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Adding Support for OSIRIS-REx TagCams Instruments (#5427)
* Add new IrregularBodyCameraGroundMap class * Update documentation and app/unit tests * Initial version of tagcams2isis Signed-off-by: Kris J. Becker <kbecker@orex.lpl.arizona.edu> * Initial version of OREX TAGCAMS Camera Model Provides initial version of OREX TAGCAMS camera model for NAVCam (Navcam 1), NFTCam (Navcam 2) and STOWCam instruments Signed-off-by: Kris J. Becker <kbecker@orex.lpl.arizona.edu> * Improved import of TAGCAMS image data tagcams2isis * Added more keywords to import/translate * Added option REMOVECALPIXELS to allow user to control how the boundary pixels are treated * Implemented summing and scaling based upon expected conditions * Add SourceProductId * Compute CameraHeadTemperature (Celsius) from TCCHTEMP FITS label keyword for camera distortion model * Compute and add YearDoy keyword Signed-off-by: Kris J. Becker <kbecker@orex.lpl.arizona.edu> * Add complete version of OpenCV distortion model * Added full implementation of the OpenCV 10 parameter distortion model for the TAGCAMS camera * Allow selection of several models including OpenCV, OCAMS or none * Added TOLERANCE parameter to determine convergence tolerance * Added DEBUG_MODEL parameter to turn on print statements to debug the camera distortion model * Added modified kernel DB file to support TAGCAMS along with OCAMS * Updated TAGCAMS camera addendum file Signed-off-by: Kris J. Becker <kbecker@orex.lpl.arizona.edu> * Modified OpenCV distortion model OsirisRexTagcamsDistortionMap * Renamed OpenCV parameters in the IAK kernel to better conform and associate with the OpenCV parameter names * Added k4-k6 parameters to fully implement the OpenCV model Signed-off-by: Kris J. Becker <kbecker@orex.lpl.arizona.edu> * Update TAGCAMS OpenCV distortion model parameters orx_tagcams_addendum_v04.ti * Version 4 of the TAGCAMS IAK kernel was created for new OpenCV distortion model parameters for Navcam 1 & 2 Signed-off-by: Kris J. Becker <kbecker@orex.lpl.arizona.edu> * Removed unused variables to suppress warnings Signed-off-by: Kris J. Becker <kbecker@orex.lpl.arizona.edu> * Typo in iTime.h include tagcams2isis * Mistyped iTime.h with capital I - works on Macs, not Linux systems Signed-off-by: Kris J. Becker <kbecker@orex.lpl.arizona.edu> * Removed apostrophe that causes problems on Linux Signed-off-by: Kris J. Becker <kbecker@orex.lpl.arizona.edu> * Update tagcams2isis temperature computation tagcams2isis * Update b parameter used to convert raw DNs of camera head temperature to Celsius as provided by the NAV team in update to camera model Signed-off-by: Kris J. Becker <kbecker@orex.lpl.arizona.edu> * Update TAGCAMS camera model TAGCAMS Camera Model * Now use the CCD center as specified in the IK as the focal plane detector map system origin * Update camera model parameters provided by the NAV team * Renamed conversion methods to more meaningful names * Fixes pointing issues Signed-off-by: Kris J. Becker <kbecker@orex.lpl.arizona.edu> * New version of TAGCAMS camera model parameters orex_tagcams_addendum_v05.ti * Updated with all new TAGCAMS parameters as provided by the NAV/Kinetx team * Added distortion model reference Signed-off-by: Kris J. Becker <kbecker@orex.lpl.arizona.edu> * Updates to TAGCAMS IAK orex_tagcams_addendum_v06.ti * Added light time/stellar, abberation correction and target/observer swap parameters for each instrument * Updated documentation Signed-off-by: Kris J. Becker <kbecker@orex.lpl.arizona.edu> * Added LT and target/observer swap parameters Signed-off-by: Kris J. Becker <kbecker@orex.lpl.arizona.edu> * Properly initialize distorted/undistorted parms OsirisRexTagcamsDistortionMap * Properly initialize distorted/undistorted parameters Signed-off-by: Kris J. Becker <kbecker@orex.lpl.arizona.edu> * tagams2isis.xml fix already happened * Fixed merge issue Signed-off-by: Kris J. Becker <kbecker@orex.lpl.arizona.edu> * Correct typo Signed-off-by: Kris J. Becker <kbecker@orex.lpl.arizona.edu> * Minor documentation change Signed-off-by: Kris J. Becker <kbecker@orex.lpl.arizona.edu> * Modified for easy development of derived classes Moved all private variables and methods to protected scope * Added translations for OSIRIS-REx TagCams instruments NFTCam, NAVCam, and StowCam into Instruments.trn file. Originally added to University of Arizona codebase by Kris Becker on January 10, 2019. Addresses #5424. * Committing test data for