DETECTOR_LINE_ORIGIN 0.00000e+00
+DETECTOR_LINE_OFFSET 0.00000e+00
+DETECTOR_SAMPLE_SUMMING 1.00000e+00
+STARTING_SAMPLE 1.00000e+00
+STARTING_LINE 1.00000e+00
+STARTING_EPHEMERIS_TIME 2.30605e+08
+CENTER_EPHEMERIS_TIME 2.30605e+08
diff --git a/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/lev2/Makefile b/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/lev2/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..76ff7738faf2cb8c8af89b04b1ddc87234ea9ea8
--- /dev/null
+++ b/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/lev2/Makefile
@@ -0,0 +1,8 @@
+APPNAME = socetlinescankeywords
+
+include $(ISISROOT)/make/isismake.tsts
+
+commands:
+ $(APPNAME) from=$(INPUT)/PSP_001488_1750_REDmos_hijitreged_1km_o.cub \
+ to=$(OUTPUT)/PSP_001488_1750_REDmos_keywords.txt >& \
+ $(OUTPUT)/error.txt || true;
diff --git a/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/lev2/truth/error.txt b/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/lev2/truth/error.txt
new file mode 100644
index 0000000000000000000000000000000000000000..edd5102867447142f5cf73d2581009f421697db1
--- /dev/null
+++ b/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/lev2/truth/error.txt
@@ -0,0 +1 @@
+**USER ERROR** Input images is a map projected cube ... not a level 1 image.
diff --git a/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/lronac/Makefile b/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/lronac/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..cda222c50d483e184f5042ca04a24fb2f17b0157
--- /dev/null
+++ b/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/lronac/Makefile
@@ -0,0 +1,20 @@
+APPNAME = socetlinescankeywords
+
+include $(ISISROOT)/make/isismake.tsts
+
+commands:
+#Test LRO-NACR, pole image
+ $(APPNAME) from=$(INPUT)/M139722912RE.lev1.8bit.cub \
+ to=$(OUTPUT)/M139722912RE_keywords.txt > /dev/null;
+ cat $(OUTPUT)/M139722912RE_keywords.txt | \
+ sed 's/\([0-9]\.[0-9][0-9][0-9][0-9][0-9]\)\([0-9]*\)/\1/g' > \
+ $(OUTPUT)/sed_M139722912RE_keywords.txt
+ $(RM) $(OUTPUT)/M139722912RE_keywords.txt
+
+#Test LRO-NACL, image aquired while rotating the camera
+ $(APPNAME) from=$(INPUT)/M140944356LE.lev1.8bit.cub \
+ to=$(OUTPUT)/M140944356LE_keywords.txt > /dev/null;
+ cat $(OUTPUT)/M140944356LE_keywords.txt | \
+ sed 's/\([0-9]\.[0-9][0-9][0-9][0-9][0-9]\)\([0-9]*\)/\1/g' > \
+ $(OUTPUT)/sed_M140944356LE_keywords.txt
+ $(RM) $(OUTPUT)/M140944356LE_keywords.txt
diff --git a/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/lronac/truth/sed_M139722912RE_keywords.txt b/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/lronac/truth/sed_M139722912RE_keywords.txt
new file mode 100644
index 0000000000000000000000000000000000000000..84cb659c6ce59d23bb0a20b61e22b8b225f30c99
--- /dev/null
+++ b/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/lronac/truth/sed_M139722912RE_keywords.txt
@@ -0,0 +1,444 @@
+RECTIFICATION_TERMS
+ 2.61120e+04 0.00000e+00 1.00000e+00
+ 1.26600e+03 1.00000e+00 0.00000e+00
+GROUND_ZERO -1.56952e+00 -2.81024e+00 0.00000e+00
+LOAD_PT -1.56952e+00 -2.81024e+00 0.00000e+00
+COORD_SYSTEM 1
+IMAGE_MOTION 0
+SENSOR_TYPE USGSAstroLineScanner
+SENSOR_MODE UNKNOWN
+FOCAL 7.01570e+02
+ATMCO 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00
+IOCOEF_LINE 2.61120e+04 6.49727e+01 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00
+IOCOEF_SAMPLE 1.26600e+03 0.00000e+00 7.14285e+01 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00
+ABERR 0
+ATMREF 0
+PLATFORM 1
+SOURCE_FLAG 1
+SINGLE_EPHEMERIDE 0
+TRI_PARAMETERS
+0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 7.01570e+02 0.00000e+00 0.00000e+00
+T_CENTER 0.00000e+00
+DT_EPHEM 1.49055e+00
+T0_EPHEM -3.57733e+01
+NUMBER_OF_EPHEM 49
+EPHEM_PTS
+ 5.01820e+04 2.60536e+04 -1.79779e+06
+ 4.80229e+04 2.48896e+04 -1.79784e+06
