Add support for Chandrayaan2TMC

isis/appdata/import/PDS4/Chandrayaan2TMC2.tpl

@@ -101,8 +101,8 @@ Object = IsisCube
     SunAzimuth              = {{ Product_Observational.Observation_Area.Mission_Area.isda_Product_Parameters.isda_sun_azimuth._text }} <degrees>
     SunElevation            = {{ Product_Observational.Observation_Area.Mission_Area.isda_Product_Parameters.isda_sun_elevation._text }} <degrees>
     SolarIncidence          = {{ Product_Observational.Observation_Area.Mission_Area.isda_Product_Parameters.isda_solar_incidence._text }} <degrees>
-    Projection              = {{ Product_Observational.Observation_Area.Mission_Area.isda_Product_Parameters.isda_projection }}
-    Area                    = {{ Product_Observational.Observation_Area.Mission_Area.isda_Product_Parameters.isda_area }}
+    Projection              = "{{ Product_Observational.Observation_Area.Mission_Area.isda_Product_Parameters.isda_projection }}"
+    Area                    = "{{ Product_Observational.Observation_Area.Mission_Area.isda_Product_Parameters.isda_area }}"
   End_Group
   {% endif %}
 

isis/appdata/translations/MissionName2DataDir.trn

@@ -42,6 +42,7 @@ Group = MissionName
   Translation   = (Chandrayaan1, "CHANDRAYAAN-1 ORBITER")
   Translation   = (Chandrayaan1, CHANDRAYAAN1_ORBITER)
   Translation   = (Chandrayaan1, CHANDRAYAAN-1)
+  Translation   = (Chandrayaan2, Chandrayaan-2)
   Translation   = (Clementine1, CLEMENTINE_1)
   Translation   = (Clementine1, "CLEMENTINE 1")
   Translation   = (Clipper, "CLIPPER")

isis/src/base/objs/SpiceRotation/SpiceRotation.cpp

@@ -2486,10 +2486,9 @@ namespace Isis {
           "Full cache size does NOT match cache size in LoadTimeCache -- should never happen";
         throw IException(IException::Programmer, msg, _FILEINFO_);
       }
-
-      SpiceDouble timeSclkdp[p_fullCacheSize];
-      SpiceDouble quats[p_fullCacheSize][4];
-      double avvs[p_fullCacheSize][3]; // Angular velocity vector
+      std::vector<SpiceDouble> timeSclkdp(p_fullCacheSize);
+      std::vector<SpiceDouble> quats(p_fullCacheSize * 4);
+      std::vector<double> avvs(p_fullCacheSize * 3);
 
       // We will treat et as the sclock time and avoid converting back and forth
      std::vector<ale::Rotation> fullRotationCache = m_orientation->getRotations();
@@ -2501,23 +2500,23 @@ namespace Isis {
                               rotationMatrix[3], rotationMatrix[4], rotationMatrix[5],
                               rotationMatrix[6], rotationMatrix[7], rotationMatrix[8]
                             };
-        m2q_c(CJ, quats[r]);
+        m2q_c(CJ, &quats[r * 4]);
         if (p_hasAngularVelocity) {
           ale::Vec3d angularVelocity = angularVelocities[r];
-          vequ_c((SpiceDouble *) &angularVelocity.x, avvs[r]);
+          vequ_c((SpiceDouble *) &angularVelocity.x, &avvs[r*3]);
         }
      }
 
-      double cubeStarts = timeSclkdp[0]; //,timsSclkdp[ckBlob.Records()-1] };
+      double cubeStarts = timeSclkdp[0]; //,timsSclkdp[ckBlob.Records()-1] ;
       double radTol = 0.000000017453; //.000001 degrees  Make this instrument dependent TODO
       SpiceInt avflag = 1;            // Don't use angular velocity for now
       SpiceInt nints = 1;             // Always make an observation a single interpolation interval
       double dparr[p_fullCacheSize];    // Double precision work array
       SpiceInt intarr[p_fullCacheSize]; // Integer work array
       SpiceInt sizOut = p_fullCacheSize; // Size of downsized cache
 
-      ck3sdn(radTol, avflag, (int *) &sizOut, timeSclkdp, (doublereal *) quats,
-             (SpiceDouble *) avvs, nints, &cubeStarts, dparr, (int *) intarr);
+      ck3sdn(radTol, avflag, (int *) &sizOut, &timeSclkdp[0], (doublereal *) &quats[0],
+             (SpiceDouble *) &avvs[0], nints, &cubeStarts, dparr, (int *) intarr);
 