OsirisREx TagCams support. Addresses #5424. * Initial commit of Osiris-REx Tagcams ingestion program tagcams2isis and supporting files. Addresses #5424. * Adding support for intersections with irregular bodies, in particular to support Osiris-REx instruments. Addresses #5424. * Unit test and truth data for OsirisREx tagcams instruments. Addresses #5424. * Support for OsirisREx tagcams instruments. Addresses #5424. * CHANGELOG entry for Osiris-REx tagcams instrument support. Addresses #5424. * Per review comments 2024-03-18: 1) fixed typo in IrregularBodyGroundMap.h; 2) removed IrregularBodyGroundMap unit test; 3) replaced OsirisRexTagcamsCamera unit test with gtest version. Addresses #5424. * Per Adam's suggestion 2024-03-19, modified second tagcams2isis method to take FileName object as an argument instead of a ProcessImportFits object. Addresses #5424. --------- Signed-off-by: Kris J. Becker <kbecker@orex.lpl.arizona.edu> Co-authored-by: Kris J. Becker <kbecker@orex.lpl.arizona.edu> Co-authored-by: Kelvin Rodriguez <krodriguez@usgs.gov>
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isis/appdata/serialnumbers/OsirisRexTagCamsSerialNumber.trn
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| # history 2019-01-19 Kris Becker - Original version added to UofA codebase. | ||
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| Group = Keyword1 | ||
| Auto | ||
| InputKey = SpacecraftName | ||
| InputGroup = "IsisCube,Instrument" | ||
| InputPosition = (IsisCube, Instrument) | ||
| OutputName = Keyword1 | ||
| OutputPosition = ("Group","SerialNumberKeywords") | ||
| Translation = ("OsirisRex", "OSIRIS-REx") | ||
| Translation = (*,*) | ||
| EndGroup | ||
| Group = Keyword2 | ||
| Auto | ||
| InputKey = InstrumentId | ||
| InputGroup = "IsisCube,Instrument" | ||
| InputPosition = (IsisCube, Instrument) | ||
| OutputName = Keyword2 | ||
| OutputPosition = ("Group","SerialNumberKeywords") | ||
| Translation = (*,*) | ||
| EndGroup | ||
| Group = Keyword3 | ||
| Auto | ||
| InputKey = SpacecraftClockStartCount | ||
| InputGroup = "IsisCube,Instrument" | ||
| InputPosition = (IsisCube, Instrument) | ||
| OutputName = Keyword3 | ||
| OutputPosition = ("Group","SerialNumberKeywords") | ||
| Translation = (*,*) | ||
| EndGroup |
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isis/src/base/objs/IrregularBodyCameraGroundMap/IrregularBodyCameraGroundMap.cpp
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| /** This is free and unencumbered software released into the public domain. | ||
| The authors of ISIS do not claim copyright on the contents of this file. | ||
| For more details about the LICENSE terms and the AUTHORS, you will | ||
| find files of those names at the top level of this repository. **/ | ||
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| /* SPDX-License-Identifier: CC0-1.0 */ | ||
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| #include "IrregularBodyCameraGroundMap.h" | ||
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| #include "SurfacePoint.h" | ||
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| using namespace std; | ||
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| namespace Isis { | ||
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| /** | ||
| * Constructor | ||
| * | ||
| * @param parent Pointer to camera to be used for mapping with ground | ||
| */ | ||
| IrregularBodyCameraGroundMap::IrregularBodyCameraGroundMap(Camera *parent, | ||
| const bool clip_emission_angles) : CameraGroundMap(parent), | ||
| m_clip_emission(clip_emission_angles) { | ||
| } | ||
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| /** | ||
| * This method computes the undistorted focal plane coordinates for a ground | ||
| * position, using the current Spice settings (time and kernels) without | ||
| * resetting the current point values for lat/lon/radius/x/y. The class value | ||
| * value for m_pB and m_lookJ are set by this method. | ||
| * | ||
| * This method has been reimplemented from the CameraGroundMap class to never | ||
| * perform the emission angle check. This is because it uses the ellipsoid for | ||
| * the check which is in general not adequate for irregular bodies. | ||
| * | ||
| * @param point Surface point (ground position) | ||
| * @param cudx [out] Pointer to computed undistored x focal plane coordinate | ||
| * @param cudy [out] Pointer to computed undistored y focal plane coordinate | ||
| * | ||
| * @return @b bool If conversion was successful | ||