+ 4.58637e+04 2.37256e+04 -1.79789e+06
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+ 4.15454e+04 2.13976e+04 -1.79798e+06
+ 3.93862e+04 2.02336e+04 -1.79803e+06
+ 3.72271e+04 1.90696e+04 -1.79807e+06
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+ 3.07496e+04 1.55776e+04 -1.79821e+06
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+ 2.64313e+04 1.32496e+04 -1.79831e+06
+ 2.42721e+04 1.20856e+04 -1.79835e+06
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+ 1.99535e+04 9.75763e+03 -1.79842e+06
+ 1.77941e+04 8.59361e+03 -1.79846e+06
+ 1.56347e+04 7.42959e+03 -1.79849e+06
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+ 1.13158e+04 5.10156e+03 -1.79854e+06
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+ 6.99682e+03 2.77357e+03 -1.79857e+06
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+ 5.18117e+02 -7.18332e+02 -1.79860e+06
+ -1.64147e+03 -1.88226e+03 -1.79860e+06
+ -3.80106e+03 -3.04617e+03 -1.79860e+06
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+ -2.97151e+04 -1.70107e+04 -1.79833e+06
+ -3.18744e+04 -1.81741e+04 -1.79829e+06
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diff --git a/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/lronac/truth/sed_M140944356LE_keywords.txt b/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/lronac/truth/sed_M140944356LE_keywords.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ec01703fadf0dd8c4fd496dbc4415663d409fb78
--- /dev/null
+++ b/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/lronac/truth/sed_M140944356LE_keywords.txt
@@ -0,0 +1,386 @@
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+
+
+SCAN_DURATION 3.47208e+01
+INT_TIME 6.64844e-04
+
+ALONG_SCAN_PIXEL_SIZE 1.54211e-02
+CROSS_SCAN_PIXEL_SIZE 1.40000e-02
+
+CENTER_GP -1.56032e+00 -3.00333e+00 0.00000e+00
+SENSOR_POSITION -1.56011e+00 -3.07593e+00 4.88615e+04
+MOUNTING_ANGLES 0.00000e+00 0.00000e+00 0.00000e+00
+
+TOTAL_LINES 52224
+TOTAL_SAMPLES 2532
+
+
+
+
+IKCODE -85600
+ISIS_Z_DIRECTION 1.00000e+00
+OPTICAL_DIST_COEF 1.80999e-05 0.00000e+00 0.00000e+00
+ITRANSS 0.00000e+00 0.00000e+00 1.42856e+02
+ITRANSL 0.00000e+00 1.42856e+02 0.00000e+00
+DETECTOR_SAMPLE_ORIGIN 2.54800e+03
+DETECTOR_LINE_ORIGIN 0.00000e+00
+DETECTOR_LINE_OFFSET 0.00000e+00
+DETECTOR_SAMPLE_SUMMING 2.00000e+00
+STARTING_SAMPLE 1.50000e+00
+STARTING_LINE 1.00000e+00
+STARTING_EPHEMERIS_TIME 3.39577e+08
+CENTER_EPHEMERIS_TIME 3.39577e+08
diff --git a/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/mroctx/Makefile b/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/mroctx/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..35df07d6f65a82ca2647f2aef6cef6319702a53c
--- /dev/null
+++ b/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/mroctx/Makefile
@@ -0,0 +1,13 @@
+APPNAME = socetlinescankeywords
+
+include $(ISISROOT)/make/isismake.tsts
+
+#Use sed to lower output precision to 5 decimal places in output txt files
+
+commands:
+ $(APPNAME) from=$(INPUT)/P01_001602_1701_XI_09S091W.8bit.cub \
+ to=$(OUTPUT)/P01_001602_1701_XI_09S091W_keywords.txt > /dev/null;
+ cat $(OUTPUT)/P01_001602_1701_XI_09S091W_keywords.txt | \
+ sed 's/\([0-9]\.[0-9][0-9][0-9][0-9][0-9]\)\([0-9]*\)/\1/g' > \
+ $(OUTPUT)/sed_P01_001602_1701_XI_09S091W_keywords.txt
+ $(RM) $(OUTPUT)/P01_001602_1701_XI_09S091W_keywords.txt
diff --git a/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/mroctx/truth/sed_P01_001602_1701_XI_09S091W_keywords.txt b/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/mroctx/truth/sed_P01_001602_1701_XI_09S091W_keywords.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0c2ed3482d590fbf845009aafdf87aed398bbb3f
--- /dev/null
+++ b/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/mroctx/truth/sed_P01_001602_1701_XI_09S091W_keywords.txt
