MsiCamera.cpp

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#include "MsiCamera.h"

#include <QString>

#include "CameraDetectorMap.h"
#include "CameraFocalPlaneMap.h"
#include "CameraGroundMap.h"
#include "CameraSkyMap.h"
#include "IString.h"
#include "iTime.h"
#include "NaifStatus.h"
#include "Plugin.h"
#include "RadialDistortionMap.h"

using namespace std;
namespace Isis {
  MsiCamera::MsiCamera(Cube &cube) : FramingCamera(cube) {
    m_instrumentNameLong = "Multi-Spectral Imager";
    m_instrumentNameShort = "MSI";
    m_spacecraftNameLong = "Near Earth Asteroid Rendezvous";
    m_spacecraftNameShort = "NEAR";
    
    Pvl &lab = *cube.label();
    NaifStatus::CheckErrors();
    SetFocalLength();
    SetPixelPitch();
    NaifStatus::CheckErrors();

    // Get the start time in et
    PvlGroup inst = lab.findGroup("Instrument", Pvl::Traverse);

    double et = iTime((QString)inst["StartTime"]).Et();

    // divide exposure duration keyword value by 1000 to convert to seconds
    double exposureDuration = ((double) inst["ExposureDuration"]) / 1000.0;
    pair<iTime, iTime> shuttertimes = ShutterOpenCloseTimes(et, exposureDuration);

    //correct time for center of exposure duration
    iTime centerTime = shuttertimes.first.Et() + exposureDuration / 2.0;

    // Setup detector map.  These images are full summing.
    new CameraDetectorMap(this);

    // Setup focal plane map
    CameraFocalPlaneMap *focalMap = new CameraFocalPlaneMap(this, naifIkCode());

    QString sample = "INS" + toString(naifIkCode()) + "_BORESIGHT_SAMPLE";
    QString line = "INS" + toString(naifIkCode()) + "_BORESIGHT_LINE";
    focalMap->SetDetectorOrigin(Spice::getDouble(sample), Spice::getDouble(line));

    // Setup distortion map
    double k1 = Spice::getDouble("INS" + toString(naifIkCode()) + "_K1");
    new RadialDistortionMap(this, k1, 1); 

    // Setup the ground and sky map
    new CameraGroundMap(this);
    new CameraSkyMap(this);
    setTime(centerTime);
    // Note: If the temperature-dependent instrument kernel is used,  
    // the following LoadCache() command should be replaced with the
    // commented lines at the end of this file.
    LoadCache();
    NaifStatus::CheckErrors();
  }

  MsiCamera::~MsiCamera(){}

  pair<iTime, iTime> MsiCamera::ShutterOpenCloseTimes(double time,
                                                      double exposureDuration) {
    return FramingCamera::ShutterOpenCloseTimes(time, exposureDuration);
  }

  int MsiCamera::CkFrameId() const { return -93000; }

  int MsiCamera::CkReferenceId() const { return 1; }

//  int MsiCamera::SpkTargetId() const { return -93; }

  int MsiCamera::SpkReferenceId() const { return 1; }
}

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

// Comment: 2013-03-08 Jeannie Backer - The following code will adjust the
//                         camera model using the temperature dependent
//                         instrument kernel. Currently, we have decided not to
//                         implement this adjustment since it does not appear to
//                         have been applied in ISIS2.  (Code exists for this in
//                         ISIS2, but without SCLK or CK, it could not have been
//                         applied).

//     if (instrumentRotation()->IsCached()) {
//       LoadCache();
//     }
//     else {
//       double toCelcius = -273.15;
//       SpiceDouble tempCelcius = toDouble(inst["DpuDeckTemperature"][0])+toCelcius;
//       ConstSpiceChar *nearMsiTimeDependentFrame;
//       iTime originalTempDependencyDate("1999-12-20T00:00:00");
// 
//       if (centerTime.Et() <= originalTempDependencyDate.Et() ) {
//         nearMsiTimeDependentFrame = "NEAR_MSI_TEMP_DEP0000";
//       }
//       else {
//         nearMsiTimeDependentFrame = "NEAR_MSI_TEMP_DEP0001";
//       }
// 
//       // get transformation matrix based on temperature, from spacecraft to MSI
//       SpiceDouble sc2msiMatrix[3][3];
//       pxform_c("J2000", nearMsiTimeDependentFrame,tempCelcius, sc2msiMatrix);
//       NaifStatus::CheckErrors();
//       // get current TC matrix, from j2000 to spacecraft
//       vector<double> originalCJ = instrumentRotation()->TimeBasedMatrix();
//       // get new CJ matrix based on temperatureBasedRotation x originalTC
//       // now we have transformation from j2000 to msi
//       vector<double> newCJ(9);
//       mxm_c(sc2msiMatrix, (SpiceDouble( *)[3]) &originalCJ[0], 
//             (SpiceDouble( *)[3]) &newCJ[0]);
//       NaifStatus::CheckErrors();
//       // mxmg_c(sc2msiMatrix, (SpiceDouble( *)[3]) &originalTC[0], 
//       //        6, 6, 6, (SpiceDouble( *)[3]) &newCJ[0]);
//       // set new CJ matrix
//       instrumentRotation()->SetTimeBasedMatrix(newCJ);
//       LoadCache();
//     }