| */ | ||
| bool IrregularBodyCameraGroundMap::GetXY(const SurfacePoint &point, | ||
| double *cudx, double *cudy) { | ||
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| return CameraGroundMap::GetXY(point, cudx, cudy, m_clip_emission); | ||
| } | ||
| } |
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isis/src/base/objs/IrregularBodyCameraGroundMap/IrregularBodyCameraGroundMap.h
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| #ifndef IrregularBodyCameraGroundMap_h | ||
| #define IrregularBodyCameraGroundMap_h | ||
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| /** This is free and unencumbered software released into the public domain. | ||
| The authors of ISIS do not claim copyright on the contents of this file. | ||
| For more details about the LICENSE terms and the AUTHORS, you will | ||
| find files of those names at the top level of this repository. **/ | ||
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| /* SPDX-License-Identifier: CC0-1.0 */ | ||
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| #include "Camera.h" | ||
| #include "CameraGroundMap.h" | ||
| #include "SurfacePoint.h" | ||
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| namespace Isis { | ||
| /** | ||
| * Convert between undistorted focal plane and ground coordinates | ||
| * | ||
| * This class is derived from CameraGroundMap to support the special case of | ||
| * irregular bodies. Particularly, only the GetXY() method is reimplemented | ||
| * here to never perform the "emission angle" (in places called "back-of-the- | ||
| * planet") test. This is because the test uses the ellipsoid to validate | ||
| * ground point visibility along the look vector to the surface. This is not | ||
| * adequate for most irregular bodies. | ||
| * | ||
| * @ingroup Camera | ||
| * | ||
| * @see CameraGroundMap | ||
| * | ||
| * @author 2018-07-26 UA/OSIRIS-REx IPWG Team | ||
| * | ||
| * @internal | ||
| * @history 2018-07-26 UA/OSIRIS-REx IPWG Team - Developed to support control | ||
| * of irregular bodies | ||
| * @history 2024-03-10 Ken Edmundson - Modified per Kris Becker such that the | ||
| * emission angle (or back-of-the-planet) test is never | ||
| * performed in the GetXY method (see class description | ||
| * above). | ||
| */ | ||
| class IrregularBodyCameraGroundMap : public CameraGroundMap { | ||
| public: | ||
| IrregularBodyCameraGroundMap(Camera *parent, const bool clip_emission_angles = false); | ||
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| //! Destructor | ||
| virtual ~IrregularBodyCameraGroundMap() {}; | ||
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| virtual bool GetXY(const SurfacePoint &spoint, double *cudx, double *cudy); | ||
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| protected: | ||
| bool m_clip_emission; /**! Test for emission angles? */ | ||
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| }; | ||
| }; | ||
| #endif |
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isis/src/base/objs/IrregularBodyCameraGroundMap/IrregularBodyCameraGroundMap.truth
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| This class will be tested by the applications and the individual Camera models. |
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| @@ -0,0 +1,7 @@ | ||
| ifeq ($(ISISROOT), $(BLANK)) | ||
| .SILENT: | ||
| error: | ||
| echo "Please set ISISROOT"; | ||
| else | ||
| include $(ISISROOT)/make/isismake.objs | ||
| endif |
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| ifeq ($(ISISROOT), $(BLANK)) | ||
| .SILENT: | ||
| error: | ||
| echo "Please set ISISROOT"; | ||
| else | ||
| include $(ISISROOT)/make/isismake.apps | ||
| endif |
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isis/src/osirisrex/apps/tagcams2isis/OsirisRexTagcamsArchive_fit.trn
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| # | ||
| # This translation file is used to produce the ISIS Archive label group | ||
| # for the Osiris-REx Tagcams cameras (NAVCam, StowCam, NFTCam). | ||
| # | ||
| # Translation = (left,right) convert the input "right" to "left" | ||
| # | ||
| # history 2019-01-10 Kris Becker - Original version added to UofA codebase. | ||
| # | ||
| Group = ProducerId | ||
| Auto | ||
| Optional | ||
| InputKey = ORIGIN | ||
| InputPosition = FITSLABELS | ||
| OutputName = ProducerId | ||
| OutputPosition = (Object, IsisCube, Group, Archive) | ||
| Translation = (*, *) | ||
| End_Group | ||
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| Group = CheckSumStatus | ||