       // Clear full cache and load with downsized version
       p_cacheTime.clear();
@@ -2538,9 +2537,9 @@ namespace Isis {
         et = timeSclkdp[r];
         p_cacheTime.push_back(et);
         std::vector<double> CJ(9);
-        q2m_c(quats[r], (SpiceDouble( *)[3]) &CJ[0]);
+        q2m_c(&quats[r*4], (SpiceDouble(*)[3]) &CJ[0]);
         rotationCache.push_back(CJ);
-        vequ_c(avvs[r], (SpiceDouble *) &av[0]);
+        vequ_c(&avvs[r*3], (SpiceDouble *) &av[0]);
         avCache.push_back(av);
       }
 

isis/src/base/objs/SpiceRotation/SpiceRotation.h

@@ -427,7 +427,7 @@ namespace Isis {
       int p_axis1;                      //!< Axis of rotation for angle 1 of rotation
       int p_axis2;                      //!< Axis of rotation for angle 2 of rotation
       int p_axis3;                      //!< Axis of rotation for angle 3 of rotation
-      ale::Orientations *m_orientation; //! Cached orientation information
+      ale::Orientations *m_orientation = nullptr; //! Cached orientation information
 
     private:
       // method

isis/src/chandrayaan2/Makefile

@@ -0,0 +1 @@
+include $(ISISROOT)/make/isismake.cat

isis/src/chandrayaan2/objs/Chandrayaan2TmcCamera/Camera.plugin

@@ -0,0 +1,6 @@
+Group = CHANDRAYAAN-2/TMC-2
+  Version = 1
+  Library = Chandrayaan2TmcCamera
+  Routine = Chandrayaan2TmcCameraPlugin
+EndGroup
+

isis/src/chandrayaan2/objs/Chandrayaan2TmcCamera/Chandrayaan2TmcCamera.cpp

@@ -0,0 +1,119 @@
+/** 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. **/
+
+/* SPDX-License-Identifier: CC0-1.0 */
+
+#include "Chandrayaan2TmcCamera.h"
+
+#include <QString>
+
+#include "Affine.h"
+#include "CameraDistortionMap.h"
+#include "CameraFocalPlaneMap.h"
+#include "IException.h"
+#include "iTime.h"
+#include "IString.h"
+#include "LineScanCameraDetectorMap.h"
+#include "LineScanCameraGroundMap.h"
+#include "LineScanCameraSkyMap.h"
+#include "NaifStatus.h"
+
+using namespace std;
+namespace Isis {
+  /**
+   * Constructs a Chandrayaan 2 TMC Camera object using the image labels.
+   *
+   */
+  Chandrayaan2TmcCamera::Chandrayaan2TmcCamera(Cube &cube) : LineScanCamera(cube) {
+    m_instrumentNameLong = "Terrain Mapping Camera-2";
+    m_instrumentNameShort = "TMC-2";
+    m_spacecraftNameLong = "Chandrayaan 2";
+    m_spacecraftNameShort = "Chan2";
+
+    NaifStatus::CheckErrors();
+    // Set up the camera info from ik/iak kernels
+    SetFocalLength();
+    //Chandrayaan2 iak uses INS-152???_PIXEL_SIZE instead of PIXEL_PITCH
+    QString ikernKey = "INS" + toString(naifIkCode()) + "_PIXEL_SIZE";
+    // Pixel size is specified in meters, we need it in mm
+    SetPixelPitch(getDouble(ikernKey)*1000);
+
+    // Get the start time from labels
+    Pvl &lab = *cube.label();
+    PvlGroup &inst = lab.findGroup("Instrument", Pvl::Traverse);
+    QString stime = (QString)inst["StartTime"];
+    SpiceDouble etStart=0;
+    etStart = iTime(stime).Et();
+
+    double csum = 1;
+    if (inst.hasKeyword("SpatialSumming")){
+      csum = inst["SpatialSumming"];
+    }
+    double lineRate = (double) inst["LineExposureDuration"] / 1000;
+
+    // Setup detector map
+    LineScanCameraDetectorMap *detectorMap =
+      new LineScanCameraDetectorMap(this, etStart, lineRate);
+    detectorMap->SetDetectorSampleSumming(csum);
+
+    // Setup focal plane map
+    CameraFocalPlaneMap *focalMap = new CameraFocalPlaneMap(this, naifIkCode());
+
+    //  Retrieve boresight location from instrument kernel (IK) (addendum?)
+    QString centerKey = "INS" + toString((int)naifIkCode()) + "_CENTER";
+    double sampleCenter = getDouble(centerKey, 0);
+    double lineCenter = getDouble(centerKey, 1);
+
+    focalMap->SetDetectorOrigin(sampleCenter, lineCenter);
+    focalMap->SetDetectorOffset(0.0, 0.0);
+
+    // @TODO set no distortion? No values in IK
+    // Setup distortion map
+    CameraDistortionMap *distMap = new CameraDistortionMap(this);
+    distMap->SetDistortion(naifIkCode());
+
+    // Setup the ground and sky map
+    new LineScanCameraGroundMap(this);
+    new LineScanCameraSkyMap(this);
+
+
+    // Set proper end frame
+    int tmcFrame(0);
+    if (naifIkCode() == -152210) {
+      // Frame DAWN_VIR_VIS : DAWN_VIR_VIS_ZERO
+      tmcFrame = -152220;
+    }
+    else if (naifIkCode() == -152211) { // (channelId == "IR)
+      // Frame DAWN_VIR_IR : DAWN_VIR_IR_ZERO
+      tmcFrame = -152221;
+    }
+    else if (naifIkCode() == -152212) {
+      tmcFrame = -152222;
+    }
+    else {
+      QString msg = "Unknown frame code [" + toString(naifIkCode()) + "] for Chandrayaan2 TMC Camera.";
+      throw IException(IException::Programmer, msg, _FILEINFO_);
+    }
+
+    instrumentRotation()->SetFrame(tmcFrame);
+
+    LoadCache();
+    NaifStatus::CheckErrors();
+  }
+}
+
+
+/**
+ * This is the function that is called in order to instantiate an Chandrayaan2TmcCamera object.
+ *
+ * @param cube The input cube from which to instantiate the camera model.
+ *
+ * @return Isis::Camera* Chandrayaan2TmcCamera
+ *
+ */
+extern "C" Isis::Camera *Chandrayaan2TmcCameraPlugin(Isis::Cube &cube) {
+  return new Isis::Chandrayaan2TmcCamera(cube);
+}