@@ -0,0 +1,470 @@
+RECTIFICATION_TERMS
+ 3.58400e+03 0.00000e+00 1.00000e+00
+ 2.50000e+03 1.00000e+00 0.00000e+00
+GROUND_ZERO -1.74751e-01 -1.60303e+00 0.00000e+00
+LOAD_PT -1.74751e-01 -1.60303e+00 0.00000e+00
+COORD_SYSTEM 1
+IMAGE_MOTION 0
+SENSOR_TYPE USGSAstroLineScanner
+SENSOR_MODE UNKNOWN
+FOCAL 3.52927e+02
+ATMCO 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00
+IOCOEF_LINE 3.58400e+03 1.20751e+02 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00
+IOCOEF_SAMPLE 2.50000e+03 0.00000e+00 1.42857e+02 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00
+ABERR 0
+ATMREF 0
+PLATFORM 1
+SOURCE_FLAG 1
+SINGLE_EPHEMERIDE 0
+TRI_PARAMETERS
+0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 0.00000e+00 3.52927e+02 0.00000e+00 0.00000e+00
+T_CENTER 0.00000e+00
+DT_EPHEM 1.47849e-01
+T0_EPHEM -8.13174e+00
+NUMBER_OF_EPHEM 111
+EPHEM_PTS
+ -1.00376e+05 -3.59490e+06 -6.54358e+05
+ -1.00441e+05 -3.59499e+06 -6.53861e+05
+ -1.00505e+05 -3.59509e+06 -6.53364e+05
+ -1.00570e+05 -3.59518e+06 -6.52866e+05
+ -1.00634e+05 -3.59527e+06 -6.52369e+05
+ -1.00699e+05 -3.59537e+06 -6.51872e+05
+ -1.00764e+05 -3.59546e+06 -6.51374e+05
+ -1.00828e+05 -3.59555e+06 -6.50877e+05
+ -1.00893e+05 -3.59564e+06 -6.50380e+05
+ -1.00957e+05 -3.59574e+06 -6.49882e+05
+ -1.01022e+05 -3.59583e+06 -6.49385e+05
+ -1.01086e+05 -3.59592e+06 -6.48888e+05
+ -1.01151e+05 -3.59601e+06 -6.48390e+05
+ -1.01216e+05 -3.59611e+06 -6.47893e+05
+ -1.01280e+05 -3.59620e+06 -6.47396e+05
+ -1.01345e+05 -3.59629e+06 -6.46898e+05
+ -1.01409e+05 -3.59638e+06 -6.46401e+05
+ -1.01474e+05 -3.59648e+06 -6.45903e+05
+ -1.01539e+05 -3.59657e+06 -6.45406e+05
+ -1.01603e+05 -3.59666e+06 -6.44909e+05
+ -1.01668e+05 -3.59675e+06 -6.44411e+05
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+ -1.01797e+05 -3.59694e+06 -6.43416e+05
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+ -4.24200e-01 -4.90237e-01 -5.68233e-01 5.06785e-01
+
+
+SCAN_DURATION 1.34543e+01
+INT_TIME 1.87699e-03
+
+ALONG_SCAN_PIXEL_SIZE 8.28148e-03
+CROSS_SCAN_PIXEL_SIZE 7.00000e-03
+
+CENTER_GP -1.74751e-01 -1.60303e+00 0.00000e+00
+SENSOR_POSITION -1.74373e-01 -1.59965e+00 2.55325e+05
+MOUNTING_ANGLES 0.00000e+00 0.00000e+00 0.00000e+00
+
+TOTAL_LINES 7168
+TOTAL_SAMPLES 5000
+
+
+
+
+IKCODE -74021
+ISIS_Z_DIRECTION 1.00000e+00
+OPTICAL_DIST_COEF -7.34339e-03 2.83758e-05 1.28419e-08
+ITRANSS 0.00000e+00 0.00000e+00 1.42857e+02
+ITRANSL 0.00000e+00 1.42857e+02 0.00000e+00
+DETECTOR_SAMPLE_ORIGIN 2.54346e+03
+DETECTOR_LINE_ORIGIN 4.30442e-01
+DETECTOR_LINE_OFFSET 0.00000e+00
+DETECTOR_SAMPLE_SUMMING 1.00000e+00
+STARTING_SAMPLE 1.00000e+00
+STARTING_LINE 1.00000e+00
+STARTING_EPHEMERIS_TIME 2.18055e+08
+CENTER_EPHEMERIS_TIME 2.18055e+08
diff --git a/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/noblobs/Makefile b/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/noblobs/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..f6686c52d9e19002a9f4898657d1427b271c187e
--- /dev/null
+++ b/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/noblobs/Makefile
@@ -0,0 +1,8 @@
+APPNAME = socetlinescankeywords
+
+include $(ISISROOT)/make/isismake.tsts
+
+commands:
+ $(APPNAME) from=$(INPUT)/P01_001602_1701_XI_09S091W.noblobs.cub \
+ to=$(OUTPUT)/P01_001602_1701_XI_09S091W.txt >& \
+ $(OUTPUT)/error.txt || true;
diff --git a/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/noblobs/truth/error.txt b/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/noblobs/truth/error.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d836889773aae5415328f468fd0a2747d55148a9
--- /dev/null
+++ b/isis/src/socet/apps/socetlinescankeywords_noExtrapolation/tsts/noblobs/truth/error.txt
@@ -0,0 +1 @@
+**USER ERROR** Input image does not contain needed SPICE blobs...run spiceinit with attach=yes.