| Auto | ||
| Optional | ||
| InputKey = CKPASS | ||
| InputPosition = FITSLABELS | ||
| OutputName = CheckSumStatus | ||
| OutputPosition = (Object, IsisCube, Group, Archive) | ||
| Translation = (*, *) | ||
| End_Group | ||
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| Group = MetaKernel | ||
| Auto | ||
| Optional | ||
| InputKey = META_KER | ||
| InputPosition = FITSLABELS | ||
| OutputName = MetaKernel | ||
| OutputPosition = (Object, IsisCube, Group, Archive) | ||
| Translation = (*, *) | ||
| End_Group | ||
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| Group = TAGCAMSCommandedSequenceId | ||
| Auto | ||
| Optional | ||
| InputKey = TCSEQID | ||
| InputPosition = FITSLABELS | ||
| OutputName = TagcamsCommandedSequenceId | ||
| OutputPosition = (Object, IsisCube, Group, Archive) | ||
| Translation = (*, *) | ||
| End_Group | ||
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| Group = TAGCAMSCommandedImageId | ||
| Auto | ||
| Optional | ||
| InputKey = TCIMGID | ||
| InputPosition = FITSLABELS | ||
| OutputName = TagcamsCommandedImageId | ||
| OutputPosition = (Object, IsisCube, Group, Archive) | ||
| Translation = (*, *) | ||
| End_Group | ||
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| Group = RawCameraHeadTemperature | ||
| Auto | ||
| Optional | ||
| InputKey = TCCHTEMP | ||
| InputPosition = FITSLABELS | ||
| InputDefault = 0 | ||
| OutputName = RawCameraHeadTemperature | ||
| OutputPosition = (Object, IsisCube, Group, Archive) | ||
| Translation = (*, *) | ||
| End_Group | ||
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| Group = RAAtReferencePixel | ||
| Auto | ||
| Optional | ||
| InputKey = CRVAL1 | ||
| InputPosition = FITSLABELS | ||
| InputDefault = 0 | ||
| OutputName = RAAtReferencePixel | ||
| OutputPosition = (Object, IsisCube, Group, Archive) | ||
| Translation = (*, *) | ||
| End_Group | ||
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| Group = DecAtReferencePixel | ||
| Auto | ||
| Optional | ||
| InputKey = CRVAL2 | ||
| InputPosition = FITSLABELS | ||
| InputDefault = 0 | ||
| OutputName = DecAtReferencePixel | ||
| OutputPosition = (Object, IsisCube, Group, Archive) | ||
| Translation = (*, *) | ||
| End_Group | ||
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| End |
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isis/src/osirisrex/apps/tagcams2isis/OsirisRexTagcamsBandBin_fit.trn
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| # | ||
| # This translation file is used to produce the ISIS BandBin label group | ||
| # for the OSIRIS-REx Tagcams cameras (NAVCam, StowCam, NFTCam). | ||
| # Translation = (left,right) convert the input "right" to "left" | ||
| # | ||
| # history 2019-01-19 Kris Becker - Original version added to UofA codebase. | ||
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| Group = FilterName | ||
| Auto | ||
| InputKey = FILTNAME | ||
| InputPosition = FITSLABELS | ||
| InputDefault = Monochrome | ||
| OutputName = FilterName | ||
| OutputPosition = (Object, IsisCube, Group, BandBin) | ||
| InputDefault = Unknown | ||
| Translation = (*, *) | ||
| End_Group | ||
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| Group = Name | ||
| Auto | ||
| InputKey = INSTRUME | ||
| InputPosition = FITSLABELS | ||
| InputDefault = TagCams | ||
| OutputName = Name | ||
| OutputPosition = (Object, IsisCube, Group, BandBin) | ||
| InputDefault = Unknown | ||
| Translation = (NAVCam, NCM) | ||
| Translation = (NFTCam, NFT) | ||
| Translation = (StowCam, STO) | ||
| Translation = (TagCams, *) | ||
| End_Group | ||
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| Group = FilterNumber | ||
| Auto | ||
| InputKey = FILTNUMB | ||
| InputPosition = FITSLABELS | ||
| InputDefault = 1 | ||
| OutputName = Number | ||
| OutputPosition = (Object, IsisCube, Group, BandBin) | ||
| InputDefault = Unknown | ||
| Translation = (*, *) | ||
| End_Group | ||
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| Group = FilterCenter | ||
| Auto | ||
| InputKey = INSTRUME | ||
| InputPosition = FITSLABELS | ||
| OutputName = Center | ||
| OutputPosition = (Object, IsisCube, Group, BandBin) | ||
| Translation = (550 <nm>, N/A) | ||
| Translation = (550 <nm>, NCM) | ||
| Translation = (550 <nm>, NFT) | ||
| Translation = (550 <nm>, STO) | ||
| Translation = (*, *) | ||
| End_Group | ||
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| End |
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