MiniRF.cpp

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#include "MiniRF.h"
#include "IString.h"
#include "iTime.h"
#include "IException.h"
#include "RadarPulseMap.h"
#include "RadarGroundRangeMap.h"
#include "RadarSlantRangeMap.h"
#include "RadarGroundMap.h"
#include "RadarSkyMap.h"

using namespace std;

namespace Isis {
  MiniRF::MiniRF(Isis::Cube &cube) : Isis::RadarCamera(cube) {

    // Get the ground range resolution (ScaledPixelHeight and ScaledPixelWidth
    // are expected to be equal - mrf2isis checks for this)
    Pvl &lab = *cube.label();
    Isis::PvlGroup &inst = lab.findGroup("Instrument", Isis::Pvl::Traverse);
    double groundRangeResolution = inst["ScaledPixelHeight"]; // meters

    // Synthesize the pixel pitch to the ground range resolution
    SetPixelPitch(groundRangeResolution); // meters/pix

    // Focal length should always be slant range to the current ground
    // point. This will be set each time the slant range is calculated.
    // For now, set the focal length to 1.0.
    SetFocalLength(1.0);

    // Get the start time from labels (the SpacecraftClockStartCount is set to
    // is set to UNK in the PDS labels, so StartTime is used instead)
    SpiceDouble etStart = iTime((QString)inst["StartTime"]).Et();

    // The line rate is in units of seconds in the PDS label. The exposure
    // is the sum of the burst and the delay for the return. The movement of the
    // spacecraft is negligible compared to the speed of light, so we are assuming
    // the spacecraft hasn't moved between the burst and the return.
    double lineRate = (double) inst["LineExposureDuration"];

    // Get the incidence angle at the center of the image
    double incidenceAngle = (double) inst["IncidenceAngle"];
    incidenceAngle = incidenceAngle * Isis::PI / 180.0;

    // Get the azimuth resolution at the center of the image
    double azimuthResolution = (double) inst["AzimuthResolution"]; // label units are meters
    azimuthResolution = azimuthResolution / 1000.0; // change to km

    // Get the range resolution at the center of the image
    double rangeResolution = (double) inst["RangeResolution"]; // label units are meters

    // Get the wavelength or frequency of the instrument. This does not
    // exist in the PDS labels, so it will need to be hardcoded until the
    // PDS labels are updated. Right now, the mrf2isis program is putting
    // a frequency value in the labels based on the instrument mode id.
    double frequency = (double) inst["Frequency"]; // units are htz
    double waveLength = clight_c() / frequency;    // units are km/sec/htz

    // Setup map from image(sample,line) to radar(sample,time)
    new RadarPulseMap(this, etStart, lineRate);

    // Setup map from radar(sample,time) to radar(groundrange,time)
    Radar::LookDirection ldir = Radar::Right;
    if((QString)inst["LookDirection"] == "LEFT") {
      ldir = Radar::Left;
    }
    RadarGroundRangeMap::setTransform(naifIkCode(), groundRangeResolution,
                                      this->Samples(), ldir);
    new RadarGroundRangeMap(this, naifIkCode());

    // Calculate weighting for focal plane coordinates. This is done
    // because the focal plane coordinates (slant range and Doppler
    // shift) do not have the same units of measurement and cannot
    // be used by jigsaw as is. The weighting factors convert the
    // focal plane coordinates into comparitive values. The weighting
    // factor for the Doppler shift requires spacecraft pointing and
    // velocity at the center of the image, so it is calculated
    // after Spice gets loaded.
    double range_sigma = rangeResolution * sin(incidenceAngle) * 100; // scaled meters
    double etMid = etStart + 0.5 * (this->ParentLines() + 1) * lineRate;

    // Setup the map from Radar(groundRange,t) to Radar(slantRange,t)
    RadarSlantRangeMap *slantRangeMap = new RadarSlantRangeMap(this,
        groundRangeResolution);
    slantRangeMap->SetCoefficients(inst["RangeCoefficientSet"]);

    // Setup the ground and sky map
    RadarGroundMap *groundMap = new RadarGroundMap(this, ldir, waveLength);
    groundMap->SetRangeSigma(range_sigma);
    new RadarSkyMap(this);

    // Set the time range to cover the cube
    // Must be done last as the naif kernels will be unloaded
    double etEnd = etStart + this->ParentLines() * lineRate + lineRate;
    etStart = etStart - lineRate;
    double tol = PixelResolution() / 100.;

    if(tol < 0.) {
      // Alternative calculation of .01*ground resolution of a pixel
      setTime(etMid);
      tol = PixelPitch() * SpacecraftAltitude() / FocalLength() / 100.;
    }
    Spice::createCache(etStart, etEnd, this->ParentLines() + 1, tol);
    setTime(etMid);
    SpiceRotation *bodyFrame = this->bodyRotation();
    SpicePosition *spaceCraft = this->instrumentPosition();

    SpiceDouble Ssc[6];
    // Load the state into Ssc
    vequ_c((SpiceDouble *) & (spaceCraft->Coordinate()[0]), Ssc);
    vequ_c((SpiceDouble *) & (spaceCraft->Velocity()[0]), Ssc + 3);
    // Create the J2000 to body-fixed state transformation matrix BJ
    SpiceDouble BJ[6][6];
    rav2xf_c(&(bodyFrame->Matrix()[0]), (SpiceDouble *) & (bodyFrame->AngularVelocity()[0]), BJ);
    // Rotate the spacecraft state from J2000 to body-fixed
    mxvg_c(BJ, Ssc, 6, 6, Ssc);
    // Extract the body-fixed position and velocity
    double Vsc[3];
    double Xsc[3];
    vequ_c(Ssc, Xsc);
    vequ_c(Ssc + 3, Vsc);

    Isis::Distance radii[3];
    this->radii(radii);
    double R = radii[0].kilometers();
    double height = sqrt(Xsc[0] * Xsc[0] + Xsc[1] * Xsc[1] + Xsc[2] * Xsc[2]) - R;
    double speed = vnorm_c(Vsc);
    double dopplerSigma = 2.0 * speed * azimuthResolution / (waveLength *
                          height / cos(incidenceAngle)) * 100.;
    groundMap->SetDopplerSigma(dopplerSigma);
    slantRangeMap->SetWeightFactors(range_sigma, dopplerSigma);
  }

  int MiniRF::CkFrameId() const {
    std::string msg = "Cannot generate CK for MiniRF";
    throw IException(IException::User, msg, _FILEINFO_);
  }

  int MiniRF::CkReferenceId() const {
    std::string msg = "Cannot generate CK for MiniRF";
    throw IException(IException::User, msg, _FILEINFO_);
  }
}

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