IdealCamera.cpp

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#include "IdealCamera.h"

#include <iomanip>
#include <string>

#include <QDebug>

#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 "NaifStatus.h"
#include "Pvl.h"

using namespace std;
namespace Isis {
  IdealCamera::IdealCamera(Cube &cube) : Camera(cube) {
    NaifStatus::CheckErrors();
    // Get required keywords from instrument group
    PvlGroup &inst = cube.label()->findGroup("Instrument", Pvl::Traverse);

    // Setup camera characteristics from instrument

    if (inst.hasKeyword("FocalLength")) {
      SetFocalLength(inst["FocalLength"]);
    }
    else {
      SetFocalLength(readValue("IDEAL_FOCAL_LENGTH", SpiceDoubleType).toDouble());
    }

    if (inst.hasKeyword("PixelPitch")) {
      SetPixelPitch(inst["PixelPitch"]);
    }
    else {
      SetPixelPitch(readValue("IDEAL_PIXEL_PITCH", SpiceDoubleType).toDouble());
    }

    double et = inst["EphemerisTime"];

    double exposureDuration = 0.0;
    if (inst.hasKeyword("ExposureDuration")) {
      exposureDuration = ((double) inst["ExposureDuration"]) / 1000.0;
    }

    double sampleDetectors = inst["SampleDetectors"];
    double lineDetectors   = inst["LineDetectors"];

    // These variables are used for maintaining compatibility with older versions of the
    //   ideal camera (noproj before it modified the naif keywords group) and for cubes without the
    //   naif keywords group at all.
    int xDependency = inst["FocalPlaneXDependency"];
    int yDependency = CameraFocalPlaneMap::Line;
    // Pixel direction
    double xdir = 1.0;
    double ydir = 1.0;
    double sdir = xdir;
    double ldir = ydir;

    if (inst.hasKeyword("TransX")) xdir = inst["TransX"];
    if (inst.hasKeyword("TransY")) ydir = inst["TransY"];

    if (xDependency == CameraFocalPlaneMap::Line) {
      yDependency = CameraFocalPlaneMap::Sample;
      sdir = ydir;
      ldir = xdir;
    }

    // Put the translation coefficients into the Naif kernel pool so the
    // CameraFocalPlaneClass can find them
    try {
      readValue("IDEAL_TRANSX", SpiceDoubleType);
    }
    catch (IException &) {
      double keyval[3];
      keyval[0] = 0.;
      if (inst.hasKeyword("TransX0")) {
        keyval[0] = inst["TransX0"];
      }

      keyval[xDependency] = PixelPitch() * xdir;
      keyval[yDependency] = 0.;

      storeValue("IDEAL_TRANSX", 0, SpiceDoubleType, keyval[0]);
      storeValue("IDEAL_TRANSX", 1, SpiceDoubleType, keyval[1]);
      storeValue("IDEAL_TRANSX", 2, SpiceDoubleType, keyval[2]);
      pdpool_c("IDEAL_TRANSX", 3, keyval);
    }

    try {
      readValue("IDEAL_TRANSY", SpiceDoubleType);
    }
    catch (IException &) {
      double keyval[3];
      keyval[0] = 0.;
      if (inst.hasKeyword("TransY0")) {
        keyval[0] = inst["TransY0"];
      }

      keyval[yDependency] = PixelPitch() * ydir;
      keyval[xDependency] = 0.;

      storeValue("IDEAL_TRANSY", 0, SpiceDoubleType, keyval[0]);
      storeValue("IDEAL_TRANSY", 1, SpiceDoubleType, keyval[1]);
      storeValue("IDEAL_TRANSY", 2, SpiceDoubleType, keyval[2]);
      pdpool_c("IDEAL_TRANSY", 3, keyval);
    }

    try {
      readValue("IDEAL_TRANSS", SpiceDoubleType);
    }
    catch (IException &) {
      double keyval[3];
      keyval[0] = 0.;
      if (inst.hasKeyword("TransS0")) {
        keyval[0] = inst["TransS0"];
      }

      keyval[xDependency] = 1 / PixelPitch() * sdir;
      keyval[yDependency] = 0.;

      storeValue("IDEAL_TRANSS", 0, SpiceDoubleType, keyval[0]);
      storeValue("IDEAL_TRANSS", 1, SpiceDoubleType, keyval[1]);
      storeValue("IDEAL_TRANSS", 2, SpiceDoubleType, keyval[2]);
      pdpool_c("IDEAL_TRANSS", 3, keyval);
    }

    try {
      readValue("IDEAL_TRANSL", SpiceDoubleType);
    }
    catch (IException &) {
      double keyval[3];
      keyval[0] = 0.;
      if (inst.hasKeyword("TransL0")) {
        keyval[0] = inst["TransL0"];
      }

      keyval[yDependency] = 1 / PixelPitch() * ldir;
      keyval[xDependency] = 0.0;

      storeValue("IDEAL_TRANSL", 0, SpiceDoubleType, keyval[0]);
      storeValue("IDEAL_TRANSL", 1, SpiceDoubleType, keyval[1]);
      storeValue("IDEAL_TRANSL", 2, SpiceDoubleType, keyval[2]);
      pdpool_c("IDEAL_TRANSL", 3, keyval);
    }

    // Create correct camera type
    QString type = (QString) inst["InstrumentType"];
    if (type.toUpper() == "FRAMING") {
      p_framing = true;
      new CameraDetectorMap(this);
      CameraFocalPlaneMap *fmap = new CameraFocalPlaneMap(this, 0);
      fmap->SetDetectorOrigin(sampleDetectors / 2.0 + 0.5,
                              lineDetectors / 2.0 + 0.5);
      new CameraDistortionMap(this);
      new CameraGroundMap(this);
      new CameraSkyMap(this);

      setTime(et);
      LoadCache();
    }
    else if (type.toUpper() == "LINESCAN") {
      p_framing = false;
      new LineScanCameraDetectorMap(this, et, exposureDuration);
      CameraFocalPlaneMap *fmap = new CameraFocalPlaneMap(this, 0);
      fmap->SetDetectorOrigin(sampleDetectors / 2.0 + 0.5,
                              0.0);
      new CameraDistortionMap(this);
      new LineScanCameraGroundMap(this);
      new LineScanCameraSkyMap(this);

      LoadCache();
      NaifStatus::CheckErrors();
    }
    else {
      QString msg = "Unknown InstrumentType [" +
                        (QString) inst["InstrumentType"] + "]";
      throw IException(IException::User, msg, _FILEINFO_);
    }
  }

  IdealCamera::~IdealCamera() {}


  int IdealCamera::CkFrameId() const {
    string msg = "No CK Frame ID for Ideal Camera class";
    throw IException(IException::User, msg, _FILEINFO_);
  }


  int IdealCamera::CkReferenceId() const {
    string msg = "No CK Reference ID for Ideal Camera class";
    throw IException(IException::User, msg, _FILEINFO_);
  }

  int IdealCamera::SpkTargetId() const {
    string msg = "No SPK Target ID for Ideal Camera class";
    throw IException(IException::User, msg, _FILEINFO_);
  }

  int IdealCamera::SpkCenterId() const {
    string msg = "No SPK Center ID for Ideal Camera class";
    throw IException(IException::User, msg, _FILEINFO_);
  }

  int IdealCamera::SpkReferenceId() const {
    string msg = "No SPK Reference ID for Ideal Camera class";
    throw IException(IException::User, msg, _FILEINFO_);
  }
}

extern "C" Isis::Camera *IdealCameraPlugin(Isis::Cube &cube) {
  return new Isis::IdealCamera(cube);
}