isis/src/chandrayaan2/objs/Chandrayaan2TmcCamera/Chandrayaan2TmcCamera.h

@@ -0,0 +1,52 @@
+#ifndef TMCCamera_h
+#define TMCCamera_h
+
+/** 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. **/
+
+/* SPDX-License-Identifier: CC0-1.0 */
+
+#include "LineScanCamera.h"
+
+namespace Isis {
+  /**
+   * @brief Chandrayaan2 TMC (Terrain Mapping Camera) Camera Model
+   *
+   * This is the camera model for the Chandrayaan2 Terrain Mapping Camera
+   */
+  class Chandrayaan2TmcCamera : public LineScanCamera {
+    public:
+      Chandrayaan2TmcCamera(Cube &cube);
+
+      //! Destroys the CTXCamera object.
+      ~Chandrayaan2TmcCamera() {};
+
+      /**
+       * CK frame ID -  - Instrument Code from spacit run on CK
+       *
+       * @return @b int The appropriate instrument code for the "Camera-matrix"
+       *         Kernel Frame ID
+       */
+      virtual int CkFrameId() const { return (-152001); }
+
+      /**
+       *  CK Reference ID - MRO_MME_OF_DATE
+       *
+       * @return @b int The appropriate instrument code for the "Camera-matrix"
+       *         Kernel Reference ID
+       */
+      virtual int CkReferenceId() const { return (1); }
+
+      /**
+       * SPK Reference ID - J2000
+       *
+       * @return @b int The appropriate instrument code for the Spacecraft
+       *         Kernel Reference ID
+       */
+      virtual int SpkReferenceId() const { return (1); }
+  };
+};
+#endif

isis/src/chandrayaan2/objs/Chandrayaan2TmcCamera/Chandrayaan2TmcCamera.truth

@@ -0,0 +1,36 @@
+Unit Test for Chandrayaan1M3Camera...
+FileName: out.cub
+CK Frame: -152210
+
+Kernel IDs: 
+CK Frame ID = -152001
+CK Reference ID = 1
+SPK Target ID = -152
+SPK Reference ID = 1
+
+Spacecraft Name Long: Chandrayaan 2
+Spacecraft Name Short: Chan2
+Instrument Name Long: Terrain Mapping Camera-2
+Instrument Name Short: TMC-2
+
+For upper left corner ...
+DeltaSample = 0.000000000
+DeltaLine = 0.000000000
+
+For upper right corner ...
+DeltaSample = 0.000000000
+DeltaLine = 0.000000000
+
+For lower left corner ...
+DeltaSample = 0.000000000
+DeltaLine = 0.000000000
+
+For lower right corner ...
+DeltaSample = 0.000000000
+DeltaLine = 0.000000000
+
+For center pixel position ...
+Latitude OK
+Longitude OK
+RightAscension = 120.8153761895855354
+Declination = -23.1624991236805506

isis/src/chandrayaan2/objs/Chandrayaan2TmcCamera/Makefile

@@ -0,0 +1,7 @@
+ifeq ($(ISISROOT), $(BLANK))
+.SILENT:
+error:
+	echo "Please set ISISROOT";
+else
+	include $(ISISROOT)/make/isismake.objs
+endif