VikingCamera.cpp

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#include "VikingCamera.h"

#include <SpiceUsr.h>
#include <SpiceZfc.h>
#include <SpiceZmc.h>

#include "CameraDetectorMap.h"
#include "CameraFocalPlaneMap.h"
#include "CameraGroundMap.h"
#include "CameraSkyMap.h"
#include "FileName.h"
#include "IString.h"
#include "iTime.h"
#include "NaifStatus.h"
#include "ReseauDistortionMap.h"

using namespace std;

namespace Isis {
  VikingCamera::VikingCamera(Cube &cube) : FramingCamera(cube) {
    NaifStatus::CheckErrors();
    // Set the pixel pitch
    SetPixelPitch(1.0 / 85.0);

    // Find out what camera is being used, and set the focal length, altinstcode,
    // raster orientation, cone, crosscone, and camera
    Pvl &lab = *cube.label();
    PvlGroup &inst = lab.findGroup("Instrument", Pvl::Traverse);
    QString spacecraft = inst["SPACECRAFTNAME"];
    QString instId = inst["INSTRUMENTID"];
    QString cam;
    int spn;
    double raster, cone, crosscone;
    int altinstcode = 0;
    if(spacecraft == "VIKING_ORBITER_1") {
      p_ckFrameId = -27000;
      p_spkTargetId = -27;

      spn = 1;
      altinstcode = -27999;
      if(instId == "VISUAL_IMAGING_SUBSYSTEM_CAMERA_A") {
        cam = "1a";
        SetFocalLength(474.398);
        crosscone = -0.707350;
        cone = -0.007580;
        raster = 89.735690;
      }
      else if(instId == "VISUAL_IMAGING_SUBSYSTEM_CAMERA_B") {
        cam = "1b";
        SetFocalLength(474.448);
        crosscone = 0.681000;
        cone = -0.032000;
        raster = 90.022800;
      }
      else {
        QString msg = "File does not appear to be a Viking image. InstrumentId ["
            + instId + "] is invalid Viking value.";
        throw IException(IException::User, msg, _FILEINFO_);
      }
    }
    else if(spacecraft == "VIKING_ORBITER_2") {
      p_ckFrameId = -30000;
      p_spkTargetId = -30;

      spn = 2;
      altinstcode = -30999;
      if(instId == "VISUAL_IMAGING_SUBSYSTEM_CAMERA_A") {
        cam = "2a";
        SetFocalLength(474.610);
        crosscone = -0.679330;
        cone = -0.023270;
        raster = 89.880691;
      }
      else if(instId == "VISUAL_IMAGING_SUBSYSTEM_CAMERA_B") {
        cam = "2b";
        SetFocalLength(474.101);
        crosscone = 0.663000;
        cone = -0.044000;
        raster = 89.663790;
      }
      else {
        QString msg = "File does not appear to be a Viking image. InstrumentId ["
            + instId + "] is invalid Viking value.";
        throw IException(IException::User, msg, _FILEINFO_);
      }
    }
    else {
      QString msg = "File does not appear to be a Viking image. SpacecraftName ["
          + spacecraft + "] is invalid Viking value.";
      throw IException(IException::User, msg, _FILEINFO_);
    }

    // DOCUMENTATION FROM ISIS2 lev1u_vik_vis_routines.c:
    /*****************************************************************************
     * Calculate the START_TIME keyword (time at middle of exposure in this case)*
     * value from FSC to get fractional seconds (PDS START_TIME provided is only *
     * to the nearest whole second).  The algorithm below was extracted from the *
     * NAIF document Viking Orbiter Time Tag Analysis and Restoration by Boris   *
     * Semenov and Chuck Acton.                                                  *
     *       1.  Get exposure duration from labels to center the time            *
     *       2.  Get FSC from IMAGE_NUMBER on labels to use as spacecraftClock   *
     *       3.  Load the appropriate FSC spacecraft clock kernel based on       *
     *           the spacecraft (Viking Orbiter 1 or Viking Orbiter 2)           *
     *       4.  Load a leap second kernel                                       *
     *       5.  Convert FSC to et                                               *
     *       6.  Add the offsets to get to midexposure                           *
     *       7.  Convert et to UTC calendar format and write to labels as        *
     *           START_TIME                                                      *
     *****************************************************************************/

    // Get clock count and convert it to a time
    QString spacecraftClock = inst["SpacecraftClockCount"];
    double etClock = getClockTime(spacecraftClock, altinstcode).Et();

    // exposure duration keyword value is measured in seconds
    double exposureDuration = inst["ExposureDuration"];

    // Calculate and load the euler angles
    SpiceDouble CP[3][3];
    eul2m_c((SpiceDouble)raster * rpd_c(), (SpiceDouble)cone * rpd_c(),
            (SpiceDouble) - crosscone * rpd_c(), 3, 2, 1, CP);

    //    LoadEulerMounting(CP);

    pair<iTime, iTime> shuttertimes = ShutterOpenCloseTimes(etClock, exposureDuration);

    // find center shutter time
    double centerTime = shuttertimes.first.Et() + exposureDuration / 2.0;
    char timepds[25];
    et2utc_c(centerTime, "ISOC", 3, 25, timepds);
    utc2et_c(timepds, &centerTime);

    // Setup detector map
    new CameraDetectorMap(this);

    // Setup focal plane map, and detector origin
    CameraFocalPlaneMap *focalMap = new CameraFocalPlaneMap(this, naifIkCode());
    focalMap->SetDetectorOrigin(602.0, 528.0);

    // Setup distortion map
    QString fname = FileName("$viking" + toString(spn) + "/reseaus/vik" + cam
                             + "MasterReseaus.pvl").expanded();
    new ReseauDistortionMap(this, lab, fname);

    // Setup the ground and sky map
    new CameraGroundMap(this);
    new CameraSkyMap(this);

    setTime(centerTime);
    LoadCache();
    NaifStatus::CheckErrors();
  }

  pair<iTime, iTime> VikingCamera::ShutterOpenCloseTimes(double time,
                                                         double exposureDuration) {
    pair<iTime, iTime> shuttertimes;
    double offset1;
    if(exposureDuration <= .420) {
      offset1 = 7.0 / 8.0 * 4.48;    //4.48 seconds = nomtick
    }
    else {
      offset1 = 3.0 / 8.0 * 4.48;
    }
    double offset2 = 1.0 / 64.0 * 4.48;

    // set private variables inherited from Spice class
    shuttertimes.first = time + offset1 + offset2;
    shuttertimes.second = shuttertimes.first.Et() + exposureDuration;
    return shuttertimes;
  }
}


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